Siemens SIMATIC S5 Manual

Ip 267 stepper motor controller
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SIMATIC S5
IP 267
Stepper Motor Controller
Manual
EWA 4NEB 812 6061-02a

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Summary of Contents for Siemens SIMATIC S5

  • Page 1 SIMATIC S5 IP 267 Stepper Motor Controller Manual EWA 4NEB 812 6061-02a...
  • Page 2 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.
  • Page 3: Table Of Contents

    Preface Introduction System Overview Driving Stepper Motors with the IP 267 Module Description Addressing and Programming Notes on Operation Application Examples Function block for assigning parameters to the IP 267 Index EWA 4NEB 812 6061-02a...
  • Page 4: Preface

    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.
  • Page 5: Introduction

    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) •...
  • Page 6 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: •...
  • Page 7 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...
  • Page 8 Introduction IP 267 • Information of particular importance appears between two thick gray bars. Note: Additional information; highlighting a special feature or characteristic. C A U T I O N Information you must observe to avoid damage to the hardware or software. W A R N I N G If this information is not observed, persons will be at risk.
  • Page 9 System Overview Block Diagram of the IP 267 Stepper Motor Controller . EWA 4NEB 812 6061-02a...
  • Page 10 Figures 1-1. Block Diagram of the IP 267 ......1 - 1-2. Installing the IP 267 in the Bus Module .
  • Page 11: System Overview

    IP 267 System Overview 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.
  • Page 12 System Overview IP 267 Block Diagram of the IP 267 Stepper Motor Controller Data bus Data Signal level converter Shift register Sliding switch 24 V TN N RP N STOP IS N Status displays ASIC (pulse generation and communication) Figure 1-1. Block Diagram of the IP 267 EWA 4NEB 812 6061-02a...
  • Page 13 System Overview Figure 1-2. installing the 1P 267 in the Bus Module EWA 4NEB 812 6061-02a...
  • Page 14 Driving Stepper Motors with the IP 267 Principle of Operation of the IP 267 ....2 - Configuration Message Frame ..... . .2 - 2.2.1 Limit Switch Configuration .
  • Page 15 Figures 2-1. Velocity Profile of the IP 267 ......2 - EWA 4NEB 812 6061-02a...
  • Page 16: Driving Stepper Motors With The Ip

    IP 267 Driving Stepper Motors with the IP 267 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.
  • Page 17: Configuration Message Frame

    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. f ss Accelera- Constant stepping 3.Decelera- tion ramp...
  • Page 18: Limit Switch Configuration

    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.
  • Page 19: Time Interval For Stepping Rate Increase And Rate

    Driving Stepper Motors with the IP 267 IP 267 The following formula applies: (Hz) BV (Hz) · SS · R Start/stop rate Base value for the frequency Multiplier for the start/stop rate Reduction factor (1 oder 0.1) for the start/stop rate (f ) and the stepping rate (f The reduction factor R is transferred with the positioning job.
  • Page 20: Full-Step Or Half-Step Mode

    IP 267 Driving Stepper Motors with the IP 267 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.
  • Page 21 Module Description General Technical Specifications.....3 - Power Supply ........3 - Terminal Block Connector Pin Assignments.
  • Page 22 Figures 3-1. Terminal Block Assignment Schematic ....3 - 3-2. Schematic of the Drive Circuit ......3 - 3-3.
  • Page 23: Module Description

    IP 267 Module Description 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.
  • Page 24: Power Supply

    Module Description IP 267 Table 3-2. General Technical Data (Part 2) Electromagnetic Compatibility (EMC) Specifications on IEC/VDE Safety Noise Immunity Damped oscillatory Degree of protection IP 20 to IEC 529 wave test (1 MHz) to IEC 255-4 Digital - class I to IEC 536 input/output modules 1 kV...
  • Page 25: Terminal Block Connector Pin Assignments

    IP 267 Module Description Terminal Block Connector Pin Assignments Figure 3-1. Terminal Block Assignment Schematic 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.
  • Page 26: Technical Specifications Of The Digital Inputs

    Module Description IP 267 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.
  • Page 27: Digital Inputs

    IP 267 Module Description Table 3-4. Digital Inputs Switch can be Limit switches that can initiate deceleration configured for "0" active (NC) or "1" STOP active (NO). Emergency limit switch (pulse disable) always "0" active Switch initiates deceleration in conjuction always "1"...
  • Page 28: Technical Specifications Of The Drive Circuit

    Module Description IP 267 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 = 5 V to 30 V (external).
  • Page 29 IP 267 Module Description The control pulses are available at a 9-way subminiature D female connector on the frontplate of the IP 267. Meaning Clock TN N Clock inverted Direction level RP N Direction level inverted Ground Figure 3-3. 9-Way Subminiature D Female Connector for Connecting the Stepper Motor Power Sections (Terminal End) Output Voltages: When supplied with +5 V:...
  • Page 30: Status Displays

    Module Description IP 267 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.
  • Page 31: Connecting Cables For Power Sections

    IP 267 Module Description 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)
  • Page 32 Addressing and Programming Configuring the IP 267 ......4 - 4.1.1 Address Assignment of the Configuration Message Frames (PC to IP) .
  • Page 33 Figures 4-1. Velocity Profile of the IP 267 ......4 - 4-2. Operating Modes Diagram ......4 - 14 4-3.
  • Page 34: Addressing And Programming

    IP 267 Addressing and Programming 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.
  • Page 35 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.
  • Page 36: Configuring The Ip 267

    IP 267 Addressing and Programming 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).
  • Page 37: Address Assignment Of The Configuration Message

    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 Multiplier for the start/stop rate Byte 0 1 SS 255 Unassigned Configuration bits Byte 1 Unassigned LSC Limit switch configuration Unassigned...
  • Page 38: Byte 0: Multiplier For The Start/Stop Rate (Ss)

    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.
  • Page 39: Byte 3: Base Value For The Frequencies (Bv)

    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.
  • Page 40: Deleting The Configuration

    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.
  • Page 41: Positioning Message Frames (Pc To Ip)

    Addressing and Programming IP 267 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).
  • Page 42: Address Assignment Of The Positioning Message Frames

    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 Multiplier for Byte 0 the velocity 1 V 255 Reduction factor R (1 or 0.1) Reference point approach RPA Operating modes Byte 1 Step pulses for the...
  • Page 43: Byte 0: Multiplier For The Velocity (V)

    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: (Hz) = BV(Hz) * Stepping rate of the motor...
  • Page 44: Byte 1: Path/Operating Mode

    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.
  • Page 45 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"...
  • Page 46 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).
  • Page 47: Byte 2: Path

    Addressing and Programming IP 267 Neutral External STOP STOP Start Start Start Start sequence forwards backwards forwards forwards OM 0 OM 1 Figure 4-2. Operating Modes Diagram Status bits of the feedback message frame (IP 267 to PC) = Pulse output active = Job executing = Distance to go See 4.3.2 for further information on the feedback message frame.
  • Page 48: Feedback Message Frames (Ip 267 To Pc)

    IP 267 Addressing and Programming 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.).
  • Page 49: Address Assignment Of The Feedback Message Frames

    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 IP 267 not configured ILCN Pulse disable Pulse output Distance to go Byte 0 Limit switch end ILSE Limit switch start ILSS Reference point...
  • Page 50: Byte 0: Status Bits

    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"...
  • Page 51: Byte 1: Status Bits And Distance To Go

    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"...
  • Page 52 IP 267 Addressing and Programming Reset IJE=0 Start job Neutral (STOP) Wait cycle Figure 4-3. Flowchart for Job Monitoring with the "IJE" Bit 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.
  • Page 53: Byte 2: Distance To Go

    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"...
  • Page 54 IP 267 Addressing and Programming Combining the Message Frame Assignments and the Most Important Formulas Table 4-1. Address Assignment of the Configuration Message Frames (PC to IP 267) Byte 0 Byte 1 Byte 2 Byte 3 . . . 7 6 5 4 3 2 1 0 .
  • Page 55 Addressing and Programming IP 267 Table 4-12. Address Assignment of the Feedback Message Frames (PC to IP 267) Byte 0 Byte 1 Byte 2 Byte 3 7 6 5 4 3 2 1 0 7 6 5 4 3 ..
  • Page 56 IP 267 Addressing and Programming Table 4-13. Frequency Ranges Base Accel./decel. Max. freq. Pulse dura- FB 2 FB 1 FB 0 (Hz/ms) in kHz tion (µs) value (Hz) TI=1 to 255 at V=255 6250 to 24.50 3125 to 12.25 1560 to 6.12 625 to 2.45 20.40 312 to 1.22...
  • Page 57 Notes on Operation Safety Concept ........5 - Preparing the IP 267 .
  • Page 58 Figures 5-1. Typical Data Exchange Between the CPU and the IP 267 (in Slot 3) ........5 - 5-2.
  • Page 59: Notes On Operation

    IP 267 Notes on Operation 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); •...
  • Page 60: Preparing The Ip 267

    Notes on Operation IP 267 W A R N I N G 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.
  • Page 61: Which Addresses Are Assigned

    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.
  • Page 62: Preparing The Power Section

    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) 9-way subminiature D connector Colour code Power section...
  • Page 63: Startup Of The Plant

    IP 267 Notes on Operation 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.).
  • Page 64 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 ).
  • Page 65 IP 267 Notes on Operation Start forwards Starting point Switching range I - Switching range I+ Inhibited area Permissible range Inhibited area I+, I - Limit switches Emergency limit switch (pulse disable) Figure 5-3. Distances Between Limit Switches and Emergency Limit Switches •...
  • Page 66: Determining A Reference Point

    Notes on Operation IP 267 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.
  • Page 67: Determining A Reference Point With Limit Switches

    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. Start forwards Starting point Start backwards Figure 5-4.
  • Page 68: Notes For Direct Data Entry With Programmers Or Operator Panels

    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.
  • Page 69 IP 267 Notes on Operation The various interrupts are separated by a delay of approximately 850 µs during which the cyclic program is processed. This corresponds to approximately 10 statements in the case of the CPU 100. Processing of an output message can lead to errors under certain circumstances if a new "Start forwards"...
  • Page 70: Motor Selection

    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"...
  • Page 71: Determining The Motor Identification Data

    IP 267 Notes on Operation 5.6.1 Determining the Motor Identification Data Required path resolution = ..µm/pulse Required traversing velocity = ..mm/min Max. load torque at the motor shaft = .
  • Page 72: Selecting The Power Section

    Notes on Operation IP 267 Torque (Ncm) Full-step Half-step Constant current 5 A/phase Start/stop rate 1000 5000 10000 50000 100000 [Step/s] 12000 1200 6000 [min -1 ] Figure 5-6. Typical Torque Characteristic as a Function of the Frequency of a Stepper Motor 5.6.2 Selecting the Power Section The IP 267 sends the signals listed in Table 5-3 as 5 V differential signals...
  • Page 73 IP 267 Notes on Operation Table 5-3. Output Signals of the IP 267 Signal IP 267 Power section requires: Signal Pulse duration Signal Level Dura- µs tion µs 1 - 3 - 7 Clock 15 - 31 - 63 pulse 127 - 255 Voltage level for Direction...
  • Page 74: Diagnostics Sheet

    Notes on Operation IP 267 Diagnostics sheet Description of error/fault Possible sources of error Module cannot be configured 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 External STOP, limit switch or emergency limit swich...
  • Page 75 Application Examples Configuring and Reconfiguring the IP 267 ... . 6 - 6.1.1 Programming Example "Reconfiguring the IP 267" ..6 - Fixed Positions ........6 - 6.2.1 Program Example "Transferring Positioning Jobs to the IP 267"...
  • Page 76 Figures 6-1. Flowchart for Programming Example "Reconfiguring" 6-2. Flowchart "Transferring Positioning Jobs" ... . 6 - 6-3. Flowchart "Reference Point Approach with Separate Switch" ......6 - 15 6-4.
  • Page 77: Application Examples

    IP 267 Application Examples 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.
  • Page 78: Configuring And Reconfiguring The Ip 267

    Application Examples IP 267 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.
  • Page 79: Programming Example "Reconfiguring The Ip 267

    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.
  • Page 80 Application Examples IP 267 FB 50 LEN=42 PAGE SEGMENT 1 0000 NAME :PARAMETR 0005 101.7 0006 :JC =M001 0007 0008 0009 101.7 FIRST FB50 CALL : 000A KH 0000 THE EXISTING CONFIGURATION DATA 000C IS DELETED 000D :BEC 000E 000F 0010 M001 :L KH 0402 SECOND FB50 CALL :...
  • Page 81 IP 267 Application Examples OB 1 LEN=22 SEGMENT 1 0000 0000 FLAG F101.6 CAN BE RESET 0001 101.6 IN THE WARM RESTART OBs, 0002 :JC FB FOR EXAMPLE 0003 NAME :PARAMETR 0004 0005 101.5 BOTH RECONFIGURATION 0006 101.6 MESSAGE FRAMES CAN BE SENT 0007 101.5 TO THE IP 267 DIRECT...
  • Page 82: Fixed Positions

    Application Examples IP 267 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"...
  • Page 83: Program Example "Transferring Positioning Jobs To The Ip 267

    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. START Switch on "Neutral" mode executing IJE = 1? positioning jobs...
  • Page 84 Application Examples IP 267 0024 0025 FB 51 LEN=77 PAGE 1 SEGMEMT 1 0000 FOUR POSITIONING JOBS CAN BE PROCESSED ONE AFTER THE OTHER AUTOMATICALLY WITH FB51 : FIRST -----> FORWARDS, SPEED A, TARGET A SECOND JOB -----> BACKWARDS, SPEED B, TARGET B THIRD ----->...
  • Page 85 IP 267 Application Examples 0026 M002 :A 103.2 0027 :JC =M003 0028 103.2 0029 103.7 THE THIRD POSITIONING JOB 002A KH 1010 IS TRANSFERRED TO THE PIQ 002C WITH THIS SEQUENCE 002D KH 0800 002F 0030 :BEU 0031 0032 0033 M003 :A 103.3 0034 :JC =M004...
  • Page 86 Application Examples IP 267 000B ROUTINE FOR FIXED 000C 101.0 POSITIONING JOBS 000D 000E FLAG F 103.7 REMAINS SET UNTIL THE 000F 101.7 CURRENT POSITIONING JOB HAS BEEN 0010 101.7 EXECUTED. "NEUTRAL" MODE IS THEN 0011 :BEC SWITCHED ON. (CPU WAIT CYCLE) 0012 0013 0014...
  • Page 87: Parameter Transfer Using Digital Input Modules

    IP 267 Application Examples 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"...
  • Page 88 Application Examples IP 267 OB 1 LEN=42 SEGMENT 1 0000 0000 FLAG F 101.6 CAN BE SET 0001 101.6 IN THE WARM RESTART OBS, 0002 :JC FB FOR EXAMPLE 0003 NAME :PARAMETR 0004 0005 101.5 BOTH RECONFIGURATION MESSAGE 0006 101.6 FRAMES CAN BE TRANSFERRED 0007 101.5...
  • Page 89 IP 267 Application Examples OB 21 LEN=9 SEGMENT 1 0000 0000 101.6 0001 101.6 0002 0003 OB 22 LEN=9 SEGMENT 1 0000 0000 101.6 0001 101.6 0002 0003 6-13 EWA 4NEB 812 6061-02a...
  • Page 90: Determining Reference Points With Separate Switch

    Application Examples IP 267 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.
  • Page 91: Program Example "Reference Point Approach With Separate Switch

    IP 267 Application Examples 6.4.1 Program Example "Reference Point Approach with Separate Switch" Start forwards with RPA reference point bit set and maximum path BERO or limit BERO switch end detected? Limit switch Start backwards with RPA reference point bit set and maximum path BERO detected Backwards auxiliary approach...
  • Page 92 Application Examples IP 267 FB 53 LEN=81 PAGE 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 )
  • Page 93 IP 267 Application Examples 001E 104.1 001F :JC =M002 0020 104.1 0021 104.7 0022 KH 586F SECOND APPROACH SECTION: BACKW. 0024 WITH REFERENCE POINT BIT SET 0025 KH FFFF AND MAXIMUM PATH 0027 0028 :BEU 0029 002A 002B M002 :A 104.2 002C :JC =M003...
  • Page 94 Application Examples IP 267 OB 1 LEN=53 SEGMENT 1 0000 0000 FLAG F 101.6 CAN BE SET 0001 101.6 IN THE WARM RESTART OBS, 0002 :JC FB FOR EXAMPLE 0003 NAME :PARAMETR 0004 0005 101.5 BOTH RECONFIGURATION MESSAGE 0006 101.6 FRAMES CAN BE TRANSFERRED 0007 101.5...
  • Page 95 IP 267 Application Examples OB 21 LEN=13 SEGMENT 1 0000 0000 101.6 0001 101.6 0002 0003 KF +0 0005 FW 104 0006 0007 OB 22 LEN=13 SEGMENT 1 0000 0000 101.6 0001 101.6 0002 0003 KF +0 0005 FW 104 0006 0007 6-19...
  • Page 96 Application Examples IP 267 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.
  • Page 97: With Limit Switch

    IP 267 Application Examples 6.5.1 Program Example: "Reference Point Approach with Limit Switch" START Start forwards with maximum path Limit switch end detected Start backwards with adapted path Start forwards with slow velocity Reference point (limit switch end) detected Figure 6-4. Flowchart for Programming Example "Reference Point Approach with Limit Switch"...
  • Page 98 Application Examples IP 267 FB 54 LEN=61 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 )
  • Page 99 IP 267 Application Examples 0025 M002 :A 105.2 0026 :JC =M003 0027 105.2 0028 105.7 0029 KH 0110 002B THIRD APPROACH SECTION: FORW. 002C KH 1000 WITH LOW VELOCITY 002E 002F :BEU 0030 0031 0032 M003 :L KB 0 IF THE REFERENCE POINT (LIMIT 0033 SWITCH END) HAS BEEN FOUND, 0034...
  • Page 100 Application Examples IP 267 OB 1 LEN=63 SEGMENT 1 0000 0000 FLAG F 101.6 CAN BE SET 0001 101.6 IN THE WARM RESTART OBS, 0002 :JC FB FOR EXAMPLE 0003 NAME :PARAMETR 0004 0005 101.5 BOTH RECONFIGURATION MESSAGE 0006 101.6 FRAMES CAN BE TRANSFERRED 0007 101.5...
  • Page 101: Loading And Unloading A Waggon

    IP 267 Application Examples 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.). Silo A Silo B Silo C...
  • Page 102: Selecting The Motor

    Application Examples IP 267 6.6.1 Selecting the Motor We have selected a spindle with a ratio of 4 mm (0.15 in.)/rev and a stepper motor with 200 pulses per revolution for the application illustrated. The drive selected permits a maximum positioning range of: 1,048,575 pulses * 20 µm/pulse = 20,971,500 µm 21 m The positioning jobs can therefore be implemented with the drive selected.
  • Page 103: Configuration Data For The Path C To A

    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.
  • Page 104 Application Examples IP 267 Moment of inertia [kg cm 2 ] 6.25 3.75 1.25 1000 1500 2000 2500 Revs/min Figure 6-6. Example of Moment of Inertia as a Function of f A start/stop rate of f = 320 Hz was selected for this example. The following therefore applies: SS * 320 Hz...
  • Page 105 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.
  • Page 106 Application Examples IP 267 Table 6-2. Configuration Message Frame for the Path C to A Configuration data for Byte Address General meaning the path C to A Multiplier for the SS = start/stop rate (SS), QB 88 = 00001000 QB 88 SS can assume values QB 88 = from 1 to 255...
  • Page 107: Configuration Data For The Paths A To B And B To C

    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.).
  • Page 108 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 Frequency change a (acceleration and deceleration) is reduced compared to the previous path section;...
  • Page 109 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 = Table 6-3. Configuration Message Frame for the Paths A to B and B to C Configuration data for Byte Address...
  • Page 110: Positioning Job C To A

    Application Examples IP 267 6.6.5 Positioning Job C to A The IP 267 is configured with the first data set for this job. The path is 600 mm (23.6 in.). The following number of pulses is calculated for a given resolution of 20 µm/pulse: 600 mm = 30 000 pulses= 7530 pulses...
  • Page 111: Positioning Job A To B

    IP 267 Application Examples Table 6-4 Positioning Job for the Path C to A Positioning data for path Byte Address General meaning C to A Multiplier for the velocity (V), QB 88 = 1111 1010 QB 88 V can assume values QB 88 = from 1 to 255 Reduction factor R = 1...
  • Page 112 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 100 mm/s = 5 kHz 0.020 mm/pulse The base value is set at 20 Hz from which the following velocity factor V is calculated: 5 kHz 5 kHz...
  • Page 113: Positioning Job B To C

    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 The output message frame contains the following values: Table 6-6.
  • Page 114: Linking To The User Program

    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: OB 21 OB 22 OB 1 FB 50 FB 53 JU FB 53 : JC FB 50 : BE FB 51...
  • Page 115: Program Example "Loading And Unloading A Waggon

    IP 267 Application Examples 6.6.9 Program Example "Loading and Unloading a Waggon" FB 50 LEN=48 PAGE 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.
  • Page 116 Application Examples IP 267 001D M002 :JU FB 001E NAME :RPKT 001F 0020 104.7 0021 :BEC 0022 0023 101.4 F 101.4 = REF.POINT APPROACH COMPLETE 0024 101.4 0025 101.7 RESET ALL AUXILIARY FLAGS 0026 101.6 IF THE REFERENCE POINT APPROACH 0027 105.0 IS COMPLETE...
  • Page 117 IP 267 Application Examples FB 51 LEN=111 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 ---->...
  • Page 118 Application Examples IP 267 0024 M002 :A 103.2 0025 =M003 0026 103.2 0027 103.7 0028 KH FA20 002A POSITIONING JOB 002B KH 7530 FOR PATH C --> A 002D 002E :BEU 002F 0030 0031 M003 :A 103.3 0032 =M004 0033 103.3 0034 103.7...
  • Page 119 IP 267 Application Examples 0055 M006 :A 103.6 0056 =M007 0057 103.6 0058 103.7 0059 KH FA10 005B POSITIONING JOB 005C KH 4E20 FOR PATH B --> C 005E 005F :BEU 0060 0061 0062 M007 :R 101.0 0063 89.4 RESET THE AUXILIARY FLAG PARAMETERS 0064 89.5 AND SWITCH ON THE ”STOP”...
  • Page 120 Application Examples IP 267 001D 001E 104.1 001F =M002 0020 104.1 0021 104.7 0022 KH 586F 0024 SECOND APPROACH SECTION: BACKWARDS 0025 KH FFFF WITH REFERENCE POINT BIT SET AND 0027 MAXIMUM PATH 0028 :BEU 0029 002A 002B M002 :A 104.2 002C =M003...
  • Page 121 IP 267 Application Examples OB 1 LEN=40 PAGE SEGMENT 1 0000 0000 FLAG F 101.6 CAN ALSO BE SET 0001 101.6 IN THE WARM RESTART OBS 0002 0003 104.7 0004 104.7 0005 :BEC 0006 "BASIC STATUS" ROUTINE 0007 101.6 OF THE IP 267 ON WARM RESTART 0008 0009 NAME :PARAM-RP 000A...
  • Page 122 Application Examples IP 267 OB 21 LEN=16 PAGE SEGMENT 1 0000 0000 101.6 0001 101.6 0002 0003 KF +0 0005 FW 103 0006 0007 101.0 0008 101.0 0009 000A OB 22 LEN=16 PAGE SEGMENT 1 0000 0000 101.6 0001 101.6 0002 0003 KF +0...
  • Page 123 Funkction block for assigning parameters to the IP 267 Structure of the program example ....7 - Structure of function block 17 ..... . .7 - User program for positioning .
  • Page 124: Function Block For Assigning Parameters To The Ip 267

    IP 267 Function block for assigning parameters to the IP 267 Funkction block for assigning parameters to the IP 267 Structure of the program example OB 21 OB 22 Restart OB Restart OB FB 17 FB 19 Initialization User OB 1 of the program for Cyclic...
  • Page 125 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.
  • Page 126 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 START Set/reset idle cycle flag Number of residual pulses...
  • Page 127 Function block for assigning parameters to the IP 267 IP 267 FB 17 Segment 3 Transmit configuration message frame? BV=4 ? KM111 DR 18 BV=8 ? KM110 DR 18 BV=20 ? KM101 DR 18 BV=40 ? KM100 DR 18 KM011 DR 18 BV=80 ? KM010 DR 18 BV=200 ?
  • Page 128 IP 267 Function block for assigning parameters to the IP 267 FB 17 Segment 4 Converting the path entered (DW 13) into the number of pulses Number of pulses determined >1048575 Number of pulses DW 18 and D 17.0 to D 17.3 Set error bit 9 DL 17 BA, RF, R...
  • Page 129 Function block for assigning parameters to the IP 267 IP 267 FB 17 LAE=157 NAME :IP-OP 0005 100.4 AUXILIARY FLAG FOR IDLE CYCLE 0006 100.4 0007 DISTANCE TO GO IS SMALLER 0008 :SLW THAN 16 BITS ? 0009 000A :SRW 000B 000C KF +0...
  • Page 130 IP 267 Function block for assigning parameters to the IP 267 SEGMENT 3 0028 CONFIGURATION SEGMENT 0028 0029 FW 106 CONFIGURING/POSITIONING ? 002A 107.0 POSITIONING ? 002B =M001 002C BASE VALUE = 4 ? 002D KF +4 002F :><F 0030 =M002 0031 KF +7...
  • Page 131 Function block for assigning parameters to the IP 267 IP 267 0059 KF +2 YES : KM 010 -> BYTE 3 005B =M003 005C M008 :L BASE VALUE = 400 ? 005D KF +400 005F :><F 0060 =M009 0061 KF +1 YES : KM 001 ->...
  • Page 132 IP 267 Function block for assigning parameters to the IP 267 SEGMENT 4 007E POSITIONING SEGMENT 007E FB 242 007F NAME :MUL:16 0080 Z1 CONVERTING THE PATH 0081 Z2 INTO NUMBER OF PULSES 0082 Z3=0 : 101.4 0083 Z32 0084 Z31 0085 NUMBER OF PULSES PER AREA 0086...
  • Page 133 Function block for assigning parameters to the IP 267 IP 267 Processing sequence FB 19 Segment 1 START Positioning job executing? Assign current Job 0 already parameters to DW executed? in UDB Assign current Job 1 already parameters to DW executed? in UDB Assign current...
  • Page 134 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.
  • Page 135 Function block for assigning parameters to the IP 267 IP 267 FB 19 LAE=258 NAME :SEQCER 0005 :*** SEGMENT 2 0006 0006 105.7 POSITIONING JOB EXECUTING ? 0007 :BEC YES : ABORT 0008 110.0 STEP FLAG FOR JOB 0 0009 =A01 000A 110.0...
  • Page 136 IP 267 Function block for assigning parameters to the IP 267 0031 KF +200 PATH [LU] : 200mm 0033 0034 :BEU 0035 A03 110.3 STEP FLAG FOR JOB 3 0036 =A04 0037 KT 050.1 JOB 3 : 0039 003A WAITING TIME 5.0 s 003B :BEC...
  • Page 137 Function block for assigning parameters to the IP 267 IP 267 0064 =A06 0065 JOB 5 : 0066 :BEC 0067 110.5 START SIGNAL INPUT 3.0 0068 KF +20 006A VELOCITY FACTOR : 006B KF +0 REDUCTION FACTOR: 006D OPERATING MODE FORWARDS 006E KF +1...
  • Page 138 IP 267 Function block for assigning parameters to the IP 267 0095 =A09 0096 111.0 JOB 8 : 0097 KF +0 0099 RECONFIGURATION 009A KF +80 009C IDENTIFIER FOR CONFIGURATION 009D KF +20 BASE VALUE 009F FACTOR FOR SS-RATE 00A0 KF +30 TIME INTERVAL 00A2...
  • Page 139 Function block for assigning parameters to the IP 267 IP 267 00CC :BEU 00CD A11 111.3 STEP FLAG FOR JOB 11 00CE =A12 00CF 111.3 JOB 11 : 00D0 KF +1 00D2 MOVE BACKW. FROM REF. POINT 00D3 KF +80 00D5 VELOCITY FACTOR : 00D6...
  • Page 140 IP 267 Function block for assigning parameters to the IP 267 Description of the user data block - Unassigned - 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...
  • Page 141 Function block for assigning parameters to the IP 267 IP 267 - 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.
  • Page 142 IP 267 Function block for assigning parameters to the IP 267 e.g. rotary axis Motor data pulses/rev. Axis data deg/rev. Resolution : 0.55555 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...
  • Page 143 Function block for assigning parameters to the IP 267 IP 267 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 13 - WS - The path must be entered in the length unit or angular...
  • Page 144 IP 267 Function block for assigning parameters to the IP 267 20 - FB - FB status and error messages Structure: DR Auxiliary flag area internal conversions. Error messages and FB status D 20.8 Base value entered incorrectly D 20.9 Calculated number pulses...
  • Page 145 Function block for assigning parameters to the IP 267 IP 267 DB17 LAE=30 KH = 0000; KF = +00000; CONF./POS. [0/1] KH = 0000; KF = +00000; BV [4;8;20;40;80;200;400;800] KY = 000,000; 0,FACTOR SS-RATE [1...255] KY = 000,000; 0,TIME INTERVAL [1...255] KF = +00000;...
  • Page 146 IP 267 Function block for assigning parameters to the IP 267 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.
  • Page 147 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...
  • Page 148 IP 267 Index Index Configuration - limit switch 2-2, 2-3 Abortion/interruption Configuration data 2-1, 2-2, 3-4, - positioning jobs 4-11 4-2, 4-3 Acceleration curve - configuration message Acceleration ramp 2-2, 2-4 frame Address area 1-1, 4-1 - setting 6-26 Address assignment - valid 4-12 - configuration message...
  • Page 149 Index IP 267 Distance to go 2-1, 4-2, 4-15, 4-18 - limit switch Drive Identifier bit - moment of inertia 6-29 - reference point Drive circuit approach - technical specifications Input addresses Duration of the output impulses Input message frame Interface - serial 1-1, 2-1, 4-2...
  • Page 150 IP 267 Index Multiplier Process - start/stop rate 2-4, 4-5 - input image 4-1, 4-2, 4-15 - velocity 4-8, 4-10 - output image 4-1, 4-2 Programmable pulse generator Pulse duration Number of steps Pulse frequency 2-1, 5-12, - motor 5-12 5-14 - maximum 5-13...
  • Page 151 Index IP 267 Start/stop rate (f 2-2, 2-3, 2-4 Torque 5-12 - multiplier 2-4, 4-5 - characteristic 5-13, 5-14 - reduction factor - motor 6-29 Status - stepper motor - bit 2-1, 4-15, Traverse profile 4-17 - symmetrical - displays Traversing range Step - calibration...
  • Page 152 Siemens AG Suggestions AUT E1114B Postfach 1963 Corrections Werner-von-Siemens-Str. 50 For Publication / Manual: D-92209 Amberg Fed. Rep. of Germany Title: IP 267 Stepper Motor Controller From: Order No.: 6ES5 998-5SD21 Name Edition: Company/Dept. Should you come across any printing errors when reading this publication, we would ask you to inform us accordingly, using this form.

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