Siemens SIMATIC S5 Manual page 35

Addressing and Programming
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.).
f
f A
f ss
.
1 Accele-
ration ramp
f ss = Start/stop rate, f
A
Figure 4-1. Velocity Profile of the IP 267
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
.
2 Constant stepping
rate/velocity range
= Stepping rate
3.Decele-
ration ramp
t
EWA 4NEB 812 6061-02a
IP 267