Siemens SIMATIC S5-100U System Manual page 471

S5-100U
Besides purely traversing movements, other operating modes allow offset generation of axis
coordinates or drift compensation in the system.
In addition, the IP 266 offers operating modes to read data such as positioning actual value or
residual traversing distances.
In order to use the IP 266 in an automatic manufacturing process, it is possible to combine individual
traversing applications, positioning corrections, offsets or dwell times in a "traversing program".
These traversing programs can be called up via two special operating modes and processed auto-
matically or semi-automatically.
Such a traversing program can be created by using the "learning capable" "Teach-in mode" for
positioning applications. The information from single positioning applications can be stored at the
end of an operation in a traversing program.
Positioning
For the positioning operation, the IP 266 calculates the setpoint from the selected end data and
velocity data in conjunction with the programmed machine data. The actual value follows the
selection. The deviation (following error) that occurs reaches a constant value after the short
start-up phase and must reach zero at the end of the positioning operation.
S
(t)
S
Figure 15-28. Course of a Following Error during a Positioning Operation
EWA 4NEB 812 6120-02b
s
a
b
s = const
Function Modules
a = Setpoint function
b = Actual value function
S = Following error
t
t
15-57