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simatic s5 ip 267 stepper motor controller manual ewa 4neb 812 6061-02a www..net
simatic ? and step ? are registered trademarks of siemens ag . copyright ? siemens ag 1989 subject to change without prior notice. the reproduction, transmission or use of this document or its contents is not permitted without express written authority. offenders will be liable for damages. all rights including rights created by patent grant or registration of a utility model or design, are reserved. ewa 4neb 812 6061-02a
system overview driving stepper motors with the ip 267 module description addressing and programming notes on operation function block for assigning parameters to the ip 267 introduction preface application examples index a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 1 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 preface preface the ip 267 intelligent i/o module generates programmable pulse trains for driving the power sections of stepper motors. the ip 267 has separate digital inputs for controlling positioning movements and signalling certain events to the cpu. the ip 267 can only be used in conjunction with programmable controllers of the s5-100u range. it operates with the following cpus: cpu 100 (6es5 100 - 8ma02 only) cpu 102 (without restrictions) cpu 103 (without restrictions). the ip 267 processes all the input and output signals necessary for approaching the required positions autonomously in an application-specific integrated circuit (asic). the cpu can, in the meantime, scan all signals present and communicate with the i/o modules. the control actions in the ip 267 do not load the cpu. since the ip 267 is only used in conjunction with the s5-100u, this manual pre- supposes you are familiar with the manual of the programmable controler. the basics of step 5 programming and the principles of program execution are therefore not described here. the application examples in chapter 6 are intended to help you familiarize yourself with the module. however, the ip 267 is used in a wide range of applications so that it is impossible to discuss all the problems that might occur in day-to-day use. should you have problems, please contact your nearest siemens representative. ewa 4neb 812 6061-02a v
ip 267 introduction introduction the following pages contain information which will help you to use this manual. description of contents the manual covers the following topics: system overview (functional description, schematic diagram) driving stepper motors with the ip 267 (fundamental terms of stepper motor control, description of the con- figuration data) module description (technical specifications, power supply, input and output signals, terminal assignments, status displays, connecting cables for power sections) addressing and programming (address assignment of the configuration message frames, positioning message frames and feedback message frames, flowchart) notes on operation (preparing the module, system startup, determining reference points, motor selection, diagnostics sheet) application examples (program examples for various applications) fb for assigning parameters to the ip 267 at the end of the book, you will find correction forms. please enter any suggestions you may have in the way of improvements or corrections in this form and send it to us. your comments will help us to improve the next edition. ewa 4neb 812 6061-02a vii
introduction ip 267 courses siemens provide simatic s5 users with extensive opportunities for training. for more information, please contact your siemens representative. reference literature this manual is a comprehensive description of the ip 267 stepper motor controller. other topics of the simatic? s5 range are only briefly dealt with. you will find more detailed information in the following literature: programming primer for the simatic ? s5-100u practical exercises with the pg 615 programmer siemens ag, berlin and munich, 1988 contents: - design and installation of the s5-100u programmable controller - introduction to programming with the pg 615 order no.: isbn 3-8009-1528-6 speicherprogrammierbare steuerungen sps (available in germany only) volume1: logic and sequential controls, from the control problem to the control program. gnter wellenreuther, dieter zastrow braunschweig 1987 contents: - how a programmable controller works - the theory of logic control using the step 5 programming language for simatic s5 programmable controllers. order no.: isbn 3-528-04464-0 viii ewa 4neb 812 6061-02a
ip 267 introduction automating with the s5-115u simatic s5 programmable controllers hans berger siemens ag, berlin and munich 1987 contents: - step 5 programming language - program processing - integral program blocks - interfaces to the peripherals order no.: isbn 3-8009-1484-0 conventions in order to improve the readability of the manual, a menu-style breakdown was used, i.e.: the individual chapters can be quickly located by means of a thumb register. there is an overview containing the headings of the individual chapters at the beginning of the manual. each chapter is preceeded by a breakdown of its subject matter. the individual chapters are subdivided into sections and subsections. bold face type is used for further subdivisions. pages, figures and tables are numbered separately in each chapter. the page following the chapter breakdown contains a list of the figures and tables appearing in that particular chapter. certain conventions were observed when writing the manual. these are explained below. a number of abbreviations have been used. example: central processing unit (cpu) cross-references are shown as follows: o( 7.3.2)o refers to subsection 7.3.2. no references are made to individual pages. ewa 4neb 812 6061-02a ix
introduction ip 267 information of particular importance appears between two thick gray bars. note: a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a additional information; highlighting a special feature or characteristic. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a c a u t i o n information you must observe to avoid damage to the hardware or software. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 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a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a manuals can only describe the current version of the programmable controller. should modifications or supplements become necessary in the course of time, a supplement will be prepared and included in the manual the next time it is revised. the relevant version or edition of the manual appears on the cover. in the event of a revision, the edition number will be incremented by o1o. x ewa 4neb 812 6061-02a
1.1 block diagram of the ip 267 stepper motor controller . 1 - 2 1 system overview a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 1 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
figures 1-1. block diagram of the ip 267 . . . . . . . . . . . . . . . . . . . . . . . .1 - 2 1-2. installing the ip 267 in the bus module . . . . . . . . . . . . . . . . 1 - 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 system overview 1 system overview as an intelligent input/output module, the ip 267 adds positioning to the repertoire of the s5-100u programmable controller. the ip 267 controls positioning processes independent of the execution times of the user programs in the programmable controller and the cpu is not loaded by current positioning jobs. you can plug the ip 267 into slots 0 to 7 of the s5-100u where it occupies addresses in the analog address area of the programmable controller (bytes 64 to 127). the ip 267 runs with all cpus except the cpu 100 (6es5 100-8ma01). the ip 267 has the following performance characteristics: serial interface to the s5-100u programmable controller digital inputs for calibrating and limiting traversing ranges status displays for various operating states programmable pulse generator interfaces for commercial stepper motor power sections with 5 v differential inputs or other logic inputs in the range of 5 v to 30 v. 1 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 1-1
system overview ip 267 1.1 block diagram of the ip 267 stepper motor controller figure 1-1. block diagram of the ip 267 rdy act abt sliding switch signal level converter asic (pulse generation and communication) shift register -l srg data bus 9 v data gnd 5 v 9 v t f 5 v 24 v e- e+ ref stop is n status displays g 5 v 9 v us 5 v nl tn tn n rp rp n t e r m i n a l b l o c k 1-2 ewa 4neb 812 6061-02a

2.1 principle of operation of the ip 267 . . . . . . . . . . . . . . . . . . 2 - 1 2.2 configuration message frame . . . . . . . . . . . . . . . . . . . . . . .2 - 2 2.2.1 limit switch configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 2- 3 2.2.2 base value for frequencies (bv) . . . . . . . . . . . . . . . . . . . . .2 - 3 2.2.3 start/stop rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2- 3 2.2.4 time interval for stepping rate increase and rate decrease (ti) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2- 4 2.3 full-step or half-step mode . . . . . . . . . . . . . . . . . . . . . . . . . 2- 5 2 driving stepper motors with the ip 267 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
figures 2-1. velocity profile of the ip 267 . . . . . . . . . . . . . . . . . . . . . . . . . 2- 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 driving stepper motors with the ip 267 2 driving stepper motors with the ip 267 to aid your understanding of the following chapters, this chapter deals with some fundamental terms and with the principle of operation of the stepper motor controller. 2.1 principle of operation of the ip 267 the ip 267 generates pulses for the stepper motor power section. the number of output pulses determines the length of the traversing path and the pulse frequency is a measure of the velocity. each pulse causes the stepper motor shaft to turn through a certain angle. in the case of high-speed pulse trains, this step movement becomes a constant rotational movement. stepper motors can reproduce all movement sequences excactly as long as no steps are lost. step losses can be caused when load variations occur or when the programmed pulse trains exceed motor-specific values ( 5.6). to enable the ip 267 to generate these pulse trains, the user must enter the following data: configuration data; this data describes the individual traverse jobs and the technical characteristics of the drive system ( 4.1). positioning data; you describe the individual traverse jobs and indicate the velocities, directions and lengths of the configured paths ( 4.2). the ip exchanges data with the programmable controller via the serial interface ( figure 1-1.). during the program scans, all necessary information is sent from the process output image (piq) to the ip 267 in 4-byte long message frames. the ip 267 cyclically transmits feedback signals on the distance to go and various status bits to the process input image (pii). see 4.1 to 4.3 for more details. 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 2-1
driving stepper motors with the ip 267 ip 267 using the configuration and positioning data settings, the ip 267 generates a symmetrical traverse profile consisting of an acceleration ramp, a constant velocity range and a deceleration ramp. figure 2-1. velocity profile of the ip 267 f a t f ss f ss = start/stop rate; f a =stepping rate a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 1 . accelera- tion ramp 2 . constant stepping rate/velocity range a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3.decelera- tion ramp f 2.2 configuration message frame the configuration message frame data must be sent to the module at startup, after every interruption in the power supply and following response of the emergency limit switch (pd). the module can only accept positioning data if the signals of the emergency limit switch (pd) are present and if they have been configured. the module signals this status with the green ordyo led on its frontplate: ordyo lights up if the ip 267 can accept positioning jobs. see chapter 6.1 for a programming example for configuration. the following are details of the information each configuration message frame must contain: end switch configuration base value for the stepping rate start/stop rate time interval for stepping rate increase and decrease the meaning of this information is described in the following pages. 2-2 ewa 4neb 812 6061-02a
ip 267 driving stepper motors with the ip 267 2.2.1 limit switch configuration the ip 267 can monitor the end points of the traversing range and interrupt traverse movements if the permissible range is exceeded. you must connect limit switches to the digital inputs i+ and i - for this purpose. you can use both nc and no switches here. you can determine the desired signal behaviour with the limit switch configuration (o0o active for ncs or o1o active for nos.). see chapter 4.1.3 for further details on this point . 2.2.2 base value for frequencies (bv) you can select frequency ranges by setting a base value for the start/stop rate and for the stepping rate f a . the base value multiplied by the ss value (multiplier for f ss ) gives the start/stop rate: if you multiply bv with v (multiplier for f a ) you get the stepping rate f a ( 4.1.5). the duration of the output pulses is determined by the frequency range set ( table 4-4.). frequency range: 0.4 hz to 204 khz relevant pulse duration: 255 s to 1 s 2.2.3 start/stop rate stepper motors can be driven by the ip 267 from standstill with the start/stop rate f ss without losing steps or coming to a standstill. the value for f ss must be found specially for each plant ( 6.6.3). during the deceleration phase, the frequency is continuously reduced from the stepping rate f a to the start/stop rate f ss . the ip 267 cannot generate control pulses lower than the start/stop rate ( figure 2-1.). you can set a value between 1 and 255 with bits ss 0 to ss 7. if you multiply this value with the base value (bv) for the stepping rates, you get the start/stop rate. 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 2-3
driving stepper motors with the ip 267 ip 267 the following formula applies: f ss (hz) = bv (hz) ss r f ss = start/stop rate bv = base value for the frequency ss = multiplier for the start/stop rate r = reduction factor (1 oder 0.1) for the start/stop rate (f ss ) and the stepping rate (f a ) the reduction factor r is transferred with the positioning job. starting from the start/stop rate f ss , the frequency is incremented by a certain amount after each time interval (ti), until the preset stepping rate is reached. the absolute value for the frequency increase in the stepping rate is linked to the preset base value (bv) for the frequencies. the number of the pulses output in the acceleration range is acquired by an internal counter and used as a position setting for the deceleration range. the stepping rate is modified by the same amount in the deceleration range as in the acceleration range. this generates a symmetrical velocity profile with equal acceleration and deceleration curves ( figure 2-1.). this profile is also main- tained when the traversing motion is interrupted, e.g. by limit switches (i+, i -), the stop switch or reference point switch. only by the emergency limit switch (pd) is a traversing motion immediately interrupted, i.e. without deceleration ramp ( 3.4). 2.2.4 time interval for stepping rate increase and rate decrease (ti) starting from the start/stop rate, the acceleration rate is incremented by a quarter of the base value (bv) after each time interval (ti), until the stepping rate is reached. in the deceleration range, the frequency is reduced by the same amount after each time interval. you can determine the time interval ti with bits ti 0 to ti 7 and the value set is multiplied by a basic time of 32 s ( 4.1.4). 2-4 ewa 4neb 812 6061-02a
ip 267 driving stepper motors with the ip 267 2.3 full-step or half-step mode most power sections can operate stepper motors in half-step mode or in full-step mode. the dynamic torque of a stepper motor increases in half-step mode, but the motor requires double the number of pulses per revolution since the step angle is halved. path resolution doubles in the case of half-step mode, thus achieving higher positioning accuracy. the acceleration value and the maximum traversing velocity are reduced by half compared to full-step mode. you can set full-step or half-step mode on almost all stepper motor power sections using dip switches, etc. you do not have to change anything on the stepper motor itself. however, please follow the relevant power section manufactureras instructions. 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 2-5
3 module description a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3.1 general technical specifications. . . . . . . . . . . . . . . . . . . . .3 - 1 3.2 power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3- 2 3.3 terminal block connector pin assignments. . . . . . . . . . . 3 - 3 3.4 technical specifications of the digital inputs. . . . . . . . . . 3 - 4 3.5 technical specifications of the drive circuit. . . . . . . . . . . 3 - 6 3.6 status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3- 8 3.7 connecting cables for power sections. . . . . . . . . . . . . . . . 3 - 9 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
tables 3-1. general technical specifications (part 1) . . . . . . . . . . . . . . 3 - 1 3-2. general technical specifications (part 2) . . . . . . . . . . . . . . 3 - 2 3-3. ip 267 terminal block connector pin assignments . . . . . . 3 - 3 3-4. digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3- 5 3-5. connector pin assignments between the ip 267 connecting cable and the power section . . . . . . . . . . . . . 3 - 9 figures 3-1. terminal block assignment schematic . . . . . . . . . . . . . . . . 3 - 3 3-2. schematic of the drive circuit . . . . . . . . . . . . . . . . . . . . . . . .3 - 6 3-3. 9-way subminiature d female connector for connecting the stepper motor power sections (terminal end) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3- 7 3-4. frontplate of the ip 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3- 8 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 module description 3 module description this chapter will give you an overview of the technical specifications of the ip 267, the power supply, terminal assignments of the terminal block, input and output signals, status displays on the frontplate and a list of the connecting cables for the power sections. 3.1 general technical specifications table 3-1. general technical specifications (part 1) temperature operation - horizontal arrangement 0 to +60 c - vertical arrangement 0 to+40 c (intake air temperature measured at the bottom of the modules) storage/shipping -40 c to +70 c temperature change - operation max. 10 c / h - storage/shipping max. 20 c / h relative humidity to din 40040 15 ... 95% (indoor) noncondensing atmospheric pressure - operation 860 to 1060 hpa - storage/shipping 660 to 1060 hpa to iec 68-2-6 10 to 57 hz, (constant amplitude 0.15 mm/0.006 in. ) 57 to500 hz, (constant acceleration 2 g) to iec 68-2-27 12 shocks (semisinusoidal 15 g / 11 ms) to iec 68-2-32 height of fall 1 m/3.3ft. vibration - tested with shock - tested with free-fall - tested with mechanical environmental conditions climatic environmental conditions 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 3-1
module description ip 267 table 3-2. general technical data (part 2) ip 20 to iec 529 i to iec 536 to vde 0160 sinusoidal 50 hz 500 v degree of protection - class insulation rating - between electrically independent circuits and - circuits connected to a central ground point test voltage for a rated voltage v e of the ac or dc circuits of v e =0 to 50 v specifications on iec/vde safety damped oscillatory wave test (1 mhz) to iec 255-4 digital input/output modules 1 kv radiated electromagnetic field test to iec 801-3 field intensity 3 v / m fast transient burst test to iec 801-4 digital input/output modules 1 kv static electricity test to iec 801-2 discharge onto all parts accessible to the user in normal operation 3 kv electromagnetic compatibility (emc) noise immunity 3.2 power supply supply voltage from the bus 9 v current consumption approx. 150 ma special voltage v s 5 v to 30 v 3-2 ewa 4neb 812 6061-02a
ip 267 module description 3.3 terminal block connector pin assignments figure 3-1. terminal block assignment schematic 10 9 8 7 6 5 4 3 2 1 c a u t i o n : always connect the zero voltage reference for nl (pin 2 of the terminal block) to the ground of the pc. only this will guarantee problem-free operation of the module. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a table 3-3. ip 267 terminal block connector pin assignments meaning pin 1 2 3 4 5 6 7 8 9 10 --- nl reference potential to v s and the digital inputs eplus digital input for limit switch i+ eminus digital input for limit switch i - ref digital input for reference switch stop digital input for external stop is digital input for emergency limit switch (pulse inhibit) --- v s special voltage v s (input) --- a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 3-3
module description ip 267 3.4 technical specifications of the digital inputs the ip 267 can calibrate and limit the traversing range via five digital inputs (24 v). limit switches for initiating deceleration can be connected to the inputs i - and i +. you can set the method of signal evaluation ("0"-active or "1"-active) when configuring the module. the stop input terminates the traversing movement and also initiates deceleration; it always has the same signal evaluation as inputs i - and i+. reference switches (beros, etc.) can be connected to the ref input. the pd input is for connecting emergency limit switches and the input is always "0"-active (nc). pulse output is inhibited immediately when the emergency limit switch (pd) responds. the red "abt" led on the frontplate of the ip 267 lights up. you must proceed as follows if the ip is to accept new positioning jobs: the emergency limit switch must be enabled again. the configuration data on the ip 267 must be deleted, causing the "abt" and "rdy" leds to go out. the configuration data must be transferred back to the ip 267. the green "rdy" led lights up when the module is configured. note: a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a the ip 267 is disabled when the emergency limit switch responds and it can only accept new positioning jobs if you delete the old configuration data and then reconfigure the module. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3-4 ewa 4neb 812 6061-02a
ip 267 module description table 3-4. digital inputs i - i+ stop limit switches that can initiate deceleration emergency limit switch (pulse disable) switch initiates deceleration in conjuction with the "reference point approach" mode. is ref a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a switch can be configured for "0" active (nc) or "1" active (no). always "0" active always "1" active rated input voltage: 24 v number of inputs: 5 galvanic isolation: no input voltage: with signal 0 -33 v to 5 v with signal 1 13 v to 33 v input current: typ. 8.5 ma supply voltage for two-wire beros: 22 v to 30 v c a u t i o n emergency limit switches (pds) are always "0" active (nc). if you use several emergency limit switches (pds) you must connect them in series. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 3-5
module description ip 267 3.5 technical specifications of the drive circuit commercial stepper motor power sections can be connected to the drive circuit of the ip 267. the "clock" (tn) and "direction level" signals can be operated both with 5 v (internal) or with a special voltage of v s = 5 v to 30 v (external). this allows you to operate power sections with both 5 v differential inputs (rs 422) or logic inputs in the range 5 v to 30 v. you can set the desired voltage type with the sliding switch on the frontplate. the special voltage v s is connected via terminals 2 to 9 on the terminal block ( 3.3). the output signals (clock and direction level) are available inverted and non-inverted and the drive circuits are current-limited. figure 3-2. schematic of the drive circuit power supply unit v s term. 2 term. 9 m tn pin 9 pin 4 pin 2 nl tn n e.g. clock 5 v v s v ss cpu v dd a a a a a a a a a a a a a a a 9 v a a a a a a a a a a a a 5 v 3-6 ewa 4neb 812 6061-02a
ip 267 module description the control pulses are available at a 9-way subminiature d female connector on the frontplate of the ip 267. figure 3-3. 9-way subminiature d female connector for connecting the stepper motor power sections (terminal end) 1 2 3 4 5 6 7 8 9 pin meaning a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 2 tn clock 4 tn n clock inverted 7 rp direction level 8 rp n direction level inverted 9 nl ground output voltages: when supplied with +5 v: signal 0 max. 0.4 v signal 1 min. 4.5 v when supplied with v s : signal 0 max. 0.4 v (v s =5 v to 30 v) signal 1 min. v s - 0.4 v output current: 20 ma (current-limited) stepping rate: max. 204 khz, independent of output voltage numb. of steps: max. 2 20 - 1 = 1 048 575 pulses / job permissible cable length: max. 50 m at 50 khz, twisted wire pairs. 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 3-7
module description ip 267 3.6 status displays after you have switched on the power supply and connected the emergency limit switch (pd), you must transfer the user-specific configuration data (frequency range, start/stop rate, time interval for acceleration and deceleration, operating mode, selector signal for limit switch configuration) to the ip 267. the module can only accept positioning jobs when it has received a valid configuration message frame. this is indicated by the green "rdy" led on the frontplate ( figure 3-4.) and in the status bit of the feedback message frame. another green "act" led signals pulse output in the case of a positioning job. the red "abt" led lights up when positioning jobs have been interrupted e.g by the emergency limit switch (pd). figure 3-4. frontplate of the ip 267 abt u s 5v act rdy stepper motor modul ip 267 6es5 267-8ma11 123456 6 red led sliding switch for voltage selection green led green led 9-way subminiature d female connector for connecting a stepper motor power section 3-8 ewa 4neb 812 6061-02a
ip 267 module description 3.7 connecting cables for power sections to make the connection of power sections easier, there are connecting cables with open cable ends available for the user. 5 m long: order no.: 6es5 736-6bf00 10 m long: order no.: 6es5 736-6cb00 16 m long: order no.: 6es5 736-6cb60 ( catalog st 52.3) table 3-5. connector pin assignments between the ip 267 connecting cable and the power section meaning core colour pin 2 4 7 8 9 white brown green yellow grey a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a tn clock tn _ n clock inverted rp direction level rp _ n direction level inverted nl ground the cable shielding is connected to the connector shell. ip 267 connector set (6es5 750-2aa11) there is a connector set for connecting power sections available for those users who do not dod not favor prefabricated cable assemblies. this set consists of a pin connector insert (for soldered connection), the upper and lower shell sections with assembled shields, cable clamps and screws. 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 3-9
4 addressing and programming 4.1 configuring the ip 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 3 4.1.1 address assignment of the configuration message frames (pc to ip) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 4 4.1.2 byte 0: multiplier for the start/stop rate (ss) . . . . . . . . . . 4 - 5 4.1.3 byte 1: limit switch configuration (lsc) and operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 5 4.1.4 byte 2: time interval (ti) for rate increase/decrease . . . 4 - 5 4.1.5 byte 3: base value for the frequencies (bv) . . . . . . . . . . . 4 - 6 4.1.6 deleting the configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 7 4.2 positioning message frames (pc to ip) . . . . . . . . . . . . . . . . 4 - 8 4.2.1 address assignment of the positioning message frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 9 4.2.2 byte 0: multiplier for the velocity (v) . . . . . . . . . . . . . . . . . 4 - 10 4.2.3 byte 1: path/operating mode . . . . . . . . . . . . . . . . . . . . . . .4 - 11 4.2.4 byte 2: path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 14 4.2.5 byte 3: path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 14 4.3 feedback message frames (ip 267 to pc) . . . . . . . . . . . . . . 4 - 15 4.3.1 address assignment of the feedback message frames . 4 - 16 4.3.2 byte 0: status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 17 4.3.3 byte 1: status bits and distance to go . . . . . . . . . . . . . . . . . 4 - 18 4.3.4 byte 2: distance to go . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 20 4.3.5 byte 3: distance to go . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 20 4.4 combining the message frame assignments and the most important formulas . . . . . . . . . . . . . . . . . . . . . . . .4 - 21 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
figures 4-1. velocity profile of the ip 267 . . . . . . . . . . . . . . . . . . . . . . . . . 4- 2 4-2. operating modes diagram . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 14 4-3. flowchart for job monitoring with the oijeo bit . . . . . . . 4 - 19 tables 4-1. address assignment of the modules . . . . . . . . . . . . . . . . . . 4 - 1 4-2. addressing the configuration message frames . . . . . . . . 4 - 3 4-3. address assignment of the configuration message frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 4 4-4. selecting the frequency range . . . . . . . . . . . . . . . . . . . . . .4 - 6 4-5. addressing the positioning message frames . . . . . . . . . . . 4 - 8 4-6. address assignment of the positioning message frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 9 4-7. operating mode bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 11 4-8. addressing feedback message frames . . . . . . . . . . . . . . . . 4 - 15 4-9. address assignment of the feedback message frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 16 4-10. address assignment of the configuration message frames (pc to ip 267) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 21 4-11. address assignment of the positioning message frames (pc to ip 267) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 20 4-12. address assignment of the feedback message frames (pc to ip 267) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 22 4-13. frequency ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4- 23 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 addressing and programming 4 addressing and programming the ip 267 can be plugged into slots 0 to 7 of the s5-100u programmable controller. there are eight bytes reserved for each slot in both the process input image (pii) and the process output image (piq) and data exchange is via the first four bytes of the pii and the piq. the last four bytes of the pii and the piq remain free but they cannot be reserved for other uses. the ip 267 is accessed via the process i/o images (pii, piq) with the same input addresses and output addresses (address overlap). table 4-1. address assignment of the modules cpu ps analog addresses 64 to 71 72 to 79 80 to 87 88 to 95 96 to 103 104 to 111 112 to 119 120 to 127 0 1 2 3 4 5 6 7 slots a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a not permis- sible from slot 8 onward 9 8 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a the permissible address area ranges from 64 to 127. the ip 267 is accessed with byte or word load and transfer operations just like analog input/output modules. example: data exchange between the cpu and the ip 267 (on slot 3) liw 88 and liw 90 tqw 88 and tqw 90 cpu ip 267 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-1
addressing and programming ip 267 the ip 267 exchanges data with the cpu of the programmable controller via the serial interface. the user writes configuration data and positioning jobs into the process output image (piq). from there this data is transferred once in every data cycle to the ip 267. a disable in the ip 267 prevents the same jobs being executed repeatedly. the ip 267 generates symmetrical velocity profiles from the configuration and positioning data. these profiles have equal acceleration and deceleration ramps ( figure 4-1.). figure 4-1. velocity profile of the ip 267 t f ss f ss = start/stop rate, f a = stepping rate a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 1 . accele- ration ramp 2 . constant stepping rate/velocity range a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 3.decele- ration ramp f f a data from the ip 267 (feedback messages, distance to go, status) is stored in the process input image (pii) cyclically and can be transferred cyclically from there to the user program. 4-2 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.1 configuring the ip 267 the ip 267 must always be configured after commissioning or after deleting valid configuration data. the data is transferred to the ip 267 only after applying the emergency limit switches (pds). the first data set transferred from the pc to the ip is interpreted as the configuration message frame, provided the multiplier for the start/stop rate is not zero and the configuration bits are reset (kb0=0 and kb1=0). note: the cpu cannot read the currently valid configuration data direct from the ip 267. it is therefore advisable to store the configuration data additionally in two flag words or in a data block on the cpu when you configure the module. you can then access this data at any time. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a table 4-2. addressing the configuration message frames slot no. byte 012 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 qb64 qb65 qb66 qb67 72 73 74 75 80 81 82 83 88 89 90 91 96 97 98 99 104 105 106 107 112 113 114 115 120 121 122 123 6 5 4 3 2 1 0 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-3
addressing and programming ip 267 4.1.1 address assignment of the configuration message frames (pc to ip) table 4-3. address assignment of the configuration message frames 7 6 5 4 3 2 1 0 byte 3 byte 2 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 byte 1 byte 0 7 6 5 4 3 2 1 0 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a lsc limit switch configuration unassigned kb1 kb0 configuration bits multiplier for the start/stop rate 1 ss 255 unassigned unassigned time interval (ti) for stepping rate increase/decrease 1 ti 255 fb2 fb1 fb0 base value for the rates unassigned a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4-4 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.1.2 byte 0: multiplier for the start/stop rate (ss) bit 0 to 7: the process output image (piq) has "0" default after resetting. you must enter a value between 1 and 255 in byte 0, otherwise the configuration message frame will be ignored. f ss (hz) = bv(hz) * ss * r f ss = start/stop rate bv = base value for the rate ( table 4-4.) ss = multiplier for the start/stop rate (1 to 255) r = reduction factor (1 or 0.1). this factor is determined during the current positioning job. 4.1.3 byte 1: limit switch configuration (lsc) and operating modes bit 1= 0: inputs i+, i- (external stop) "0"-active (nc) bit 1= 1: inputs i+, i- (external stop) "1"-active (no) bit 4 to 5: both configuration bits kb0 and kb1 must be "0" for the con- figuration message frame to be accepted. this is always the case during startup or when switching on the power. 4.1.4 byte 2: time interval (ti) for rate increase/decrease you determine the values for ti with bits ti 0 to ti 7. during the acceleration phase, the rate is incremented from the start/stop rate f ss . it is incremented in each time interval by a quarter of the base value (bv) until the stepping rate f a is reached. the stepping rate is decremented in the same way in the deceleration phase. 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-5
addressing and programming ip 267 bit 0 to 7: you must enter a value for the multiplier ti between 1 and 255 in byte 2 of the configuration message frame. the value "0" disables pulse generation. during cold restart or on power up, the value "0" for ti is entered in the piq. bv (hz) * r 4 * 0.032 ms * ti a (hz/ms) = a = frequency increase or decrease bv = base value for the frequency ( table 4-4.) ti = multiplier for the time interval ti (1 to 255) r = reduction factor (1 or 0.1). this factor is determined in the current positioning job. 4.1.5 byte 3: base value for the frequencies (bv) bit 0 to 2: you can select the eight possible frequency ranges for bv with the three bits fb 0 to fb 2. if you do not enter a value, the module has a default value of bv = 800 hz on cold restart or on power up. table 4-4. selecting the frequency range fb2 1 1 1 1 1 0 0 1 1 1 0 0 0 1 1 0 1 0 0 0 0 20 8 0 0 1 400 200 40 4 204 6250 to 24.5 3 102 3125 to 12.25 7 51 1560 to 6.12 15 20.4 625 to 2.45 31 10.2 312 to 1.22 63 5.1 156 to 0.61 127 2.04 62.5 to 0.25 255 1.02 31.2 to 0.12 fb1 pulse dura- tion s) max. freq. in khz where v = 255 base value (hz) fb0 accel./decel. (hz/ms) ti = 1 to 255 800 80 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4-6 ewa 4neb 812 6061-02a
ip 267 addressing and programming the values for frequency and acceleration/deceleration in table 4-4. only apply if you set reduction factor 1 in the positioning job (bit r="0"). divide the values given by 10 (bit r="1") for reduction factor 0.1. the pulse duration is not affected by this. 4.1.6 deleting the configuration an existing ip 267 configuration can be deleted by sending a new job with the velocity 0 and operating mode "stop" to the ip 267 following transmission of a positioning job (bit iqa = 0). the module then switches over to the "non- configured" state; the leds on the front darken. the ip needs to be reconfigured before it can process any positioning jobs. 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-7
addressing and programming ip 267 4.2 positioning message frames (pc to ip) you must transfer the configuration data to the ip 267 ( 4.1) before you send positioning jobs. when the ip has been configured, the green "rdy" led on the frontplate lights up and the status bit ilcn in the feedback message frame is reset ( 4.3.2). a positioning job consists of the path definition (number of pulses to be executed), the multiplier for the velocity, the reduction factor for the velocity, the operating mode (forwards, backwards etc.) and an identifier bit for the reference point approach ( 5.4). . table 4-5. addressing the positioning message frames slot no. byte 012 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 qb 64 qb 65 qb 66 qb 67 72 73 74 75 80 81 82 83 88 89 90 91 96 97 98 99 104 105 106 107 112 113 114 115 120 121 122 123 6 5 4 3 2 1 0 4-8 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.2.1 address assignment of the positioning message frames table 4-6. address assignment of the positioning message frames om0 om1 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 byte 0 byte 1 multiplier for the velocity 1 v 255 byte 2 byte 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a step pulses for the path (binary coded) operating modes reduction factor r (1 or 0.1) reference point approach rpa step pulses for the path (binary coded) step pulses for the path (binary coded) 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 2 15 2 14 2 13 2 12 2 11 2 10 2 9 2 8 2 19 2 18 2 17 2 16 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-9
addressing and programming ip 267 4.2.2 byte 0: multiplier for the velocity (v) bit 0 to 7: you must enter a binary value between 1 and 255 in byte 0. you can calculate the stepping rate according to the following formula: f a (hz) = bv(hz) * v * r f a = stepping rate of the motor bv = base value for the frequency ( table 4-4.) v = multiplier for the velocity (1 to 255) r = reduction factor (1 or 0.1). the factor is determined in the current positioning job note: you can enter values from 1 to 255 for the multiplier. the maximum stepping rate with a base value of bv =800 hz is then 204 khz. the ip 267 cannot generate stepping rates lower than the preset start/stop rate (f ss ). lower stepping rates are corrected to the value of f ss . a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4-10 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.2.3 byte 1: path / operating mode the path is specified as the number of step pulses to be executed. bits p16 to p19 are the higher-order bits of the 20 bit address. the path can consist of a maximum of 1,048,575 pulses per job. bit 0 to 3: path p 16 to p 19 bit 4 to 5: operating mode bits om 0 and om 1: the ip 267 offers four basic operating modes each of which can be selected via the two operating mode bits om0 and om1 in the positioning job or during configuration ( table 4-7.). table 4-7. operating mode bits om 0 meaning om 1 0 0 1 1 stop start forwards start backwards neutral (preparation for a new job) a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 0 1 0 1 "stop" mode message frames with the "stop" mode are interpreted as follows by the ip 267: 1. "stop" in conjunction with velocity 0: interruption of current positioning jobs (with deceleration ramp) 2. "stop" in conjunction with velocity = 0: delete module configuration 3. "stop" in conjunction with start/stop rate (f ss ) 0: reconfigure module, e.g. after power failure you can abort positioning jobs by sending the "stop" mode to the ip. pulse output is not interrupted abruptly in this case but terminated with a deceleration ramp ( figure 2-1.) . 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-11
addressing and programming ip 267 the module is in a "non-configured" state after power failure since all data in the ip is deleted. the first message frame sent by the programmable controller to the ip 267 is interpreted as the configuration message if both operating mode bits signify "stop" status and if the start/stop rate is not zero. otherwise the data set is not accepted and the module remains in the "non-configured" state. valid configuration data can be deleted if the "stop" mode is sent to the ip in conjunction with the velocity setting zero. in this case, the "module configured" led (rdy) goes out. "start forwards" mode the ip 267 can only execute a "start forwards" job if it is in the "standstill" state and has previously executed one of the other operating modes ("start back- wards", "stop" or "neutral"); otherwise the module ignores the job. in the case of "start forwards", the ip 267 sets the rp (direction level) output to logic "1" and the rp _ n (inverted direction level) output to logic "0". "start backwards" mode in the case of jobs with the "start backwards" mode, the levels at outputs rp and rp _ n are exchanged (rp = "0", rp _ n = "1"). the ip 267 does not accept "start forwards" or "start backwards" positioning jobs with the path set to 0. "neutral" mode (preparation for a new job) the process output image piq is output to the modules connected each time the programmable controller program is scanned. a positioning job can therefore be sent to the ip 267 on several occasions but the ip only executes the first job. the ip will only execute a subsequent job if it receives a different operating mode to the previous one. if you allocate two traversing jobs with the same direction, you must remove the disable after the start of the first job by transferring "neutral" mode to the module. however, you should first scan the status message "job executing" (ije) to determine that the first job has been executed. if ije = 0, you can start a new job in the same direction. subsequent jobs with a different direction to the previous job can be started without first activating the "stop" or "neutral" modes ( 6.2.1). 4-12 ewa 4neb 812 6061-02a
ip 267 addressing and programming bit 6: reference point approach rpa the reference point marks a system zero point for the ip 267 from which it starts traversing jobs. you can calculate reference points if you connect a separate switch (bero, etc.) to the ref digital input. if you set bit rpa, a positive edge at the ref digital input initiates deceleration ( 5.4). bit 7: reduction factor r you can reduce the frequency range of the stepping rate and the start/stop rate by a factor of 10 using r. the pulse duration is unaffected by this. r="0" : reduction factor 1 r="1" : reduction factor 0.1 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-13
addressing and programming ip 267 figure 4-2. operating modes diagram job sequence a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a start backwards om 0 om 1 ipq ije idg a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a stop job a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a neutral job a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a external stop a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a start forwards a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a start forwards a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a start forwards status bits of the feedback message frame (ip 267 to pc) ipq = pulse output active ije = job executing idg = distance to go see 4.3.2 for further information on the feedback message frame. 4.2.4 byte 2: path bit 0 to 7: paths p 8 to p 15 4.2.5 byte 3: path bit 0 to 7: paths p 0 to p 7 4-14 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.3 feedback message frames (ip 267 to pc) information on the distance to go and the status bits of the ip 267 are sent in the feedback message frame to the addresses in the process input image (pii) ( table 4-8.). the process i/o images (pii and piq) are updated after every scan of ob 1. the contents of the piq are transferred to the ip 267 at the same time as the feedback messages of the ip 267 are transferred to the pii. the feedback messages of the ip 267 are therefore always delayed by one ob cycle. the feedback message for a particular positioning job can therefore be evaluated after the next ob cycle. the distance to go and the status bits are stored until the ip 267 receives a new positioning job or the configuration is deleted. bits "ipq" (pulse output), "ipd" (pulse disable), "ilcn" (configuration executed) and "ije" (job executing) are exceptions to this. ipq is only set for the duration of pulse output; "ipd" is set when the digital input pd (emergency limit switch) is active. you can only reset "ipd" when pd is no longer active (limit switch not activated) and the configuration of the module is deleted. table 4-8. addressing feedback message frames slot no. byte 012 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 qb 64 qb 65 qb 66 qb 67 72 73 74 75 80 81 82 83 88 89 90 91 96 97 98 99 104 105 106 107 112 113 114 115 120 121 122 123 6 5 4 3 2 1 0 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-15
addressing and programming ip 267 4.3.1 address assignment of the feedback message frames table 4-9. address assignment of the feedback message frames distance to go< 0 dgs job executing ije ip 267 not configured ilcn pulse disable ipd pulse output ipq distance to go idg limit switch end ilse limit switch start ilss reference point irp external stop ies 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 byte 0 byte 1 byte 2 byte 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a step pulses of the distance to go (binary coded) step pulses of the distance to go (binary coded) step pulses of the distance to go (binary coded) unassigned 2 19 2 18 2 17 2 16 2 15 2 14 2 13 2 12 2 11 2 10 2 9 2 8 4-16 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.3.2 byte 0: status bits bit 0: external stop - "ies" the "ies" bit is set if the digital input stop has been activated. the bit is reset by a new, valid job. bit 1: reference point - "irp" the "irp" bit is set if input ref has been activated during traversing movements with bit rpa set. the bit is reset by a new, valid job. bit 2: limit switch start - "ilss" the "ilss" bit is set if input i - has been activated during traversing movements with operating "start backwards" mode. the bit is reset by a job with operating "start forwards" mode even if the limit switch is still active. bit 3: limit switch end - "ilse" the "ilse" bit is set if input i+ has been activated during traversing movements with operating "start forwards" mode. the bit is reset by a job with operating "start backwards" mode even if the limit switch is still active. bit 4: distance to go - "idg" the "idg" bit is set if the ip 267 does not supply the specified number of pulses for a positioning job. the bit is reset after the complete number of pulses have been output. bit 5: pulse output - "ipq" the "ipq" bit is set as long as the module outputs step pulses. the bit is reset after the last pulse and the relevant pause has been output (period duration of the step frequency). 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-17
addressing and programming ip 267 bit 6: pulse disable - "ipd" the "ipd" bit is set if input pd is active. the ip 267 resets the "ipd" bit only when input pd is inactive and the module is reconfigured. bit 7: ip 267 not configured - "ilcn" the "ilcn" bit is reset if valid configuration data is transferred to the module during the configuration run. the bit is set by a job with zero velocity and "stop" mode. 4.3.3 byte 1: status bits and distance to go bit 0 to 3: distance to go dv 16 to dv 19 the distance to go indicates the number of (output) step pulses still to be executed. this number is stored in a 20-bit address as a binary value. p 16 to p 19 are the higher-order bits. bit 4 to 5: unassigned bit 6: job executing - "ije" the "ije" bit "job executing" is set as soon as a "start forwards" or "start backwards" job is transferred to the ip 267 and executed. the "ije" bit is reset if the operating mode changes to neutral or stop and pulse output of the current job is complete (both conditions must be met). you can use "ije" as an acknowledgement bit if you execute positioning jobs with extremely short paths: if the duration of pulse output is shorter than the pc scan time, you cannot use the status feedback message "ipq" to check if a job has already been executed. by contrast, "ipq" remains set even after pulse output ( figure 4-2.). 4-18 ewa 4neb 812 6061-02a
ip 267 addressing and programming figure 4-3. flowchart for job monitoring with the "ije" bit start job neutral (stop) reset no yes ije=0 wait cycle ob1 bit 7: sign of the distance to go dgs "0"=positive "1"=negative the ip 267 can abort positioning jobs with external signals, e.g. with the limit switches eplus or eminus. after abort signals in the acceleration phase, the ip continues sending pulses for another 50 ms at the rate already reached. after expiration of these 50 ms, it will initiate the deceleration phase. this procedure avoids sudden rate changes which could result in step losses. note: in the case of an abort in the acceleration phase, the ip 267 outputs more pulses than provided for under the following conditions: - 33% to 37.5% of all pulses have already been output - the velocity reached at job abort was so high that, during the period of 50 ms, the same number of pulses was output as during the acceleration phase. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-19
addressing and programming ip 267 since exactly the same number of pulses are output in the deceleration phase as in the acceleration phase, the ip 267 outputs a maximum of 112.5% (3 x 37.5%) of the specified pulses. the distance to go has a negative sign in this case and the "dgs" bit is set. you can interrupt your program at this point, if necessary, and take suitable measures, e.g. start a reference point approach. 4.3.4 byte 2: distance to go bit 0 to 7: distance to go dv 8 to dv 15 4.3.5 byte 3: distance to go bit 0 to 7: distance to go dv 0 to dv 7 4-20 ewa 4neb 812 6061-02a
ip 267 addressing and programming 4.4 combining the message frame assignments and the most important formulas table 4-1. address assignment of the configuration message frames (pc to ip 267) multiplier v for velocity factor reference point approach bit rpa operating modes om 1 om 0 path 2 16 to 2 19 2 15 to 2 8 2 7 to 2 0 multiplier for the start/stop rate unassigned kb1 kb0 unassigned limit switch low/high active unassigned time interval ti for frequency increase unassigned byte 2 70 byte 1 76543210 byte 3 7 . . . 3 2 1 0 byte 0 7 . . . 0 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a byte 3 70 byte 2 70 byte 1 7 6 5 4 3 . . . 0 byte 0 7 . . . 0 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a table 4-11. address assignment of the positioning message frames (pc to ip 267) config. bits base value fb 2 for frequencies fb 1 fb 0 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-21
addressing and programming ip 267 table 4-12. address assignment of the feedback message frames (pc to ip 267) status : 0: external stop ies 1: reference point approach irp 2: lim. switch start ilss 3: lim. switch end ilse 4: distance to go idg 5: pulse output ipq 6: pulse disable eis 7: ip not config. ilcn status: 7: dist. to go < 0 dgs 6: job executing ije unassigned dist. to go 2 16 to 2 19 2 15 to 2 8 2 7 to 2 0 byte 3 7 . . . 0 byte 2 7 . . . 0 byte 1 76543 . . . 0 byte 0 7 6543210 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 4-22 ewa 4neb 812 6061-02a
ip 267 addressing and programming table 4-13. frequency ranges 31.2 to 0.12 4 stepping rate (f a ): f a (hz) = bv(hz) * v * r 20 8 fb 1 base value (hz) fb 0 fb 2 1 1 0 1 1 0 0 0 0 0 0 1 400 0 1 0 200 0 1 1 80 1 0 0 40 1 1 1 2 204 6250 to 24.50 3 102 3125 to 12.25 7 1560 to 6.12 15 20.40 31 10.20 312 to 1.22 63 156 to 0.61 127 62.5 to 0.25 255 1.02 pulse dura- tion ( s) max. freq. in khz at v=255 accel./decel. (hz/ms) ti=1 to 255 800 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a frequency increase/decrease: ss= multiplier for the start/stop rate (1 to 255) ti = multiplier for the time interval ti (1 to 255) v= multiplier for the velocity (1 to 255) bv = base value for frequencies r = reduction factor (1 or 0.1). this factor is determined in the current positioning job. start/stop rate (f ss ): f ss (hz) = bv(hz) * ss * r bv (hz) * r 4 * 0.032 ms * ti a (hz/ms) = formulas for frequency calculation and frequency modification: 51 5.10 2.04 625 to 2.45 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 4-23
5.1 safety concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 1 5.2 preparing the ip 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 2 5.2.1 which signals are required for the power section? . . . . 5 - 2 5.2.2 which addresses are assigned? . . . . . . . . . . . . . . . . . . . . . .5 - 3 5.2.3 preparing the power section . . . . . . . . . . . . . . . . . . . . . . . . . 5- 4 5.3 startup of the plant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 5 5.4 determining a reference point . . . . . . . . . . . . . . . . . . . . . .5 - 8 5.4.1 determining a reference point with separate switch . . 5 - 8 5.4.2 determining a reference point with limit switches . . . . 5 - 9 5.5 notes for direct data entry with programmers or operator panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 10 5.6 motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 12 5.6.1 determining the motor identification data . . . . . . . . . . . 5 - 13 5.6.2 selecting the power section . . . . . . . . . . . . . . . . . . . . . . . . . 5- 14 5.7 diagnostics sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 16 5 notes on operation a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
figures 5-1. typical data exchange between the cpu and the ip 267 (in slot 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 3 5-2. arrangement of limit switches and emergency limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 5 5-3. distances between limit switches and emergency limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 7 5-4. reference point calculation with the ref switch . . . . . . . 5 - 10 5-5. determining a reference point with the i+ switch . . . . . 5 - 10 5-6. typical torque characteristic as a function of the frequency of a stepper motor . . . . . . . . . . . . . . . . . . .5 - 14 tables 5-1. addressing the modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 3 5-2. connector assignments ip 267 (6es5 267-8ma 11) . . . . . 5 - 4 5-3. output signals of the ip 267 . . . . . . . . . . . . . . . . . . . . . . . . . 5- 15 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 notes on operation 5 notes on operation please ensure that your programmable controller meets the following require- ments: the s5-100u is properly installed and wired; the power supply unit is connected according to regulations ( s5-100u manual); the cpu of the s5-100u can work with the ip 267 ( preface). you require a programmer (pg 605/615/635/675/685/695 or 750) with the step 5 programming package for configuring and programming the ip 267. 5.1 safety concept the following switching elements are indispensable to the safety concept of the system and must therefore be installed with great care and adapted to the conditions of the system: emergency off switches, with which you can switch off the whole system ( caution block on the next page). limit switches, with which you limit the traversing range. these switches initiate programmed deceleration and can be connected to the digital inputs i + and i - as ncs or nos. two emergency limit switches, which only respond after a limit switch has responded. the input pd is always "0" active, i.e. this circuit is closed-circuit protected. you can only use ncs as emergency limit switches (pds) and combinations of emergency limit switches (pds) must always be connected in series. these switches disable pulse output immediately and they must be connected to the digital input pd of the ip 267. when making these connections, please observe the required clearances between pd and i + and i - ( figure 5-3.). 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-1
notes on operation ip 267 the ip 267 safety switches (limit switches, emergency limit switches, stop switches) can stop the stepper motor but the motor windings are not then completely free of current. the residual current still flowing holds the motor in position. you may not be able to move the drive out of the danger zone in emergencies. for this reason, you should install an emergency off switch to switch off the power section. w a r n i n g a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 5.2 preparing the ip 267 the ip 267 offers a variety of connections so please make sure which signals and signal levels you require for your system and tick the marked fields where required. 5.2.1 which signals are required for the power section? 5 v differential inputs or 5 v optocoupler inputs. ( ) set the sliding switch on the frontplate of the ip 267 to "5 v". 5 v to 20 v inputs, special voltage v s .() set the sliding switch on the frontplate of the ip 267 to "v s ". 5-2 ewa 4neb 812 6061-02a
ip 267 notes on operation 5.2.2 which addresses are assigned? the ip 267 assigns addresses in the analog range of the s5-100u. the module addresses are preset by the fixed slot addressing of the programmable controller. you can operate the ip 267 in slots 0 to 7 ( table 5-1.). eight bytes are reserved per slot and the first four of these bytes are assigned. table 5-1. addressing the modules cpu ps analog addresses 64 to 71 72 to 79 80 to 87 88 to 95 96 to 103 104 to 111 112 to 119 120 to 127 0 1 2 3 4 5 6 7 slot a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a if you use the ip 267 in slot 3 of the programmable controller, for example, bytes 88 to 91 in the process output image (piq) and the process input image (pii) are used for communication between the cpu and the ip 267. the other four bytes remain unused. you can reference these addresses with the step 5 load and transfer operations ( figure 5-1.), to exchange input/output messages between the cpu of the programmable controller and the ip 267. figure 5-1. typical data exchange between the cpu and the ip 267 (in slot 3) l iw88 and l iw90 t qw88 and t qw 90 cpu ip 267 slot used : ........... first address byte : ........... 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-3
notes on operation ip 267 5.2.3 preparing the power section connect the signal cables to the power section. observe the manufacturer?s instructions. tick the connections used one after the other in the "power section" field, where required. table 5-2. connector assignments ip 267 (6es5 267 8-ma11) power section colour code 9-way subminiature d connector 1 : --- 2 : clock 3 : --- 4 : clock inverted 5 : --- 6 : --- 7 : direction level 8 : direction level inverted 9 : nl ground a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a white brown green yellow grey () () () () () the cable shielding is connected to the connector shell. set the desired operating mode (full-step or half-step) on the power section. wire the enable signals for the power section if required (current drop, boost, etc.). connect the cables to the ip 267. connect the limit switches, emergency limit switches, beros etc. with the digital inputs on the ip 267 terminal block. if you use the special voltage v s for the signals to the power section, you must connect the negative pole of v s to the ground of the programmable controller (terminal block, terminal 2). the plus pole of v s is connected to terminal 9 of the terminal block. all connections must be screwed tight for safety reasons. 5-4 ewa 4neb 812 6061-02a
ip 267 notes on operation 5.3 startup of the plant check once more the function of your emergency off facility as well as the limit switches and the emergency limit switches (pd) before you switch the plant on. the emergency limit switches must always be connected in series. the limit switch actuators (on machine slides, etc.) must be located on axes within the switching range ( figure 5.2.). if this is not the case, you must rotate the axes manually to within the desired range. figure 5-2. arrangement of limit switches and emergency limit switches inhibited area inhibited area i+ pd i - rf pd permissible area i+, i - limit switches pd emergency limit switches (pulse disable) after checking all connecting cables, you can switch on the individual power sources, observing the following order: switch on the programmable controller, no leds should light up on the ip 267 until it is configured. if you are using special voltage v s , switch v s on. now switch on the power section. connect the programmer to the cpu and load the step 5 package into the programmable controller. 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-5
notes on operation ip 267 the green "rdy" led on the frontplate of the ip 267 lights up after it has received the data. note: if you send the output message frames to the ip 267 with the "force var" programmer function during startup, there are important points you must note ( 5.5 ). a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a w a r n i n g when carrying out the following steps, make sure that the motors can be switched off at all times (emergency off switches or limit switches must be within easy reach). assign only traversing jobs with low velocity steps at first. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a transfer a "forwards" or "backwards" job with a short path and low velocity. the drive must move smoothly. check the function of the emergency limit switches (pd) acting directly on the pulse disable. check the correct execution of the "forwards" and "backwards" modes and, if necessary, interchange the rp and rp _ n signal wires at the power section. test both limit switches (i +, i -) acting on the ip 267. limit switch i + must respond at the end of the forwards approach and i - must respond at the end of the backwards approach, otherwise you must change over the eplus and eminus connections at the digital inputs of the ip 267 ( 3.3). the input "external stop" must be connected as specified in the configuration data ("0" active or "1" active). 5-6 ewa 4neb 812 6061-02a
ip 267 notes on operation figure 5-3. distances between limit switches and emergency limit switches i+ i - pd inhibited area inhibited area switching range i+ switching range i - permissible range pd starting point start forwards ref f ss i+, i - limit switches pd emergency limit switch (pulse disable) a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a make sure there is a sufficient distance between the limit switches and the emergency limit switches. this distance depends on the particular application. if the drive approaches the i + or i - switching points at (normal) maximum velocity, it must come to a standstill before reaching the emergency limit switch (pd). if an emergency limit switch responds, the ip 267 is disabled. you must reconfigure the ip 267 before it can accept further positioning jobs. execute a reference point approach ( 5.4.) test the external stop function ( 3.4.) c a u t i o n a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a when a limit switch is operated, the ip 267 aborts the positioning procedures and disables all further jobs with the same direction of approach. the disable is only cancelled when a positioning job is executed in the opposite direction or if "stop"/"neutral" is programmed. if the axis does not leave the "inhibited" traversing range during this approach and if the limit switch gives no contact, an approach in the direction of pd would then be possible ( figure 5-3.). to make sure that no positioning job can be started from the "inhibited" range (i.e. between limit switches and emergency limit switches pd) in the direction of pd, the switching range of the limit switches must be as wide as the total inhibited range ( figure 5-3.). a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-7
notes on operation ip 267 5.4 determining a reference point reference points calibrate the drive system and determine a system zero point for the following positioning jobs. to calculate the reference point, you can install a separate switch (position switch, bero, etc.) within the traversing range that will send a signal to the ref reference input when triggered. you can, however, also use one of the limit switches for this purpose. in this case, the ref input remains unassigned. the ip 267 evaluates a ref signal only if the rpa bit in the positioning message frame is set. a reference point will exactly be reproduced each time it is approached from the same direction. the direction need only be laid down once. the reference point approach must always be executed during commissioning, after power failure or after operation of the emergency limit switch (pd). the reference point approach is calculated in three steps: search for reference switch overtravel reference switch approach reference switch (slowly) 5.4.1 determining a reference point with separate switch to calculate the reference point start by initiating a positioning job in any direction. set, for example, "start forwards" mode with high velocity. the rpa bit is set and the maximum path is transferred. when the module detects the reference switch (ref input activated), it stops with a slight delay. if the reference point is not found in this direction, the traversing path ends for the time being at limit switch i+. in both cases, you must then assign a positioning job with the same parameters but with "start backwards". this traversing movement is aborted with the reference switch. the contact of the reference switch should not be blocked at the end of the traversing movement. you will otherwise have to program an auxiliary approach section with the same direction of travel and rpa = 0 to enable the switch contact again ( 6.4.1). 5-8 ewa 4neb 812 6061-02a
ip 267 notes on operation then you assign a "start forwards" job setting a start/stop rate. pulse output immediately stops when the reference switch is detected. the position reached is the reference point for further positioning jobs. figure 5-4. reference point calculation with the ref switch f ss f ss starting point start forwards start backwards pd i - ref i+ pd 5.4.2 determining a reference point with limit switches if you select limit switch i+, for example, as the reference switch, start a positioning job with high velocity, "start forwards" and maximum path. the traversing movement is ended with the deceleration ramp at the limit switch. the limit switch is then left at low velocity with the "start backwards" job. figure 5-5. determining a reference point with the i+ switch start backwards f ss starting point start forwards pd i - i+ pd 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-9
notes on operation ip 267 you then continue to the limit switch with "start forwards" and at the start/stop rate. the traversing movement stops immediately when the limit switch is reached. you can re-establish this reference point at any time with step accuracy if you approach it with the same pulse frequency from the same direction. note: contact bounce at the ref, eminus and eplus inputs are compensated for by the module. this delays signal processing. to enable the ip 267 to reproduce reference points exactly, the periode of the step frequency must be greater than the signal delay. you must therefore approach the reference points with step frequencies of less than 100 hz. in the case of start/stop rates greater than 100 hz, you can decrease the relevant step frequency by the reduction factor r in the current positioning job - i.e. without reconfiguring. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 5.5 notes for direct data entry with programmers or operator panels you can transfer data from programmers or operator panels (ops) to the pc. when the transfer command is entered in the "force var" mode of the programmer or from the operator panel, the interface transfers data byte-wise to the cpu at a baud rate of 9600 bits/s (=1 byte per 850 s). when the first byte has been completely transferred to the cpu, the processor in the cpu initiates an interrupt. cyclic processing of the program is interrupted and the transferred byte is written into the piq. cyclical processing of the program is then continued until the second byte has been completely transferred by the interface. as soon as the second byte has been completely transferred to the cpu, the processor in the cpu initiates a further interrupt in order to transfer the second byte to the piq, and so on. 5-10 ewa 4neb 812 6061-02a
ip 267 notes on operation the various interrupts are separated by a delay of approximately 850 s during which the cyclic program is processed. this corresponds to approximately 10 statements in the case of the cpu 100. processing of an output message can lead to errors under certain circumstances if a new "start forwards" command is transferred from the piq to the ip 267 and is already being processed even though the relevant new path is not yet available, e.g. because an ob1 scan was completed during the interrupt sequence. note: configuring messages and positioning message frames must be transferred from the programmer/op to the piq in one scan, otherwise the desired ip 267 response is not guaranteed. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a you can use the following programming mode to ensure that output messages are only processed en bloc, i.e. they are only transferred to the ip 267 when they are complete in the piq. ob 1 pb 1 : : r f 0.0 : l fw 10 a f 0.0 t qw 88 jc pb1 l fw 12 : t qw 90 :be the data (qw88, qw90) is not written direct into the piq from the operator panel but in data words (dw10, dw12). only then can you set flag f 0.0 on the operator panel. by doing so you make sure that pb1 can only be called if all the data is valid. the data is then transferred en bloc by pb1 to the piq and, consequently, to the ip. if f 0.0 is set immediately in the operator panel display, the conditional jump to pb1 can take place before data words dw 10 and dw 12 contain the desired data. 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-11
notes on operation ip 267 configuring message frames must also be transferred from the programmer/op to the piq within one scan. if this is not the case, the ip 267 receives message frames which are only partly updated. if these configuring message frames are recognized by the ip 267 (multiplier for the start/stop rate not zero and "stop" mode in the piq), the following errors can occur under certain circumstances: the time interval is interpreted by the ip 267 with the old value of the relevant byte wrong frequency range wrong limit switch configuration ... 5.6 motor selection pleae note the following points when selecting a motor: can the stepper motor develop the required torque? can load variations occur that might lead to step losses (load torque temporarily greater than motor torque)? does the actual position have to be checked using an additional position encoder? (e.g. using a stepper motor with integral encoder and with a 25/500 khz counter module, order no. 6es5 385-8mb11) would it be advisable to use a drive unit capable of detecting and correcting step losses? if a stepper motor meets the above requirements, there are still the following selection criteria to be taken into account (mechanical dimensions and designs are ignored here): how great is the maximum load torque? up to what pulse frequency can the motor develop the required torque? how great must the number of steps of the motor be to reach the required path resolution? 5-12 ewa 4neb 812 6061-02a
ip 267 notes on operation 5.6.1 determining the motor identification data required path resolution k = . . . . . . . m/pulse required traversing velocity v max = . . . . . . . mm/min max. load torque at the motor shaft m max = . . . . . . . ncm the ratio of the shaft and the number of pulses per revolution m of the motor must be selected so that their quotient results in the required resolution k: = m * k m = . . . . . . . pulses/rev k = / m = . . . . . . . mm/rev the maximum pulse frequency f max is calculated as follows: v max (mm/min) f max [khz] = k * 60 (mm/pulse) a type must now be selected from the characteristic curves of the motors capable of developing the required torque, without step loss, at the calculated frequency f max . figure 5-6. shows a typical stepper motor curve. see 6.6 for an application example. note: if the desired torque characteristic can be implemented with the selected motor only in half-step mode, you must double the frequency in order to achieve the same velocity in full-step mode. the resolution doubles in this case since only half the path is covered with each pulse. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-13
notes on operation ip 267 figure 5-6. typical torque characteristic as a function of the frequency of a stepper motor 800 700 600 500 400 300 200 100 100000 [step/s] 12000 [min -1 ] 50000 | 6000 5000 | 600 10000 | 1200 100 | 12 500 | 60 1000 | 120 constant current 5 a/phase half-step full-step torque (ncm) start/stop rate 5.6.2 selecting the power section the ip 267 sends the signals listed in table 5-3 as 5 v differential signals (standard). a special voltage of 5 v to 30 v can also be used. this voltage must apply externally to the ip 267 terminal block. select your power section so that it can also process the highest pulse frequency f max . 5-14 ewa 4neb 812 6061-02a
ip 267 notes on operation table 5-3. output signals of the ip 267 * inverted signals power section requires: signal level dura- tion v s ip 267 signal pulse duration s signal a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a clock pulse tn direction level tn tn\ * rp rp\ * 1- 3- 7 15 - 31 - 63 127 - 255 voltage level for forwards or back- wards motion you can enter the required signal configuration for the power section in the right-hand column of table 5-3. 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 5-15
notes on operation ip 267 5.7 diagnostics sheet possible sources of error description of error/fault module cannot be configured a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a - module addressing incorrect - ip 267 has been configured using a programmer with the "force variable" function or using an op ( notes 5.5) - old configuration has not been deleted module parameters can be set but module signals "abort" (red "abt" led lights up). - external stop, limit switch or emergency limit swich (pd) active - IP267 has been configured using a programmer with the "force variable" function or using an op ( notes 5.5) motor "howls" but does not move. motor jerks and remains still. frequency increase too high (time intervals too small). note resonant frequencies of drive motor accelerates and then remains still and howls. output frequency or load torque too high. voltage for operating motor is too low the signals are present at the output of the ip but the motor does not move. - signal cables to ip connector have been crossed. - does the power section need a separate enable signal? - special voltage v s not connected correctly. the module does not switch to the "pulse output" status in the case of "forwards" or "backwards" mode. - external limit switch (pd) active - external stop active - ref input active and the rpa (reference point approach) set - limit switch start (i -) or end (i+) has already been actuated in backwards or forwards mode - time interval (ti) has been set equal to zero in the configuring data - "forwards" or "backwards" mode has already been selected so that the module now receives no valid traversing command. no output signals can be measured although the distance to go has been counted. start/stop rate or acceleration too high 5-16 ewa 4neb 812 6061-02a
6.1 configuring and reconfiguring the ip 267 . . . . . . . . . . . . 6 - 2 6.1.1 programming example "reconfiguring the ip 267" . . . . 6 - 3 6.2 fixed positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 6 6.2.1 program example "transferring positioning jobs to the ip 267" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 7 6.3 parameter transfer using digital input modules . . . . . . 6 - 11 6.3.1 program example "positioning job" . . . . . . . . . . . . . . . . . . 6 - 11 6.4 determining reference points with separate switch. . . 6 - 14 6.4.1 program example "reference point approach with separate switch" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 15 6.5 reference point aproach with limit switch . . . . . . . . . . . 6 - 20 6.5.1 program example: "reference point approach with limit switch" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 21 6.6 loading and unloading a waggon . . . . . . . . . . . . . . . . . . .6 - 25 6.6.1 selecting the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 26 6.6.2 setting the configuration data . . . . . . . . . . . . . . . . . . . . . .6 - 26 6.6.3 configuration data for the path c to a . . . . . . . . . . . . . . . 6 - 27 6.6.4 configuration data for the paths a to b and b to c . . . . . 6 - 31 6.6.5 positioning job c to a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 34 6.6.6 positioning job a to b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 35 6.6.7 positioning job b to c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 37 6.6.8 linking to the user program . . . . . . . . . . . . . . . . . . . . . . . . . 6- 38 6.6.9 program example "loading and unloading a waggon" 6 - 39 6 application examples a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
figures 6-1. flowchart for programming example "reconfiguring" . 6 - 3 6-2. flowchart "transferring positioning jobs" . . . . . . . . . . . . 6 - 7 6-3. flowchart "reference point approach with separate switch" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 15 6-4. flowchart for programming example "reference point approach with limit switch" . . . . . . . . . . . . . . . . . . .6 - 21 6-5. arrangement of the silos along the path . . . . . . . . . . . . . 6 - 25 6-6. example of moment of inertia as a function of f ss . . . . . . 6 - 28 6-7. structure of the user program "loading and unloading a waggon" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 38 tables 6-1. path breakdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 25 6-2. configuration message frame for the path c to a . . . . . . 6 - 30 6-3. configuration message frame for the paths a to b and b to c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6- 33 6-4. positioning job for the path c to a . . . . . . . . . . . . . . . . . . .6 - 35 6-5. positioning job for the path a to b . . . . . . . . . . . . . . . . . . .6 - 36 6-6. positioning job for path b to c . . . . . . . . . . . . . . . . . . . . . . .6 - 37 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 application examples 6 application examples the ip 267 occupies slot 3 of the programmable controller in all examples. the input/output message frames are therefore written into byte addresses 88 to 91. all program examples can run on all cpus (cpu 100, 102 and 103) of the s5-100u. examples 1 to 5 are based on the block principle, i.e. certain program sections (fbs and obs) of the previous example are used in the subsequent examples. the examples are structured as follows: example 1 ( 6.1) covers: configuring/reconfiguring the ip 267 example 2 ( 6.2) covers: example 1 and fixed positioning jobs example 3 ( 6.3) covers: example 2 and starting of positioning jobs via digital i/os example 4 ( 6.4) covers: example 3 and reference point approach with separate switch example 5 ( 6.5) covers: example 4 and reference point approach with limit switch example 6 contains only autonomous program sections. you can start this program without loading the other example programs into the pc memory. the examples are designed only to illustrate the principle involved in programming the ip 267. they are therefore extensively documented and the statement lists contain comments. each programming example represents only one of several possible solutions. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-1
application examples ip 267 6.1 configuring and reconfiguring the ip 267 in the following example, the ip 267 is configured with new data at each cold re- start or warm restart. a configuration always requires two subsequent message frames. the first message frame deletes the current ip 267 configuration data and the second reconfigures the ip 267. data is exchanged between the ip 267 and the cpu exclusively via the process i/o images (pii and piq). the piq must contain the complete message frame and the first ob 1 scan must be complete before the second message frame is then transferred to output words qw 88 and qw 90 in the next program scan. other- wise the ip 267 receives only the second message frame. if the old data is still available in the ip 267, the second message frame is interpreted as a positioning job with the "stop" mode and not as the configuration message frame. please note the following when programming warm restart routines in ob 21 or ob 22: after switching on the cpu, the configuration message frame at the end of the first ob 1 scan is transferred to the ip. the message frame may not be changed during the first ob1 processing. overall reset of the ip 267 occurs after power failure and can be reconfigured with ob 22. the piq is reset in the case of manual cold restart and the ip configuration data is still available. this configuration data can only be deleted if the contents of the piq are still reset after the first cyclic scan of ob 1. otherwise the ip 267 interprets a configuration message frame in ob 21 as being a positioning job with "stop" mode ( 6.1.1) . 6-2 ewa 4neb 812 6061-02a
ip 267 application examples 6.1.1 programming example "reconfiguring the ip 267" the ip 267 can be reconfigured with function block fb 50. fb 50 is executed twice when flag f 101.6 is set (see ob1). the present configuration data is deleted during the first run and then the ip 267 is reconfigured. flag f 101.6 can be set in the warm restart obs (ob 21 and ob 22). figure 6-1. flowchart for programming example "reconfiguring" start overall reset of ip 267 transfer new data set to ip end a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-3
application examples ip 267 fb 50 len=42 abs page 1 segment 1 0000 name :parametr 0005 :a f 101.7 0006 :jc =m001 0007 : 0008 : 0009 :s f 101.7 first fb50 call : 000a :l kh 0000 the existing configuration data 000c :t qw 88 is deleted 000d :bec 000e : 000f : 0010 m001 :l kh 0402 second fb50 call : 0012 :t qw 88 new configuration data 0013 :l kh 2005 is transferred complete : 0015 :t qw 90 qb91 = 05h ---> base value = 20 hz 0016 : qb90 = 20h ---> time interval 0017 : qb89 = 02h ---> operating mode = stop 0018 : full step operation 0019 : lim. switch "1" active 001a : qb88 = 04h ---> ssf = bb * 4 001b : = 80 hz 001c : 001d : 001e : second fb50 call : 001f :r f 101.7 reset auxiliary flag f101.7 0020 :r f 101.6 reset control flag f101.6 0021 :s f 101.5 set auxiliary flag f101.5 0022 : 0023 : 0024 :be 6-4 ewa 4neb 812 6061-02a
ip 267 application examples ob 1 len=22 abs segment 1 0000 0000 : flag f101.6 can be reset 0001 :a f 101.6 in the warm restart obs, 0002 :jc fb 50 for example 0003 name :parametr 0004 : 0005 :o f 101.5 both reconfiguration 0006 :o f 101.6 message frames can be sent 0007 :r f 101.5 to the ip 267 direct 0008 :bec with this bec 0009 : 000a : 000b : 000c : .... then user program ... 000d : 000e : 000f : 0010 :be ob 21 len=9 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :be ob 22 len=9 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-5
application examples ip 267 6.2 fixed positions the ip 267 is already configured in this example. the program example shows how to start a positioning program with four jobs automatically at the press of a button. in this example, the feedback messages "pulse output" and "job executing" after a positioning job are not set in the pii till one scan later ( 4.3). 6-6 ewa 4neb 812 6061-02a
ip 267 application examples 6.2.1 program example "transferring positioning jobs to the ip 267" in this example, four positioning jobs are transferred one after the other to the ip 267 by function block fb 51. figure 6-2. flowchart "transferring positioning jobs" switch on "neutral" mode yes no job executing ije = 1? send next output message frame to the ip 267 wait one ob 1 scan reset auxiliary flags of the processed program end switch on "stop" mode no all positioning jobs of the current program processed? yes start a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-7
application examples ip 267 fb 51 len=77 abs page 1 segmemt 1 0000 four positioning jobs can be processed one after the other automatically with fb51 : first job -----> forwards, speed a, target a second job -----> backwards, speed b, target b third job -----> forwards, speed c, target c fourth job -----> forwards, speed d, target d the program is started by with a positive edge at i0.0 (see ob1). the limit switches must not be actuated in this program, otherwise the positioning values will be corrupted. the response of a drive to the operation of a limit switch should be programmed by the user. name :fest-vp 0005 : 0006 :a i 89.6 switch on "neutral" mode 0007 :s q 89.4 as soon as the current 0008 :s q 89.5 positioning job is 0009 :bec executed 000a : 000b : 000c :a f 103.0 the first positioning job 000d :jc =m001 is transferred to the piq 000e :s f 103.0 with this sequence 000f :s f 103.7 0010 :l kh 2010 flags f103.x are the 0012 :t qw 88 auxiliary flags 0013 :l kh 2000 0015 :t qw 90 0016 :beu 0017 : 0018 : 0019 m001 :a f 103.1 001a :spb =m002 001b :s f 103.1 001c :s f 103.7 the second positioning job 001d :l kh 3020 is transferred to the piq 001f :t qw 88 with this sequence 0020 :l kh 4000 0022 :t qw 90 0023 :beu 0024 : 0025 : 6-8 ewa 4neb 812 6061-02a
ip 267 application examples 0026 m002 :a f 103.2 0027 :jc =m003 0028 :s f 103.2 0029 :s f 103.7 the third positioning job 002a :l kh 1010 is transferred to the piq 002c :t qw 88 with this sequence 002d :l kh 0800 002f :t qw 90 0030 :beu 0031 : 0032 : 0033 m003 :a f 103.3 0034 :jc =m004 0035 :s f 103.3 0036 :s f 103.7 thefourth positioning job 0037 :l kh 4010 is transferred to the piq 0039 :t qw 88 with this sequence 003a :l kh 1800 003c :t qw 90 003d :beu 003e : 003f : 0040 m004 :r f 101.0at the end of the positioning program, 0041 :r q 89.4 the auxiliary flags are reset and 0042 :r q 89.5 the "stop" mode is switched on 0043 :l kb 0 0044 :t fy 103 0045 : 0046 : 0047 :be ob 1 len=36 abs segment 1 0000 0000 : flag f 101.6 can be set in 0001 :a f 101.6 the warm restart obs, 0002 :jc fb 50 for example 0003 name :parametr 0004 : 0005 :o f 101.5 both configuration message frames 0006 :o f 101.6 can be transferred direct to the 0007 :r f 101.5 ip 267 with this bec 0008 :bec 0009 : 000a : a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-9
application examples ip 267 000b :a i 0.0 routine for fixed 000c :s f 101.0 positioning jobs 000d : 000e : flag f 103.7 remains set until the 000f :a f 101.7 current positioning job has been 0010 :r f 101.7 executed. "neutral" mode is then 0011 :bec switched on. (cpu wait cycle) 0012 : 0013 : 0014 :a f 101.0 0015 :jc fb 51 0016 name :fest-vp 0017 : 0018 : 0019 : .... then user program ... 001a :be ob 21 len=9 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :be ob 22 len=9 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :be 6-10 ewa 4neb 812 6061-02a
ip 267 application examples 6.3 parameter transfer using digital input modules in this example, the parameters for the positioning job are transferred to the piq using digital input modules. the complete output message frame is to be transferred to the piq in one scan. if this principle cannot be followed, it is important to transfer the "forwards" or "backwards" mode to the ip 267 as the last parameter of the output message frame in the case of preset positioning jobs, as otherwise the ip 267 will start the positioning job immediately, i.e. with an old velocity factor or a wrong path. 6.3.1 program example "positioning job" pb 52 len=16 abs page 1 segment 1 0000 pb 52 transfers a positioning job to the ip 267 : -----> the complete output message frame is to be entered via digital i/o (here iw4 and iw6) -----> the job is started by with a positive edge at i 0.1 (transfer operation) (see ob1) 0000 : 0001 :r f 101.1 0002 : 0003 : 0004 :l iw 4 0005 :t qw 88 0006 :l iw 6 0007 :t qw 90 0008 : 0009 : 000a :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-11
application examples ip 267 ob 1 len=42 abs segment 1 0000 0000 : flag f 101.6 can be set 0001 :a f 101.6 in the warm restart obs, 0002 :jc fb 50 for example 0003 name :parametr 0004 : 0005 :o f 101.5 both reconfiguration message 0006 :o f 101.6 frames can be transferred 0007 :r f 101.5 direct to the ip 267 0008 :bec with this bec 0009 : 000a : 000b :a i 0.0 routine for fixed 000c :s f 101.0 positioning jobs 000d : 000e : with flag f 103.7 the program 000f : waits for the positioning job 0010 :a f 103.7 to be executed before 0011 :r f 103.7 switching to "neutral" mode 0012 :bec (cpu wait cycle). 0013 : 0014 :a f 101.0 0015 :jc fb 51 0016 name :fest-vp 0017 : 0018 : 0019 :a i 0.1 routine for positioning jobs 001a :s f 101.1 that can be set via digital 001b :a f 101.1 inputs 001c :jc pb 52 001d : 001e : 001f : 0020 : .... then user program ... 0021 : 0022 : 0023 : 0024 :be 6-12 ewa 4neb 812 6061-02a
ip 267 application examples ob 21 len=9 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :be ob 22 len=9 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-13
application examples ip 267 6.4 determining reference points with separate switch a reference point is always determined in three approach sections (search for reference point switch, overtravel reference point switch and approach reference point switch slowly). additional auxiliary approach jobs are required, for example, if the reference switch is blocked by the drive. at startup, the ip controls the drive forwards as far as the reference switch. in doing so, the ip can approach one of the two limit switches and change direction there. as soon as the reference point switch has been detected, the drive stops with the normal deceleration ramp. if the deceleration distance is shorter than the switching range of the reference point switch, the drive stops at the switch. in this case, the next approach section could not be executed because the rpa reference point bit is set and there is a "1" signal at the ref digital input. in this case, an auxiliary approach section is required in order to leave the reference point switch. the path of such auxiliary approach sections must be calculated specifically for the plant in question. the auxiliary approach section must also be executed with reset rpa reference point bit ( 6.3). to make program execution easier, the "backwards auxiliary approach section" is executed in example program 4 even if the reference point switch has already been overtravelled (bero, etc.). the reference point can also be approached backwards, in which case the directions shown in the flowchart are reversed. 6-14 ewa 4neb 812 6061-02a
ip 267 application examples 6.4.1 program example "reference point approach with separate switch" figure 6-3. flowchart "reference point approach with separate switch" limit switch start forwards with rpa reference point bit set and maximum path bero or limit switch end detected? start backwards with rpa reference point bit set and maximum path bero detected backwards auxiliary approach section with rpa reference point bit reset start forwards with rpa reference point bit set and low velocity reference point found bero a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-15
application examples ip 267 fb 53 len=81 abs page 1 segment 1 0000 fb53 executes the reference point approach using a reference point switch. the positioning jobs are set in the piq via direct accesses. this routine is started by a positive edge at i 0.2 (see ob1) meaning of the flags used : f 104.0 flag bit for the first approach section ( start forwards ) f 104.1 flag bit for the second approach section ( start backwards ) f 104.2 flag bit for the backwards auxiliary approach section f 104.3 flag bit for the third approach section ( start forwards with low velocity ) f 104.7 auxiliary flag to allow the cpu delay cycle to run the ip 267 is installed in slot 3 of the s5-100u in this example ( address bytes 88-89-90-91 ) i 88.1 reference point ( erp ) i 88.5 pulse output ( eia ) name :rpkt 0005 :a i 88.5 if pulses are output, 0006 :s q 89.4 switch on "neutral" mode 0007 :s q 89.5 and do not process 0008 :bec the fb 0009 : 000a : 000b :a f 104.0 000c :jc =m001 000d :s f 104.0 000e :s f 104.7 000f :l kh 585f first approach section: forw. 0011 :t qw 88 with reference point bit set 0012 :l kh ffff and maximum path 0014 :t qw 90 0015 :beu 0016 : 0017 : 0018 m001 :an f 104.1 omit the 2nd approach section 0019 :a i 88.1 if the bero is detected 001a :s f 104.1 during the first approach section 001b :jc =m002 001c : 001d : 6-16 ewa 4neb 812 6061-02a
ip 267 application examples 001e :a f 104.1 001f :jc =m002 0020 :s f 104.1 0021 :s f 104.7 0022 :l kh 586f second approach section: backw. 0024 :t qw 88 with reference point bit set 0025 :l kh ffff and maximum path 0027 :t qw 90 0028 :beu 0029 : 002a : 002b m002 :a f 104.2 002c :jc =m003 002d :s f 104.2 002e :s f 104.7 auxiliary approach section backw. 002f :l kh 2820 without reference point bit to 0031 :t qw 88 make sure that the drive is 0032 :l kh 0300 no longer at the bero. for this 0034 :t qw 90 purpose the path must be adapted 0035 :beu depending on the drive. 0036 : 0037 : 0038 m003 :a f 104.3 0039 :jc =m004 003a :s f 104.3 003b :s f 104.7 003c :l kh 0150 third approach section: forw. 003e :t qw 88 with reference point bit set 003f :l kh 4000 and low velocity 0041 :t qw 90 0042 :beu 0043 : 0044 : 0045 m004 :l kb 0 if the reference point approach 0046 :t fy 104 is complete, reset auxiliary flag 0047 :s f 101.4 and switch on "stop" mode 0048 :r q 89.5 flag 101.4 is not used in this 0049 :r q 89.6 example. 004a :r q 89.8 004b : 004c :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-17
application examples ip 267 ob 1 len=53 abs segment 1 0000 0000 : flag f 101.6 can be set 0001 :a f 101.6 in the warm restart obs, 0002 :jc fb 50 for example 0003 name :parametr 0004 : 0005 :o f 101.5 both reconfiguration message 0006 :o f 101.6 frames can be transferred 0007 :r f 101.5 direct to the ip 267 0008 :bec with this bec 0009 : 000a : 000b :a i 0.0 routine for fixed 000c :s f 101.0 positioning jobs 000d : 000e : with flag f 103.7 the program 000f : waits for the positioning 0010 :a f 103.7 job to be executed before 0011 :r f 103.7 switching to "neutral" mode 0012 :bec (cpu wait cycle) 0013 : 0014 :a f 101.0 0015 :jc fb 51 0016 name :fest-vp 0017 : 0018 : 0019 :a e 0.1 routine for positioning 001a :s f 101.1 jobs which can be set via 001b :a f 101.1 digital inputs 001c :jc pb 52 001d : 001e : 001f :a f 104.7 0020 :r m 104.7 0021 :bec routine for reference point 0022 : determination with separate 0023 :a i 0.2 bero 0024 :s f 104.6 0025 :a f 104.6 0026 :jc fb 53 0027 name :rpkt 0028 : 0029 : 002a : .... then user program ... 002b : 002c : 002d : 002e : 002f :be 6-18 ewa 4neb 812 6061-02a
ip 267 application examples ob 21 len=13 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :l kf +0 0005 :t fw 104 0006 : 0007 :be ob 22 len=13 abs segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :l kf +0 0005 :t fw 104 0006 : 0007 :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-19
application examples ip 267 6.5 reference point approach with limit switch this method of determining the reference point also consists of three approach sections ( 5.4). a separate reference point switch is not required. the ref input on the terminal block remains unassigned and the rpa reference bit in the positioning message frame is not set. the path of the second approach section (switch overtravel) should be long enough to enable the limit switch contacts again. you can execute a reference point approach with limit switch i+ using fb 54. a separate reference point switch is not required in this example. the positioning job data is written direct into the piq. the program is started by a positive edge at input i 0.3 (see ob 1). 6-20 ewa 4neb 812 6061-02a
ip 267 application examples 6.5.1 program example: "reference point approach with limit switch" figure 6-4. flowchart for programming example "reference point approach with limit switch" start start forwards with maximum path limit switch end detected end start backwards with adapted path start forwards with slow velocity reference point (limit switch end) detected a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-21
application examples ip 267 fb 54 len=61 abs page 1 meaning of the flags used: f 105.0 flag bit for the first approach section ( start forwards ) f 105.1 flag bit for the second approach section ( start backwards ) f 105.2 flag bit for the third approach section ( start forwards with low velocity ) f 105.7 auxiliary flag to allow the cpu delay cycle to run i 88.3 limit switch end ( ilse ) i 88.5 pulse output ( ipq ) name :epkt 0005 :a i 88.5 if pulses are output, 0006 :s q 89.4 switch on "neutral" mode 0007 :s q 89.5 and do not process 0008 :bec the fb 0009 : 000a : 000b :a f 105.0 000c :jc =m001 000d :s f 105.0 000e :s f 105.7 000f :l kh 581f 0011 :t qw 88 first approach section: forw., 0012 :l kh ffff with maximum path 0014 :t qw 90 0015 :beu 0016 : 0017 : 0018 m001 :a f 105.1 0019 :jc =m002 001a :s f 105.1 001b :s f 105.7 001c :l kh 2820 001e :t qw 88 second approach section: backw. 001f :l kh 0380 with short path 0021 :t qw 90 0022 :beu 0023 : 0024 : 6-22 ewa 4neb 812 6061-02a
ip 267 application examples 0025 m002 :a f 105.2 0026 :jc =m003 0027 :s f 105.2 0028 :s f 105.7 0029 :l kh 0110 002b :t qw 88 third approach section: forw. 002c :l kh 1000 with low velocity 002e :t qw 90 002f :beu 0030 : 0031 : 0032 m003 :l kb 0 if the reference point (limit 0033 :t fy 105 switch end) has been found, 0034 :r q 89.4 reset all auxiliary flags 0035 :r q 89.5 and switch on "stop" mode. 0036 : 0037 :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-23
application examples ip 267 ob 1 len=63 abs segment 1 0000 0000 : flag f 101.6 can be set 0001 :a f 101.6 in the warm restart obs, 0002 :jc fb 50 for example 0003 name :parametr 0004 : 0005 :o f 101.5 both reconfiguration message 0006 :o f 101.6 frames can be transferred 0007 :r f 101.5 direct to the ip 267 0008 :bec with this bec 0009 : 000a : 000b :a i 0.0 routine for fixed 000c :s f 101.0 positioning jobs 000d : 000e : with flag f 103.7 the program 000f : waits for the positioning 0010 :a f 103.7 job to be executed before 0011 :r f 103.7 switching to "neutral" mode 0012 :bec (cpu wait cycle). 0013 : 0014 :a f 101.0 0015 :jc fb 51 0016 name :fest-vp 0017 : 0018 : 0019 :a i 0.1 routine for positioning 001a :s f 101.1 jobs which can be set via 001b :a f 101.1 digital inputs 001c :jc pb 52 001d : 001e : 001f :a f 104.7 0020 :r f 104.7 0021 :bec 0022 : routine determining refe- 0023 :a i 0.2 rence point with separate 0024 :s f 104.6 bero 0025 :a f 104.6 0026 :jc fb 53 0027 name :rpkt 0028 : 0029 :a f 105.7 002a :r f 105.7 002b :bec 002c : routine for determining 002d :a i 0.3 reference point with 002e :s f 105.6 limit switch end 002f :a f 105.6 0030 :jc fb 54 0031 name :epkt 0032 : 0033 : 0034 : 0035 : 0036 : ... then user program ... 0037 : 0038 : 0039 :be 6-24 ewa 4neb 812 6061-02a
ip 267 application examples 6.6 loading and unloading a waggon in this example, a waggon travels from silo c to silos a and b one after the other and is loaded there, subsequently bringing the load back to silo c ( figure 6-5.). figure 6-5. arrangement of the silos along the path silo a a a a a a a a a a a a a a a a a a a a a silo b a a a a a a a a a a a a a a a a a a a a silo c a a a a a a a a a a a a a a a a a a a a the path is divided into three sections and section c to a is to be traversed with increased velocity since the waggon travels this section unloaded ( table 6-1.). path resolution is fixed at 20 m/pulse. table 6-1. path breakdown a b subpath paths velocity 100 mm/s b c 100 mm/s 200 mm/s c a 200 mm 400 mm 600 mm a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-25
application examples ip 267 6.6.1 selecting the motor we have selected a spindle with a ratio of 4 mm (0.15 in.)/rev and a stepper motor with 200 pulses per revolution for the application illustrated. the drive selected permits a maximum positioning range of: 1,048,575 pulses * 20 m/pulse = 20,971,500 m 21 m the positioning jobs can therefore be implemented with the drive selected. both positioning velocities correspond to the following stepping rates: 100 mm/s 25 revs/s 25 revs/s * 200 pulses/rev = 5000 hz 200 mm/s 50 revs/s 50 revs/s * 200 pulses/rev = 10 khz the motor is to be used in full-step mode. 6.6.2 setting the configuration data acceleration is to be increased during phase c to a in order to speed up the process. the ip 267 must therefore receive two configuration message frames in order to generate the different acceleration ramps. the following values must be calculated or determined for the configuration data: limit switch configuration and "stop" mode the base value bv for the stepping rate and the start/stop rate the multiplier for the start/stop rate (ss) the time interval for frequency increase/decrease (ti) you will find the calculations in this order on the next page. 6-26 ewa 4neb 812 6061-02a
ip 267 application examples 6.6.3 configuration data for the path c to a the configuration data is stored as 4-byte message frames in output bytes qb 88 to qb 91 of the piq. you should define the limit switch configuration first. the power section has been set to full-step mode, e.g by jumpers. you must set the "stop" mode so that the configuration data is accepted by the ip 267. this data must be written into qb 89 of the piq as byte 1 ( table 6-2.). the following applies for this example: qb 89 = 00000010 = 02 h the base value (bv) for the stepping rate and the start/stop rate must then be calculated. select as small a base value for both frequencies as possible so that you can set a discrete stepping rate and start/stop rate. however, the base value must be large enough to achieve the desired maximum stepping rate. calculate the base value according to the following formula in order to achieve the stepping rate (f a ) of 10 khz: f a =bv * g * r 10 000 hz = bv * 250 * 1 bv = 40 hz v is the multiplier for the velocity and for r you can select the reduction factor 1 or 0.1. the value calculated for bv is coded with bits fb 0 and fb 2 and written into qb 91 of the piq as byte 3 of the configuration message frame ( table 6-2.). the following applies for this example: qb91 = 00000100 = 04 h you must take account of the "moment of inertia as a function of the permissible start/stop rate" curve in order to be able to configure the correct start/stop rate ( figure 6-6.). for this purpose, you must take account of the moment of inertia of all moving parts in your drive (linear and rotary including the stepper motor rotor). the configured value for the start/stop rate must be in the lower part of the curve. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-27
application examples ip 267 figure 6-6. example of moment of inertia as a function of f ss 500 60 0 2500 hz 300 revs/min 2000 240 7.5 6.25 5.0 3.75 2.5 1.25 1000 120 1500 180 moment of inertia j [kg cm 2 ] a start/stop rate of f ss = 320 hz was selected for this example. the following therefore applies: f ss =bv * ss * r 320 hz = 40 * ss * 1 ss = 8 the value calculated for ss is coded with bits 0 to 7 of byte 0 of the configuration message frame and written into qb 88 of the piq ( table 6-2.). the following applies for this example: qb 88 = 00001000 = 08 h 6-28 ewa 4neb 812 6061-02a
ip 267 application examples the suitable interval for frequency increase and decrease (ti) must be calculated specifically for each plant. the acceleration and deceleration values with which the motor can be driven without losing steps are to be found in the docu- mentation of the motor manufacturer. the values depend on the moment of inertia of the drive and on the available torque of the motor ( 5.6). in this example, frequency increase and decrease is fixed at 50 hz/ms. the following therefore applies for calculating the time interval: ti = bv * r 4 * 0.032 ms * ti a = 40 * r 4 * 0.032 ms * ti 50 hz/ms = 40 * 1 4 * 0.032 ms * 50 hz/ms ti = 6.25 the time interval may not be less than 7. this then corresponds to the following acceleration ramp: = 44.6 hz/ms bv * f 4 * 0.032 ms * ti a = 40 * 1 4 * 0.032 ms * 7 a = the value of ti is coded with bits 0 to 7 of byte 2 and written into qb 90 of the piq ( table 6-2.). the following applies for this example: qb 90 = 00000111 = 07 h a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-29
application examples ip 267 table 6-2. configuration message frame for the path c to a byte address general meaning configuration data for the path c to a 0 qb 88 multiplier for the start/stop rate (ss), ss can assume values from 1 to 255 ss = 8 qb 88 = 00001000 qb 88 = 08 h 1 qb 89 limit switch configuration ostopo mode ek = 1 ba1=0, ba0=0 qb 89 = 00000010 qb 89 = 02 h 2 qb 90 time interval (ti) for frequency change ti can assume values from 1 to 255 ti = 7 qb 90 = 00000111 qb 90 = 07 h 3 qb 91 base value (bv) for the frequency bv = 40 qb 91 = 00000100 qb 91 = 04 h a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6-30 ewa 4neb 812 6061-02a
ip 267 application examples 6.6.4 configuration data for the paths a to b and b to c limit switch configuration remains at "1" active, the motor continues to run in full-step mode and "stop" mode instructs the ip 267 to transfer the data. byte 1 of the new configuration message frame is transferred unchanged to output byte qb 89 of the piq ( table 6-3.). the following applies for this example: qb 89 = 0000 0010 =02 h the stepping rate f a on the paths a to b and b to c is to be halved to 5 khz in order to reduce the velocity of the loaded waggon. the new stepping rate is reached by halving the base value for the frequency (bv) from 40 to 20 hz. f a =bv * v * r 5 khz = bv * 250 * 1 bv = 20 hz the new value for bv is written into output byte qb 91 of the piq as byte 3 of the new configuration message frame. ( table 6-3.). the following applies for this example: qb 91 = 0000 0101 =05 h the start/stop rate f ss for both paths is to be reduced to a maximum of 90 hz. this compensates for the additional moment of inertia of the loads. the new multiplier for the start/stop rate (ss) is calculated with the following formula: f ss =bv * ss * r 90 hz = 20 * ss * 1 ss = 4.5 ss = 4 has been selected in this example. this corresponds to a start/stop rate of 80 hz. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-31
application examples ip 267 the new value for ss is written into qb 88 of the piq as byte 0 of the configuration message frame ( table 6-3.). the following applies in this example: qb 88 = 0000 0100 =04 h frequency change a (acceleration and deceleration) is reduced compared to the previous path section; a is to have a maximum value of 10 hz/ms on paths a to b and b to c. the value for the time interval of the frequency change (ti) is calculated as follows: ti = bv * r 4 * 0.032 ms * ti a = bv * r 4 * 0.032 ms * a ti= 20 * 1 4 * 0.032 ms * 10 hz/ms ti = 15.625 so that the condition a < 10 hz/ms can be adhered to, ti must be > 15.625. ti=16 results in the following value for a: bv * r 4 * 0.032 ms * 16 a = 20 * 1 4 * 0.032 ms * 16 a= a = 9.76 hz/ms 6-32 ewa 4neb 812 6061-02a
ip 267 application examples the new value is written into qb 90 of the piq as byte 2 ( table 6-3.). the following applies for this example: qb 90 = 0001 0000 = 10 h table 6-3. configuration message frame for the paths a to b and b to c byte address general meaning configuration data for paths a to b and b to c 0 qb 88 multiplier for the start/stop rate (ss), ss can assume values from 1 to 255 ss = 4 qb 88 = 0000 0100 qb 88 = 04 h 1 qb 89 limit switch configuration "stop" mode ek = 1 ba1=0, ba0=0 qb 89 = 0000 0010 qb 89 = 02 h 2 qb 90 time interval (ti) for frequency change ti can assume values from 1 to 255 ti = 16 qb 90 = 0001 0000 qb 90 = 10 h 3 qb 91 base value (bv) for the frequency bv = 20 qb 91 = 0000 0101 qb 91 = 05 h a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-33
application examples ip 267 6.6.5 positioning job c to a the ip 267 is configured with the first data set for this job. the path is 600 mm (23.6 in.). the following number of pulses is calculated for a given resolution of 20 m/pulse: 600 mm 0.020 mm/pulse = 30 000 pulses= 7530 h pulses the velocity in this section is to be 200 mm (7.8 in.)/s which corresponds to the following stepping rate f a : f a = 200 mm/s = 10 khz 0.020 mm/pulse the base value is set at 40 hz from which the following velocity factor v is calculated: 10 000 hz = bv * v * r 10 000 hz = 40 * v * 1 v = 250 = fa h direction of travel "backwards" is entered in the positioning job as the operating mode. the output message frame for the positioning job is represented in table 6-4. 6-34 ewa 4neb 812 6061-02a
ip 267 application examples table 6-4 positioning job for the path c to a byte address general meaning positioning data for path c to a 0 qb 88 multiplier for the velocity (v), v can assume values from 1 to 255 v = 250 qb 88 = 1111 1010 qb 88 = fa h 1 qb 89 reduction factor r = 1 reference point approach (rpa) operating mode om 0, om 1 path p16 to p19 r=0, rf=0 ba1=1, ba0=0 qb 89 = 0010 0000 qb 89 = 20 h 2 qb 90 path p8 to p15 qb 90 = 0111 0101 qb 90 = 75 h 3 qb 91 path p0 to p7 qb 91 = 0011 0000 qb 91 = 30 h a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6.6.6 positioning job a to b the ip 267 is configured with the second data set for this job. the path is 200 mm (7.8 in.). the following number of pulses is calculated for a given resolution of 20 m/pulse: 200 mm 0.020 mm/pulses = 10 000 pulses = 2710 h pulses a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-35
application examples ip 267 the velocity on this section is to be 100 mm (3.9 in.)/s which correponds to the following stepping rate f a : = 5 khz 0.020 mm/pulse 100 mm/s f a = the base value is set at 20 hz from which the following velocity factor v is calculated: 5 khz = bv * v * r 5 khz = 20 * v * 1 v = 250 = fa h the direction of travel "forwards" is entered in the positioning job as the operating mode. the positioning message for this job is represented in table 6-5. table 6-5. positioning job for the path a to b byte address general meaning positioning data for path a to b 0 qb 88 multiplier for the velocity (v), v can assume values from 1 to 255 v = 250 qb 88 = 1111 1010 qb 88 = fa h 1 qb 89 reduction factor r = 1 reference point approach (rpa) operating mode om 0 , om 1 path p16 to p19 r = 0, rf= 0 om 1=0, om 0=1 qb 89 = 0001 0000 qb 89 = 10 h 2 qb 90 path p8 to p15 qb 90 = 0010 0111 qb 90 = 27 h 3 qb 91 path p0 to p7 qb 91 = 0001 0000 qb 91 = 10 h a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6-36 ewa 4neb 812 6061-02a
ip 267 application examples 6.6.7 positioning job b to c this positioning job is the same as that for path a to b ( 6.6.6). you do not have to send new configuration data to the ip 267 for this job. the path in this job is double the length at 20,000 pulses (04e20 h ). the output message frame contains the following values: table 6-6. positioning job for path b to c byte address general meaning positioning data for path b to c 0 qb 88 multiplier for the velocity (v), v can assume values from 1 to 255 v = 250 qb 88 = 1111 1010 qb 88 = fa h 1 qb 89 reduction factor r = 1 reference point approach (rpa) operating mode om 0, om 1 path p16 to p19 r=0, rf=0 om 1=0, om 0=1 qb 89 = 0001 0000 qb 89 = 10 h 2 qb 90 path p8 to p15 qb 90 = 0100 1110 qb 90 = 4e h 3 qb 91 path p0 to p7 qb 91 = 0010 0000 qb 91 = 20 h a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-37
application examples ip 267 6.6.8 linking to the user program the application illustrated in chapter 6.6 corresponds to the program example 6.6.9. the user program has the following structure: figure 6-7. structure of the user program "loading and unloading a waggon" fb 51 : : : : : : be ob 1 : : : : jc fb 50 : : : : : : : : jc fb 51 : : : : : : be fb 50 : : : ju fb 53 : : : be fb 53 : : : : : be ob 22 ob 21 the ip 267 is configured with a new data set with fb 50. fb 53 then executes a reference point approach to point c. point c is taken as the reference point in the example program. since the reference point is lost whenever the positioning program is interrupted, fb 50 must be called on all cold restarts or warm restarts of the cpu. ob 21 and ob 22 are used for this purpose: they prepare the conditional jump to fb 50. the positioning program is then started by calling fb 51. 6-38 ewa 4neb 812 6061-02a
ip 267 application examples 6.6.9 program example "loading and unloading a waggon" fb 50 len=48 abs page 1 segment 1 0000 the ip 267 can be reconfigured with data set 2 using fb50. an automatic reference point approach to the reference switching point is then executed. the reference switching point has been set to c. fb50 is to be called on each warm restart of the pc. for this reason it is automatically called with flag f 101.6 at each warm restart (see ob 21-ob 22- ob 1). however, it can also be started manually by a positive edge at input i 0.7 (see ob 1). caution: if input i0.7 is not reset, reference point approaches will be executed one after the other for an unspecified time! name :param-rp 0005 :a f 101.7 0006 :jc =m001 0007 : 0008 : 0009 :s f 101.7 000a :l kh 0000 000c :t qw 88 000d :bec 000e : 000f : 0010 m001 :a f 105.0 0011 :jc =m002 0012 : 0013 : 0014 :s f 105.0 0015 :l kh 0402 configuration message frame 2 0017 :t qw 88 ---> for paths 0018 :l kh 1005 a-->b and b-->c 001a :t qw 90 001b :bec 001c : a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-39
application examples ip 267 001d m002 :ju fb 53 001e name :rpkt 001f : 0020 :a f 104.7 0021 :bec 0022 : 0023 :a f 101.4 f 101.4 = ref.point approach complete 0024 :r f 101.4 0025 :r f 101.7 reset all auxiliary flags 0026 :r f 101.6 if the reference point approach 0027 :r f 105.0 is complete 0028 : 0029 : 002a :be 6-40 ewa 4neb 812 6061-02a
ip 267 application examples fb 51 len=111 abs segment 1 0000 the following jobs can be processed one after the other with fb51: ----> reconfiguring the ip: loading of configuration message frame 1 ----> positioning job for path c --> a ----> reconfiguring the ip: loading of configuration message frame 2 ----> positioning job for path a --> b ----> positioning job for path b --> c the program is started by a positive edge at i0.0 (see ob1). caution: the traversing program is repeated until input i0.0 is reset. name :vprog 0005 : 0006 :a i 89.6 switch on "neutral" mode 0007 :s q 89.4 as soon as the positioning job 0008 :s q 89.5 is executed 0009 :bec 000a : 000b : 000c :a f 103.0 000d :jc =m001 000e :s f 103.0 000f :s f 103.7 reconfiguration of the ip 267: 0012 :t qw 88 0013 :beu configuration message frame 1 0014 : 0015 : for path c --> a is loaded 0016 : 0017 m001 :a f 103.1 0018 :jc =m002 0019 :s f 103.1 001a :s f 103.7 001b :l kh 0802 001d :t qw 88 001e :l kh 0704 0020 :t qw 90 0021 :beu 0022 : 0023 : a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-41
application examples ip 267 0024 m002 :a f 103.2 0025 :jc =m003 0026 :s f 103.2 0027 :s f 103.7 0028 :l kh fa20 002a :t qw 88 positioning job 002b :l kh 7530 for path c --> a 002d :t qw 90 002e :beu 002f : 0030 : 0031 m003 :a f 103.3 0032 :jc =m004 0033 :s f 103.3 0034 :s f 103.7 reconfiguration of the ip 267: 0035 :l kh 0000 0037 :t qw 88 configuration message frame 2 0038 :beu 0039 : for paths a --> b and b --> c 003a : 003b m004 :a f 103.4 is loaded 003c :jc =m005 003d :s f 103.4 003e :s f 103.7 003f :l kh 0402 0041 :t qw 88 0042 :l kh 1005 0044 :t qw 90 0045 :beu 0046 : 0047 : 0048 m005 :a f 103.5 0049 :jc =m006 004a :s f 103.5 004b :s f 103.7 004c :l kh fa10 004e :t qw 88 positioning job 004f :l kh 2710 for path a --> b 0051 :t qw 90 0052 :beu 0053 : 0054 : 6-42 ewa 4neb 812 6061-02a
ip 267 application examples 0055 m006 :a f 103.6 0056 :jc =m007 0057 :s f 103.6 0058 :s f 103.7 0059 :l kh fa10 005b :t qw 88 positioning job 005c :l kh 4e20 for path b --> c 005e :t qw 90 005f :beu 0060 : 0061 : 0062 m007 :r f 101.0 0063 :r q 89.4 reset the auxiliary flag parameters 0064 :r q 89.5 and switch on the ostopo mode 0065 :l kb 0 at the end of the traversing program 0066 :t fy 3 contained in fb51 0067 : 0068 : 0069 :be fb 53 len=82 abs segment 1 0000 name :rpkt 0005 :a e 88.5 if pulses are output, switch on 0006 :s q 89.4 oneutralo mode and do not process the 0007 :s q 89.5 fb. 0008 :bec 0009 : 000a : 000b :a f 104.0 000c :jc =m001 000d :s f 104.0 000e :s f 104.7 000f :l kh 585f first approach section: forwards, 0011 :t qw 88 with reference point bit set and 0012 :l kh ffff maximum path 0014 :t qw 90 0015 :beu 0016 : 0017 : 0018 m001 :an f 104.1 if the bero has been detected in the 0019 :a e 88.1 first approach section, skip the 001a :s f 104.1 second section 001b :jc =m002 001c : a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-43
application examples ip 267 001d : 001e :a f 104.1 001f :jc =m002 0020 :s f 104.1 0021 :s f 104.7 0022 :l kh 586f 0024 :t qw 88 second approach section: backwards 0025 :l kh ffff with reference point bit set and 0027 :t qw 90 maximum path 0028 :beu 0029 : 002a : 002b m002 :a f 104.2 002c :jc =m003 002d :s f 104.2 002e :s f 104.7 auxiliary approach section backwards, 002f :l kh 2820 without reference point bit to make 0031 :t qw 88 sure the drive is no longer at the 0032 :l kh 0300 bero. the path must therefore be 0034 :t qw 90 adjusted to the drive. 0035 :beu 0036 : 0037 : 0038 m003 :a f 104.3 0039 :jc =m004 003a :s f 104.3 003b :s f 104.7 003c :l kh 0150 third approach section: forwards 003e :t qw 88 with reference point bit set and 003f :l kh 4000 low velocity 0041 :t qw 90 0042 :beu 0043 : 0044 : 0045 m004 :l kb 0 0046 :t pb 104 0047 :s f 101.4 when the reference point approach is 0048 :r q 89.4 completed, reset all auxiliary flags 0049 :r q 89.5 and switch on ostopo mode 004a :r q 89.6 004b : 004c :be 6-44 ewa 4neb 812 6061-02a
ip 267 application examples ob 1 len=40 abs page 1 segment 1 0000 0000 :a i 0.7 flag f 101.6 can also be set 0001 :s f 101.6 in the warm restart obs 0002 : 0003 :a f 104.7 0004 :r f 104.7 0005 :bec 0006 : "basic status" routine 0007 :a f 101.6 of the ip 267 on warm restart 0008 :jc fb 50 0009 name :param-rp 000a : 000b :o f 104.7 000c :o f 101.6 000d :bec 000e : 000f : 0010 : 0011 : 0012 : 0013 :a i 0.0 routine for starting 0014 :s f 101.0 the user program 0015 : 0016 : with flag f 103.7 the program waits 0017 :a f 103.7 for the positioning job 0018 :r f 103.7 to be executed 0019 :bec before switching to "neutral" mode 001a : (cpu wait cycle) 001b :a f 101.0 001c :jc fb 51 001d name :vprog 001e : 001f : 0020 : 0021 : 0022 :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 6 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 6-45
application examples ip 267 ob 21 len=16 abs page 1 segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :l kf +0 0005 :t fw 103 0006 : 0007 :u f 101.0 0008 :r f 101.0 0009 : 000a :be ob 22 len=16 abs page 1 segment 1 0000 0000 :an f 101.6 0001 :s f 101.6 0002 : 0003 :l kf +0 0005 :t fw 103 0006 : 0007 :u f 101.0 0008 :r f 101.0 0009 : 000a :be 6-46 ewa 4neb 812 6061-02a
7.1 structure of the program example . . . . . . . . . . . . . . . . . . .7 - 1 7.2 structure of function block 17 . . . . . . . . . . . . . . . . . . . . . . .7 - 2 7.3 user program for positioning . . . . . . . . . . . . . . . . . . . . . . . .7 - 9 7.4 description of the user data block. . . . . . . . . . . . . . . . . . . .7 - 17 7.5 calling function block 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7- 23 7 funkction block for assigning parameters to the ip 267 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 7 funkction block for assigning parameters to the ip 267 7.1 structure of the program example ob 21 restart ob ob 22 restart ob ob 1 cyclic program execution fb 17 initialization of the ip 267 fb 19 user program for ip 267 db 17 user db data exchange: ob 1 - db 17: store feedback message frame from pii transfer positioning or configuration message frame into piq fb 17 - db 17: load feedback message frame and parameters from db transfer feedback message frame after processing to db transfer positioning or configuration message frame after processing to db fb 19 - db 17: transfer parameters to db for positioning or configuring flag and data areas used in the function blocks: flag words: fw 100 to fw 106 - fb 17 fw 110 - fb 19 data words: dw 0 to dw 23 - db 17 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-1
function block for assigning parameters to the ip 267 ip 267 application of function block fb 17 this function block supports operator communication and visualization using the ip 267 stepper motor controller in conjunction with the cpu 102 (from 6es5 102 - 8ma02 onwards) or cpu 103. to facilitate configuring and positioning, the various parameters can be trans- ferred to different data words of the user data block. the function block has access to this data area and converts the parameters to the required 4-byte format. additionally, the traversing path (linear axis) or the angle of rotation (rotary axis) can be entered directly and the residual distance or angle read. this relieves the user of having to convert the distance (angle) to go into the corresponding number of pulses, and vice versa. general note on communications as the pii and piq are updated simultaneously, the feedback messages are de- layed by one ob 1 cycle. to avoid undesirable reactions of the user program to the "old" data, the positioning functions and the output of new positioning or configuration message frames must be deactivated in the user program for every second ob 1 cycle. 7.2 structure of function block 17 general communication between the cpu and the ip 267 is limited to three different types of message frame: - configuration message frames - positioning message frames - feedback message frames. the fb 17 includes one separate segment for each type of message frame and an additional one for calling the user program. segment 1 - read feedback message frame segment 2 - calling user program segment 3 - transmit configuration message frame segment 4 - transmit positioning message frame 7-2 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 the user program must be called in segment 2 to enable a fast response to current feedback messages from the ip. fb 17 segment 1 set/reset idle cycle flag a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a number of residual pulses < 32768 a a a a a a a a a a a a a a a a yes set fb status bit 13 and convert num- ber of residual pulses into distance to go store distance to go in length units in dw 22 store positioning path to go in length units in dw 22 a a a a a a a a a a a a a a a a no 2 store ip status in dw 23 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a start fb 17 segment 2 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a idle cycle? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a calling the user program for positioning a a a a a a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a end 2 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-3
function block for assigning parameters to the ip 267 ip 267 fb 17 segment 3 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=4 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=8 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=20 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=40 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=80 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=200 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=800 ? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a transmit configuration message frame? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km111 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km110 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km101 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km100 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km011 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km010 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km001 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a km000 dr 18 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a set error bit 8 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a bv=400 ? a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a a a a a a a a a end a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a yes reset error bit 8 ti => dl 18 ek=> d 17.1 ss=> dl 17 3 4 7-4 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 fb 17 segment 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a number of pulses determined >1048575 converting the path entered (dw 13) into the number of pulses a a a a a a a a a a a a a a a a yes set error bit 9 number of pulses dw 18 and d 17.0 to d 17.3 g dl 17 ba, rf, r d 17.4 to d a a a a a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a a a a a a a a a end 4 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-5
function block for assigning parameters to the ip 267 ip 267 fb 17 lae=157 name :ip-op 0005 :an f 100.4 auxiliary flag for idle cycle 0006 := f 100.4 0007 :l dw 15 distance to go is smaller 0008 :slw 12 than 16 bits ? 0009 :l dw 16 000a :srw 15 000b :ow 000c :l kf +0 000e :!=f 000f := f 100.5 0010 :l dw 13 0011 :t dw 22 no :total path as 0012 :jc fb 243 feedback message 0013 name :div:16 0014 z1 : dw 16 0015 z2 : dw 8 yes:converting number of residu- 0016 ov : f 101.0 al pulses into distance to go 0017 feh : f 101.1 0018 z3=0 : f 101.2 0019 z4=0 : f 101.3 001a z3 : dw 22 001b z4 : fw 102 001c :l dw 15 001d :srw 6 store ip status 001e :t dw 23 001f :t fw 104 0020 :*** segment 2 0021 user program segment 0021 :an f 100.4 idle cycle 0022 :l fw 100 store fb status 0023 :t dw 20 0024 :bec 0025 :ju fb 19 0026 name :abl.ket 0027 :*** 7-6 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 segment 3 0028 configuration segment 0028 :l dw 1 0029 :t fw 106 configuring/positioning ? 002a :a f 107.0 positioning ? 002b :jc =m001 002c :l dw 3 base value = 4 ? 002d :l kf +4 002f :> byte 3 0033 :ju =m003 0034 m002 :l dw 3 base value = 8 ? 0035 :l kf +8 0037 :> byte 3 003b :ju =m003 003c m004 :l dw 3 base value = 20 ? 003d :l kf +20 003f :> byte 3 0043 :ju =m003 0044 m005 :l dw 3 base value = 40 ? 0045 :l kf +40 0047 :> byte 3 004b :ju =m003 004c m006 :l dw 3 base value = 80 ? 004d :l kf +80 004f :> byte 3 0053 :ju =m003 0054 m007 :l dw 3 base value = 200 ? 0055 :l kf +200 0057 :> function block for assigning parameters to the ip 267 ip 267 0059 :l kf +2 yes : km 010 -> byte 3 005b :ju =m003 005c m008 :l dw 3 base value = 400 ? 005d :l kf +400 005f :> byte 3 0063 :ju =m003 0064 m009 :l dw 3 base value = 800 ? 0065 :l kf +800 0067 :> byte 3 006b :ju =m003 006c m010 :s f 100.0 error no.1 : bv illegal 006d :l fw 100 store fb status 006e :t dw 20 006f :beu 0070 m003 :r f 100.0 0071 :t dr 18 base value -> byte 3 0072 :l dr 5 0073 :t dl 18 time interval -> byte 2 0074 :l dw 6 0075 :slw 15 0076 :srw 14 0077 :t dr 17 limit switch con. -> byte 1 0078 :l dr 4 0079 :t dl 17 factor ss-rate -> byte 0 007a :l fw 100 007b :t dw 20 store fb status 007c :beu 007d m001 :*** 7-8 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 segment 4 007e positioning segment 007e :ju fb 242 007f name :mul:16 0080 z1 : dw 13 converting the path 0081 z2 : dw 8 into number of pulses 0082 z3=0 : f 101.4 0083 z32 : dw 17 0084 z31 : dw 18 0085 :l dw 17 number of pulses per area 0086 :l kf +15 <= 20 bits ? 0088 :>f 0089 := f 100.1 no : error no. 2 008a :l fw 100 008b :t dw 20 008c :bec 008d :l dw 11 yes : reduction factor and 008e :slw 7 008f :l dw 12 operating mode and 0090 :slw 4 0091 :ow number of pulses high-word 0092 :l dw 17 0093 :ow -> byte 0 and 1 0094 :t dw 17 0095 :l dw 10 velocity factor 0096 :t dl 17 -> byte 0 0097 :be 7.3 user program for positioning the following program example shall illustrate the basic structure of a possible sequencer taking into account various start conditions (timer or pulse-triggered) of a positioning function. note that the order in which the jobs are processed is determined by the step flags. the start conditions are only effective after the preceding job has been executed. the program example is based on the following data: motor data : 200 pulses/rev. axis data : 1 mm/rev. resolution : 200 pulses/mm a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-9
function block for assigning parameters to the ip 267 ip 267 processing sequence fb 19 segment 1 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a positioning job executing? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a job 0 already executed? a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a job 1 already executed? a a a a a a a a a a a a a a a a no a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a no assign current parameters to dw in udb a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a no assign current parameters to dw in udb a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a job 3 already executed? a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a no assign current parameters to dw in udb a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a reset sequencer a a a a a a a a a a a a a a a a a a a a a a a a a a a a end a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a job n already executed? a a a a a a a a a a a a a a a a a a a a a a a a a yes a a a a a a a a a a a a a a a a a a a a no assign current parameters to dw in udb a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a start a a a a a a a a a a a a a a a a a a a a yes 7-10 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 notes on the job execution start new positioning job immediately after terminating the previous one execution of this job depends on two conditions: 1. no pulses output by the ip 2. job has not yet been executed. for examples see: jobs 0, 1, 2 start new positioning job on expiration of a set time execution of this job depends on three conditions: 1. no pulses output by the ip 2. job has not yet been executed 3. expiration of set time. for examples see: jobs 3, 4 positioning job initiated by binary signal execution of this job depends on three conditions: 1. no pulses output by the ip 2. job has not yet been executed 3. change of state of a binary operand for examples see: jobs 5, 6 disabling various jobs for disabling individual jobs, the relevant step flags must be set. for examples see: jobs 7, 8, 9, 10, 11, 12 in the restart obs, the step flags are set to ensure that the configuration is deleted, a new configuration transferred and a reference point approach started before processing of the sequencer begins. a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-11
function block for assigning parameters to the ip 267 ip 267 fb 19 lae=258 name :seqcer 0005 :*** segment 2 0006 0006 :a f 105.7 positioning job executing ? 0007 :bec yes : abort 0008 :a f 110.0 step flag for job 0 0009 :jc =a01 000a :s f 110.0 job 0: 000b :l kf +1 000d :t dw 1 neutral 000e :l kf +3 0010 :t dw 12 0011 :beu 0012 a01 :a f 110.1 step flag for job 1 0013 :jc =a02 0014 :s f 110.1 0015 :l kf +1 job 1 : 0017 :t dw 1 0018 :l kf +10 identifier for positioning 001a :t dw 10 001b :l kf +0 velocity factor : 10 001d :t dw 11 reduction factor: 1 001e :l kf +1 operating mode : forwards 0020 :t dw 12 path [lu] : 100mm 0021 :l kf +100 0023 :t dw 13 0024 :beu 0025 a02 :a f 110.2 step flag for job 2 0026 :jc =a03 0027 :s f 110.2 0028 :l kf +20 002a :t dw 10 job 2 : 002b :l kf +0 002d :t dw 11 velocity factor : 20 002e :l kf +2 reduction factor : 1 0030 :t dw 12 operating mode : backwards 7-12 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 0031 :l kf +200 path [lu] : 200mm 0033 :t dw 13 0034 :beu 0035 a03 :a f 110.3 step flag for job 3 0036 :jc =a04 0037 :l kt 050.1 job 3 : 0039 :sd t 10 003a :an t 10 waiting time : 5.0 s 003b :bec 003c :s f 110.3 003d :an t 10 003e :sd t 10 003f :l kf +50 0041 :t dw 10 velocity factor : 50 0042 :l kf +1 reduction factor: 0.1 0044 :t dw 11 operating mode : forwards 0045 :l kf +1 path [lu] : 500mm 0047 :t dw 12 0048 :l kf +500 004a :t dw 13 004b :beu 004c a04 :a f 110.4 step flag for job 4 004d :jc =a05 004e :l kt 025.1 job 4 : 0050 :sd t 11 0051 :an t 11 waiting time : 2.5 s 0052 :bec 0053 :s f 110.4 0054 :an t 11 0055 :sd t 11 0056 :l kf +100 0058 :t dw 10 velocity factor : 100 0059 :l kf +1 reduction factor: 0.1 005b :t dw 11 operating mode : backwards 005c :l kf +2 path [lu] : 1000mm 005e :t dw 12 005f :l kf +1000 0061 :t dw 13 0062 :beu 0063 a05 :a f 110.5 step flag for job 5 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-13
function block for assigning parameters to the ip 267 ip 267 0064 :jc =a06 0065 :an i 3.0 job 5 : 0066 :bec 0067 :s f 110.5 start signal : input 3.0 0068 :l kf +20 006a :t dw 10 velocity factor : 20 006b :l kf +0 reduction factor: 1 006d :t dw 11 operating mode : forwards 006e :l kf +1 path [lu] : 250mm 0070 :t dw 12 0071 :l kf +250 0073 :t dw 13 0074 :beu 0075 a06 :a f 110.6 step flag for job 6 0076 :jc =a07 0077 :an i 3.1 job 6 : 0078 :bec 0079 :s f 110.6 start signal : input 3.1 007a :l kf +40 007c :t dw 10 velocity factor : 40 007d :l kf +0 reduction factor: 1 007f :t dw 11 operating mode : backwards 0080 :l kf +2 path [lu] : 100mm 0082 :t dw 12 0083 :l kf +100 0085 :t dw 13 0086 :beu 0087 a07 :a i 3.2 if input 3.2 active, 0088 :s f 110.7 jobs 7 to 10 0089 :s f 111.0 are not processed ! 008a :s f 111.1 008b :s f 111.2 008c :a f 110.7 step flag for job 7 008d :jc =a08 008e :s f 110.7 job 7 : 008f :l kf +0 0091 :t dw 10 delete configuration 0092 :t dw 12 0093 :beu 0094 a08 :a f 111.0 step flag for job 8 7-14 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 0095 :jc =a09 0096 :s f 111.0 job 8 : 0097 :l kf +0 0099 :t dw 1 reconfiguration 009a :l kf +80 009c :t dw 3 identifier for configuration 009d :l kf +20 base value : 80 009f :t dw 4 factor for ss-rate : 20 00a0 :l kf +30 time interval : 30 00a2 :t dw 5 limit switch config. : 1 00a3 :l kf +1 00a5 :t dw 6 00a6 :beu 00a7 a09 :a f 111.1 step flag for job 9 00a8 :jc =a10 jobs 9 to 12 ref. point appr. 00a9 :s f 111.1 job 9 : 00aa :l kf +1 00ac :t dw 1 approach limit switch 00ad :l kf +80 00af :t dw 10 velocity factor : 80 00b0 :l kf +0 reduction factor: 1 00b2 :t dw 11 operating mode : backwards 00b3 :l kf +2 path [lu] : max=5242mm 00b5 :t dw 12 00b6 :l kf +5242 (here max.path) 00b8 :t dw 13 00b9 :beu 00ba a10 :a f 111.2 step flag for job 10 00bb :jc =a11 00bc :s f 111.2 job 10 : 00bd :l kf +1 00bf :t dw 1 reference point approach 00c0 :l kf +80 00c2 :t dw 10 velocity factor : 80 00c3 :l kf +0 reduction factor: 1 00c5 :t dw 11 operating mode : rpa forw. 00c6 :l kf +5 path [lu] : max=5242mm 00c8 :t dw 12 00c9 :l kf +5242 00cb :t dw 13 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-15
function block for assigning parameters to the ip 267 ip 267 00cc :beu 00cd a11 :a f 111.3 step flag for job 11 00ce :jc =a12 00cf :s f 111.3 job 11 : 00d0 :l kf +1 00d2 :t dw 1 move backw. from ref. point 00d3 :l kf +80 00d5 :t dw 10 velocity factor : 80 00d6 :l kf +0 reduction factor: 1 00d8 :t dw 11 operating mode : backwards 00d9 :l kf +2 path [lu] : 20mm 00db :t dw 12 00dc :l kf +30 00de :t dw 13 00df :beu 00e0 a12 :a f 111.4 step flag for job 12 00e1 :jc =a13 00e2 :s f 111.4 job 12 : 00e3 :l kf +1 00e5 :t dw 1 set reference point 00e6 :l kf +1 00e8 :t dw 10 velocity factor : 1 00e9 :l kf +0 reduction factor: 1 00eb :t dw 11 operating mode : rpa forw. 00ec :l kf +5 path [lu] : max=5242mm 00ee :t dw 12 00ef :l kf +5242 00f1 :t dw 13 00f2 :beu 00f3 a13 :l fw 110 end of sequencer reached ? 00f4 :l kh ff1f 00f6 :> continue 00f8 :l kh 0000 00fa :t fw 110 yes --> set step flag to zero 00fb :*** segment 3 00fc 00fc :be 7-16 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 7.4 description of the user data block dw 0 - unassigned dw 1 - k/p - used for selecting the parameters to be transferred k/p = 0 configuring parameters : ss, ek, zi, bw k/p = 1 positioning parameters : g, r, rf, ba, ws dw 2 - unassigned dw 3 - bv - the eight frequency ranges that can be used for the base value must be entered in decimal form. in the case of an incorrect entry, an error bit is set (d 20.8) and the configuration discontinued (see chapter 4.1.5). dw 4 - ss - multiplier for start/stop rate (see chapter 4.1.2) dw 5 - ti - time interval for rate increase and decrease (see chap- ter 4.1.4) dw 6 - ek - limit switch configuration ek = 0 eplus, eminus, stop : nc contact ek = 1 eplus, eminus, stop : no contact (see chapter 4.1.3) dw 7 - unassigned a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-17
function block for assigning parameters to the ip 267 ip 267 dw 8 - al - this value describes the required plant sections (stepper motor, gears, leadscrew pitch). the user determines this value by dividing the number of pulses per revolution of the motor by the path (or angle) per revolution of the motor. the ratio of any gearing used must be taken into account. e.g. linear axis : motor data : 200 pulses/rev. axis data : 1.0 mm/rev. resolution (res.) : 200 pulses/mm in this case, the length is measured in mm. the minimum traversing path of a positioning job is therefore 1 mm. the maximum traversing path is the maximum number of pulses divided by the resolution (up to 32767 length units or angular units). max. numb. of pulses : 1,048,575 pulses (20 bits) resolution : 200 pulses/mm max. path : 5242 mm many applications demand a higher positioning accuracy, which can be achieved by multiplying the parameter res. several times by the factor 0.1. in the example above, the user may also enter 20 or 2, instead of 200, for the parameter res. the positioning accuracy thus changes from 1 mm to 100 m or 10 m; consequently, the maximum traversing path is reduced from 5242 mm to 3276.7 mm or 327.67 mm. additionally, the length unit [mm] assigned to the path in dw 13 changes to 100 m or 10 m. if the resolution value is no integer value, a gearing with a suitable ratio should be selected to ensure that the ma- ximum traversing path (angle of rotation) will not exceed the permissible limits. 7-18 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 e.g. rotary axis motor data : 200 pulses/rev. axis data : 360 deg/rev. resolution : 0.55555 or 5/9 in this example, the smallest possible angle of rotation is 9 degrees, the resolution parameter is 5. a better resolution can be achieved by dividing a circle up into gons and the use of only one gearing: motor data : 200 pulses/rev. gearing : 10 : 1 axis data : 400 deg/rev. resolution : 5 pulses/deg these specifications result in a minimum angle of one gon. the length unit or angular unit selected by the user in connection with the resolution parameter is referred to the path (dw 13) and one positioning command. dw 9 - unassigned dw 10 - g - multiplier for the velocity (see chapter 4.2.2) dw 11 - r - reduction factor (see chapter 4.2.3) r = 0 reduction factor = 1.0 r = 1 reduction factor = 0.1 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-19
function block for assigning parameters to the ip 267 ip 267 dw 12 - om - operating mode (see chapter 4.2.3) om = 0 stop om = 1 start forwards om = 2 start backwards om = 3 neutral om = 5 start forwards + reference point om = 6 start backwards + reference point dw 13 - ws - the path must be entered in the length unit or angular unit selected by the user in dw 8 (resolution). input range: 0 to 32767 (cf. dw 8 - resolution parameter) dw 14 - unassigned dw 15 - iw0 - byte 0 and byte 1 - data from ip dw 16 - iw1 - byte 2 and byte 3 - data from ip these two data words must be assigned by the user before calling the fb 17 from the pii. dw 17 - qw0 - byte 0 and byte 1 - data to ip dw 18 - qw1 - byte 2 and byte 3 - data to ip these two data words must be transferred by the user to the piq after calling the fb 17. dw 19 - unassigned 7-20 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 dw 20 - fb - fb status and error messages structure: dr - auxiliary flag area for internal conversions. dl - error messages and fb status d 20.8 =1 - base value entered incorrectly d 20.9 =1 - calculated number of pulses exceeds 20 bit range d 20.12 =1 - network for configuring or posi- tioning is being processed =0 - idle cycle d 20.13 =1 - display of current distance to go =0 - total traversing path displayed dw 21 - unassigned dw 22 - rw - the distance to go is output in the length unit or angular unit selected in dw 8 (resolution). in the case of very long traversing paths (residual pulse number greater than 32767), the total traversing path is displayed and, as soon as the residual pulse number is below 32767, the current distance to go is displayed. dw 23 - ip - ip status (see chapter 4.3.2) the status bits of the ip are stored right-justified in this data word. bit 0 - ije bit 1 - dgs bit 2 - ies bit 3 - irp bit 4 - ilss bit 5 - ilse bit 6 - idg bit 7 - ipq bit 8 - ipd bit 9 - ilcn a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-21
function block for assigning parameters to the ip 267 ip 267 db17 lae=30 /40 0: kh = 0000; 1: kf = +00000; conf./pos. [0/1] 2: kh = 0000; 3: kf = +00000; bv [4;8;20;40;80;200;400;800] 4: ky = 000,000; 0,factor ss-rate [1...255] 5: ky = 000,000; 0,time interval [1...255] 6: kf = +00000; limit switch configuration [0/1] 7: kh = 0000; 8: kf = +00200; resolution [1...32767 imp/lu] 9: kh = 0000; 10: ky = 000,000; 0,velocity factor [1...255] 11: kf = +00000; reduction factor [0/1] => 1/0.1 12: kf = +00000; operating mode 13: kf = +00000; path [1...32767 lu] 14: kh = 0000; 15: km = 00000000 00000000; from ip - byte 0 and 1 16: km = 00000000 00000000; - byte 2 and 3 17: km = 00000000 00000000; to ip - byte 0 and 1 18: km = 00000000 00000000; - byte 2 and 3 19: kh = 0000; 20: km = 00000000 00000000; fb status and error messages 21: kh = 0000; 22: kf = +00000; distance to go [1...32767 lu] 23: km = 00000000 00000000; ip status 24: kh = 0000; 25: 7-22 ewa 4neb 812 6061-02a
ip 267 function block for assigning parameters to the ip 267 7.5 calling function block 17 ob 1 before calling the fb 17, the user data block must be opened and the relevant input data words (see chapter 4) transferred from the pii to data words 15 and 16. after processing the function block, data words 17 and 18 must be transferred to the piq. ob 1 lae=17 segment 1 0000 0000 :c db 17 opening the user db 0001 :l iw 64 iwxx corresponds to slot 0002 :t dw 15 store feedback message frame 0003 :l iw 66 from ip 0004 :t dw 16 0005 :ju fb 17 0006 name :ip-bed 0007 :l dw 17 transmit positioning 0008 :t qw 64 or configuring 0009 :l dw 18 message frame to ip 000a :t qw 66 qwxx corresponds to slot 000b :be ob 21 when initializing fw 110, the configuration data is deleted and transferred again, and the axis referenced again in the user fb (fb 19) following a warm restart. ob 21 lae=9 segment 1 0000 0000 :l kh 7f00 processing of the last six jobs 0002 :t fw 110 of the sequencer is started! 0003 :be a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 7 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a ewa 4neb 812 6061-02a 7-23
function block for assigning parameters to the ip 267 ip 267 ob 22 when initializing fw 110, the configuration data is sent to the ip and the axis referenced again in the user fb (fb 19) following a cold restart. ob 22 lae=9 segment 1 0000 0000 :l kh ff00 processing of the last five jobs 0002 :t fw 110 of the sequencer is started! 0003 :be 7-24 ewa 4neb 812 6061-02a
ip 267 index index a abortion/interruption - positioning jobs 4-11 acceleration curve 2-4 acceleration ramp 2-2, 2-4 address area 1-1, 4-1 address assignment - configuration message frames 5-3 4-4 - feedback message frames 4-16 - positioning message frames 4-9 addresses 1-1 addressing - configuration message frames 4-3 assigning parameters 7-1 auxiliary approach jobs 6-14 b base value (bv) - for the stepping rate 2-3 2-2 - frequencies 4-6, 4-10 - stepping rate 2-3 block diagram of the ip 267 1-2 bv base value for the frequencies c cable length - permissible 3-7 calibration - traversing range 3-4 cold restart 6-2 configuration - delete 4-15 configuration - limit switch 2-2, 2-3 configuration data 2-1, 2-2, 3-4, 4-2, 4-3 - configuration message frame 5-6 - setting 6-26 - valid 4-12 configuration message frame 2-2, 4-3, 4-11, 5-11, 5-12 - addressing 4-3 - configuration data 5-6 configuring the ip 267 4-3 connecting cables - power sections 3-9 connector - stepper motor power section 3-8 constant velocity range 2-2 contact bounce 5-10 control pulses 3-7 current consumption 3-2 d deceleration - curve 2-4 - phase 2-3 - ramp 2-2, 2-4 diagnostics sheet 5-16 differential signals - 5 v 3-6, 5-14 differential inputs - 5v 1-1 digital inputs - i - 2-4 - i+ 2-4 digital inputs - technical specifications 3-4 ewa 4neb 812 6061-02a 1
index ip 267 distance to go 2-1, 4-2, 4-15, 4-18 drive - moment of inertia 6-29 drive circuit - technical specifications 3-6 duration of the output impulses 2-3 e emergency limit switch (pd) 2-2, 3-4, 5-1, 5-6 emergency-off switch 5-1 enable signals - power section 5-4 end switch configuration 2-2 f f a stepping rate feedback message 4-2 feedback message frames 4-15 - address assignment 4-16 feedback signal 2-1 f max pulse frequency frequency - base value (bv) 2-3, 4-6, 4-10 - range 2-3 f ss start/stop rate full-step mode 2-5 h half-step mode 2-5 i i - - digital inputs 2-4 i - - limit switch 5-6 i+ - digital inputs 2-4 i+ - limit switch 5-6 identifier bit - reference point approach 4-8 input addresses 4-1 input message frame 6-1 interface - serial 1-1, 2-1, 4-2 l led - oabto 3-4, 3-8 - oacto 3-8 - ordyo 2-2 - ordyo 3-4 - ordyo 3-8 - ordyo 4-8 - ordyo 5-6 limit switch 5-1 - configuration 2-3 - i - 5-6 - i+ 5-6 load variations 5-12 logic inputs 1-1 - range 5 v to 30 v 3-6 m message frame 2-1 - ostopo mode 4-11 mode - oneutralo 4-12 - ostart backwardso 4-12 - ostart forwardso 4-12 moment of inertia 6-27 - drive 6-29 motor - number of steps 5-12 - selection 5-12, 6-26 - torque 6-29 2 ewa 4neb 812 6061-02a
ip 267 index multiplier - start/stop rate 2-4, 4-5 - velocity 4-8, 4-10 n number of steps 3-7 - motor 5-12 o operating modes 2-2, 4-8, 4-11 output addresses 4-1 output current 3-7 output message frame 6-1 output pulses 2-4 - number 2-1 output signals 3-6, 5-15 output voltages 3-7 p path 4-11 - definition 4-8 pd emergency limit switch pii process input image pin assignment - terminal block connector 3-3 piq process output image positioning data 2-1, 2-2 positioning job 4-2, 4-8, 4-12 - abortion/interruption 4-11 positioning message frame 4-8, 5-8, 5-11 - address assignments 4-9 power section - connecting cable 3-9 - enable signal 5-4 - preparation 5-4 - selection 5-14 power supply 3-1, 3-2 principle of operation of the ip 267 2-1 process - input image 4-1, 4-2, 4-15 - output image 4-1, 4-2 programmable pulse generator 1-1 pulse duration 4-7 pulse frequency 2-1, 5-12, 5-14 - maximum 5-13 pulse generator - programmable 1-1 pulse output - inhibit 3-4 r r reduction factor rate - start/stop 2-3 - start/stop (f ss ) 2-4 rate decrease - time interval 4-5 reduction factor 4-7, 4-8, 4-10, 4-13 - start/stop rate (f ss ) 2-3 reference point 5-8, 6-14 - determination 5-8, 6-14 reference point approach 4-13 - identifier bit 4-8 reference switch 3-4, 5-8 rpa reference point approach s safety concept 5-1 serial interface 1-1, 2-1, 4-2 signal evaluation 3-4 slots 4-1 special voltage v s 3-2, 3-6, 5-4 ss multiplier for the start/stop rate ewa 4neb 812 6061-02a 3
index ip 267 start/stop rate (f ss ) 2-2, 2-3, 2-4 - multiplier 2-4, 4-5 - reduction factor 2-4 status 4-2 - bit 2-1, 4-15, 4-17 - displays 3-8 step - losses 5-12 - pulses 4-11 stepper motor - torque 2-5 stepper motor power section - connection 3-6 stepping rate (f a ) 2-4, 3-7, 4-5, 4-10 - base value 2-2, 2-3 stepping rate decrease - time interval 2-2 stepping rate increase - time interval 2-2 stop mode - message frames 4-11 supply voltage - two-wire beros 3-5 symmetrical traverse profile 2-2 t technical specifications - digital inputs 3-4 - drive circuit 3-6 - general 3-1 terminal block connector - pin assignment 3-3 ti time interval time interval (ti) - for stepping rate decrease 2-4 2-2 - for stepping rate increase 2-2 - rate decrease 4-5 - rate increase 4-5 torque 5-12 - characteristic 5-13, 5-14 - motor 6-29 - stepper motor 2-5 traverse profile - symmetrical 2-2 traversing range 5-8 - calibration 3-4 - limitation 3-4 two-wire beros - supply voltage 3-5 v velocity - multiplier 4-8, 4-10 v s special voltage w warm restart 6-2 - routines 6-2 4 ewa 4neb 812 6061-02a
siemens ag aut e1114b postfach 1963 werner-von-siemens-str. 50 d-92209 amberg fed. rep. of germany suggestions and / or corrections from: name company/dept. address tel. no. suggestions corrections for publication / manual: title: ip 267 stepper motor controller order no.: 6es5 998-5sd21 edition: 3 should you come across any printing errors when reading this publication, we would ask you to inform us accordingly, using this form. we would also welcome any suggestions you may have in the way of improvement. ewa 4neb 812 6061-02a

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