Siemens SIMATIC S5 User manual

SIMATIC S5

IP 266

Positioning Module

Manual

EWA 4NEB 812 6057-02

STEP ® SINEC ® and SIMATIC ® are registered trademarks of

Siemens AG.

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 6057-02

System Overview

Technical Description of the IP 266

Installation Guidelines

Fundamentals of Positioning

Machine Data, Modes and Traversing Programs

Keyword Index

Introduction

Preface

Fundamentals of COM 266

Communication Between the CPU and the IP 266

Start-Up

STEP 5 Programming

Troubleshooting

EWA 4NEB 812 6057-02

IP 266 Preface

Preface

The IP 266 is a powerful intelligent I/O "positioning" module that was developed

specially for installation in the S5-100U programmable controller. The IP 266

makes it possible to operate servomotors via power electronics equipment. The

IP 266 can be used in conjunction with the following CPUs:

• CPU 100 (6ES5 100-8MA02 only)

• CPU 102 (without restriction)

• CPU 103 (without restriction)

The IP 266 provides numerous functions for both open-loop and closed-loop

positioning. These functions are described in detail in the section entitled Modes.

The IP 266 provides modes for

• positioning

• coordinate shift and

• correction (compensation)

All modes can be used both separately and as a consequence of individual

functions in machining programs.

The complex open-loop and closed-loop procedures which a standard pro-

grammable controller must perform in order to carry out a positioning task

require a great deal of processor time.

The IP 266 can considerably reduce the amount of processor time needed because

it takes over the entire positioning process.

Your control program can thus execute in parallel with the positioning

procedure.

Sequences of motions involving several axes are made possible by the use of

additional IP 266 modules.

Sequencing control can be implemented via the IP 266's digital inputs and

outputs.

Because this module can be installed only in an S5-100U programmable

controller, it has been assumed that the reader is well acquainted with the

S5-100U product manual. The fundamentals of STEP 5 programming are not a

topic of discussion in this manual.

EWA 4NEB 812 6057-02

IP 266 Introduction

Introduction

The information presented below is aimed at simplifying use of the manual.

Contents

The contents of the manual can be subdivided into topical categories:

• Hardware description

Section 1 ("System Overview") and Section 2 ("Technical Description") pro-

vide information on the components of the positioning system and their

integration in the S5-100U

System.

In addition to explanatory texts on connecting peripherals such as

- screen-based programmers

- encoders and

- power electronics equipment

you will also find detailed information on the connector pin assignments for

the various interfaces and the locations of these interfaces on the IP 266

module.

• Installation guidelines

All information relevant to system installation can be found in Section 3

("Installation Guidelines"). This includes:

- safety guidelines

- shielding

- switch installation

- module installation and removal procedures

• Fundamentals of positioning

Section 4 provides information on positioning options within the SIMATIC

system, the principles of positioning and the IP 266's position control

facilities. This section also defines terms such as setpoint, actual value and

following error and the interrelation of acceleration, speed and path.

• Machine data, modes and traversing programs

The data which the IP 266 needs in order to carry out the positioning process

is discussed in detail in Section 5.

This section also provides information on all modes, how they work, and the

parameters they require.

EWA 4NEB 812 6057-02

vii

Introduction IP266

• Fundamentals of COM 266

This section provides information on how to

- make a back-up copy of the COM 266 floppy

- install COM 266 and

- use COM 266.

It also includes a full description of all COM 266 screen forms.

• Communication between the CPU and the IP 266

Defined addressing message frames are used for data interchange over the

bus interface. You must know how to use these message frames when you

want to control the IP 266 via a STEP 5 program (see Section 7).

Examples are presented in Section 9 ("STEP 5 Programming") to show you

how to link and process these message frames in STEP 5 programs.

• Start-up

This section describes the procedures for installing and starting the IP 266.

The information presented in this section is based on that presented in

Sections 5 and 6.

• STEP 5 programming (Section 9)

This section uses examples to show you how to use the message frames

discussed in Section 7.

• Troubleshooting

This section tells you what to do when problems arise. It also provides a list of

errors and information on how they can be rectified.

viii

EWA4NEB8126057-02

IP 266 Introduction

Training courses

Siemens offers an extensive range of training courses for the SIMATIC STEP 5

system.

For details, please contact your local Siemens branch office.

Reference literature

This manual deals primarily with the IP 266 positioning module. Other com-

ponents of the SIMATIC S5 system are mentioned only briefly.

Detailed information on these components can be found in the following

literature:

•Programming Primer for the SIMATIC S5-100U

Practical exercises on the PG 615 programmer

Siemens AG, Berlin and Munich, 1988

Contents:

- Configuration and installation of the S5-100U

- Introduction to programming on the PG 615 programmer

Order No.: ISBN 3-8009-1500-6

•Programmable Controllers

Volume 1: Logic and Sequence Control Systems; from the

Control Task to the Control Program

Günter Wellenreuther, Dieter Zastrow

Braunschweig 1987

Contents:

- Operating principles of a programmable controller

- Theory of control technology using the STEP 5 programming language for

the SIMATIC S5 programmable controllers

Order No.: ISBN 3-528-04464-0

EWA 4NEB 812 6057-02 i

Introduction IP266

• Electronic Feed Drives for Machine Tools

Hans Groß

Order No.: ISBN 3-8009-1338-0

Conventions

To improve readability, the manual has been broken down into menus, i. e.:

• Each section has a thumb index.

• At the beginning of the manual you will find an overview of section headers.

• Each section is preceded by a detailed breakdown of its contents.

Each section has a three-level breakdown. Headers in bold type are used for

further subdivisioning.

• Pages, figures and tables are numbered separately in each section. A list of

the tables and figures in each section can be found on the flip side of the

breakdown for that section.

Certain forms of expression have been used in the manual with which you should

become acquainted before continuing.

• Characteristic abbreviations have been used for a number of terms. Each

abbreviation is explained in detail the first time it appears in the manual.

Example: Programmable controller (PLC)

• Cross-references are shown as follows: ("see Section 4.3.2)" refers you to

Section 4.3.2.

There are no page references.

• An arrow ( ) is used to indicate an action you must take.

• The response to an action is designated by the symbol .

EWA4NEB8126057-02

IP 266 Introduction

• Information of particular importance is flanked by two gray bars. A key word

or phrase in the upper bar indicates the type of information involved.

Note:

Additional information; emphazises a special feature or characteristic.

C A U T I O N :

Precautions which must be taken to prevent damage to hardware or software.

W A R N I N G !

Failure to observe these precautionary measures may result in personal injury.

Product manuals always relate to the most recent version of a product. Should

modifications or supplements become necessary in the course of time, an

addendum is published which is then included in the next edition of the manual.

The manual release is shown on the title page, and is incremented by one each

time the manual is revised.

EWA 4NEB 812 6057-02

IP 266 Introduction

• Remarks Form

The Remarks Form is provided for your comments and suggestions.

Conventions

The following conventions are used in this book and are listed for your reference.

Convention Definition Example

A box that indicates a type

of hazard,describes its

implications, and tells you

how to avoid the hazard is

safety notation. Some safety

notation includes a graphic

symbol representing an

electrical or radio-frequency

hazard. All safety notation has

one of the following levels of

caution:

• Indicates that loss of life,

severe personal injury, or

substantial property damage

will result if proper pre-

cautions are not taken.

• Indicates that loss of life,

severe personal injury, or

substantial property damage

can result if proper pre-

cautions are not taken.

• Indicates that minor

personal injury or property

damage can result if proper

precautions are not taken.

EWA 4NEB 812 6057-02

xiii

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