Siemens SIMATIC S5 Manual page 67

Fundamentals of Positioning
The IP 266 takes into consideration only a constant acceleration or deceleration
rate for each direction. This results in a linear equation for speed v
The unit for speed is [m/s].
The drive's path is then computed from the speed curve.
In the sections with constant acceleration or deceleration, the path traversed has
a parabolic time characteristic
In the sections with constant speed, the path is computed as follows:
4.4 IP 266 Modes
In order to compute the setpoint variables S
requires data which provides a complete description of the drive system.
This data is stored in the module's RAM, and is referred to as machine data.
A mode may be
• a sequence of motions
• a coordinate shift
• a machining program call
A machining program can be stored on the IP 266 to enable automatic execution
of a sequence of motions or special functions (such as dwell or zero offset).
4-8
v=a t
•
1
2
s= a t
• •
2
s=v t
•
and V
(t)
setp setp
IP 266
.
(t)
correctly, the IP 266
(t)
EWA 4NEB 812 6057-02