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.
System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Communication Between the CPU and the IP 266 Start-Up STEP 5 Programming Troubleshooting Keyword Index EWA 4NEB 812 6057-02 aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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.
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") provide information on the components of the positioning system and their integration in the S5-100U System.
Introduction • IP 266 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).
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 components of the SIMATIC S5 system are mentioned only briefly.
Introduction • IP 266 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.
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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.
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IP 266 1 System Overview System Overview The IP 266 intelligent I/O module adds yet another powerful positioning unit to the already wide range of S5-100U programmable controller modules. The IP 266 can position drives with exceptional accuracy. Once the programmable controller's CPU has started a job, it is no longer loaded by the IP 266. The positioning process now executes in parallel with your STEP 5 program. The IP 266 counts the pulses generated by the incremental encoder.
System Overview 1.1 IP 266 Application In an assembly line, a gripper takes a workpiece from a conveyor belt and forwards it to an automatic assembling machine. The part is then returned to the conveyor belt. Figure 1-1 shows the schematic arrangement. Included in the illustration are three axes which are positioned e. g. via three IP 266 modules.
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System Overview IP 266 The linear axis A linear axis is an axis with a limited traversing range.
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System Overview 1.3 IP 266 Installing the IP 266 in a SIMATIC S5 System Data bus 9V Data GND PLC interface Command interpreter Programmer port Setpoint assignment Position controller DAC Power section M T IP266 Figure 1-3. The IP 266 in a SIMATIC S5 System The IP 266 can be plugged into a bus module slot for analog modules (slot 0 to 7).
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System Overview IP 266 Programmer port The IP 266 can be serviced via a programmer connected over the programmer port. To do this, you must use the COM 266 software package, which provides menus and screen forms for initializing the IP 266. Screen forms are also used to specify the modes and display current actual values. PLC interface Input and output blocks are used for IP 266 control via the programmable controller's CPU and for forwarding return info from the IP 266 to the CPU.
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IP 266 2 Technical Description of the IP 266 Technical Description of the IP 266 The IP 266 is used for controlled positioning of a drive. It is utilized primarily in applications involving • auxiliary axes in metal-working machines • paper and textile machines • handling and loading equipment • feed facilities for transfer and assembly lines 2.1 IP 266 Hardware Configuration The IP 266 makes it possible for you to position a drive.
Technical Description of the IP 266 IP 266 Processor+operating system: For coordinating all IP 266 tasks Programmer interface: For servicing the IP 266 via the COM 266 software • Start-up • Input/modification of machine data • Test mode: Starting traversing programs Starting single modes/jobs S5 bus interface: (to the PLC's CPU) For servicing the IP 266 via a STEP 5 program • Starting traversing programs • Starting single modes (jobs) • Reading single values from the IP 266 (actual value, distance to
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IP 266 Technical Description of the IP 266 In addition to incremental position encoders made by Siemens, you may also use non-Siemens encoders which conform to the following specifications: • • • • Method of measurement: Supply voltage: Output signals: - Symmetrical encoders (5 V signals) - Asymmetrical encoders (switching to P potential only) 24 V encoders Max.
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IP 266 2.4 Technical Description of the IP 266 Interface to the Motor Power Section The IP 266 can output an analog setpoint speed of ±10 V over the 9-pin D SUB socket connector (ANALOG OUT). This voltage is used to control your motor power section. 5 9 3 FAULT 7 2 ANALOG OUT E N C O D E R P G ANALOG OUT 6 1 Pin 1 2 Description - NSETP Voltage for setpoint speed 3 M Analog ground 4 5 ...
2.
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Technical Description of the IP 266 2.5.2 IP 266 Reference Point Switch (Pin 4) The drive system is synchronized by reference point approach. The reference point switch must be connected to pin 4 on the terminal block (see Figure 2-8) and must lie between the two hardware limit switches. You must make sure that there is enough room between the reference point switch and the hardware switches for the drive to decelerate for reference point approach without reaching a hardware limit switch. 2.5.
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Technical Description of the IP 266 IP 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaa
IP 266 2.5.
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Technical Description of the IP 266 IP 266 Exceptions A large non-compensated drift or a large load may result in the setpoint reaching the target position while the actual value remains outside zero-speed monitoring. If the maximum following error is not exceeded in the process, the IP 266 sets and starts a 5s watchdog timer. When no movement toward the target is detected within this time period, the IP 266 terminates the operation with "Target position not reached".
IP 266 Technical Description of the IP 266 Example 1 This example examines the performance characteristics of the IP 266 when the "External Start Enable" signal is set to "0" prior to execution of each block.
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IP 266 Technical Description of the IP 266 The "External Start Enable" signal starts the first block of the machining program. A short pulse of the "Position Reached" signal appears between blocks that are not interconnected by a "flying change". Switching function M99 is active in the sixth block. The block has executed. Since the "External Start Enable" signal disables execution of blocks containing machining operations or dwells, program execution is interrupted.
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IP 266 2.7 Technical Description of the IP 266 IP 266 Monitors The IP 266 is equipped with a number of monitors for monitoring its I/Os. Some of these monitors are implemented at the hardware level, others at the software level. 2.7.1 Encoder Monitor The IP 266 supports hardware and/or software monitors, depending on the type of encoder used.
IP 266 aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaa
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Technical Description of the IP 266 Technical Specifications aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa
Technical Description of the IP 266 aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaa
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IP 266 Installation Guidelines The following applies as regards cable shielding: • Braided shields must be secured to the shield bus over as large an area as possible (e. g. using metal-plated cable clamps which span the shield). • When using cables with foil shields, the sheath wire must be connected over the shortest possible path (less than 3 cm) with the shield bus. • The shielding must be routed from the shield bus to the module.
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Installation Guidelines 3.4 IP 266 Replacing the Position Encoder The steps you must take to remove the encoder for repair or replacement are listed below, and must be carefully observed. Proceed as follows to remove the encoder: Switch off the 24 V power supply for the module. Disconnect the encoder cable from the module. Repair the encoder or insert a new one. Connect the encoder and switch on the module's 24 V power supply.
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IP 266 4 Fundamentals of Positioning Fundamentals of Positioning Positioning means bringing a load to a certain position within a specific period of time, making allowance for force and torque. Various methods are used to perform this task. 4.1 Positioning Methods A drive can be positioned in one of two ways: • under open-loop control • under closed-loop control The figure below shows the options available in conjunction with S5-100U programmable controllers.
Setpoint generator 4-2 Vsetp(t) Power section aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaa
IP 266 Fundamentals of Positioning Closed-loop positioning When positioning under closed-loop control, the drive's current actual position is compared with the setpoint position computed by the setpoint generator. The difference between these two values is fed to the position controller, which supplies a voltage setpoint. This setpoint is proportional to the positioning speed. During positioning, deviations are picked up and fed continually to the position controller, thus enabling precise positioning.
Fundamentals of Positioning 4.
IP 266 • Fundamentals of Positioning I/O The term "I/O" is used collectively for all other auxiliary facilities. The most important of these are - the limit switches used to limit the traversing range - the programmer used in conjunction with the COM 266 software to service the IP 266. 4.3 Terms 4.3.1 Positioning aaaaaaaa aaaaaaaa Positioning means bringing a load to a defined position within a specific period of time, making allowance for force and torque.
Fundamentals of Positioning IP 266 Driven by the power section, the drive travels a specific path. In accordance with the distance traversed, the position encoder generates a number of pulses which are evaluated by the IP 266's input section. The actual position of the drive is computed from the pulse count and the value for the encoder resolution. This value is called the actual value.
IP 266 Fundamentals of Positioning 4.3.3 Relationships Between a(t), v(t) and s(t) aaaaa aaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaa In order to position to a defined target, the drive must be moved at a specific speed. The IP 266 computes the acceleration and deceleration rates from the machine data. The result is the basic characteristic of a positioning operation.
Fundamentals of Positioning IP 266 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(t). v=a • t 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 1 s= • a • t2 2 In the sections with constant speed, the path is computed as follows: s=v • t 4.
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IP 266 5 Machine Data, Modes and Traversing Programs Machine Data, Modes and Traversing Programs The IP 266 can execute positioning operations only when it has correct machine data at its disposal. You cannot start a positioning operation until you have provided the IP with this data. The machine data and all permissible parameters are discussed in detail in Section 5.1. In Section 6, you will find information on how to enter these values and transfer them to the IP 266. 5.
Machine Data, Modes and Traversing Programs IP 266 aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa
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Machine Data, Modes and Traversing Programs 5.1.2 IP 266 Position Decoding and Resolution Unit of measure You may use one of the following units of measure on the IP 266 for all positional specifications: • Metric system with 0.001 mm as base unit • Inch with 0.001 inches as base unit • Degree with 0.001 degrees as base unit A base unit is the smallest unit that may be entered as the unit of measure.
IP 266 Machine Data, Modes and Traversing Programs Pulses per encoder revolution The "pulses per encoder revolution" can be found in the data sheet for your encoder. Resolution The resolution is the quotient of "travel per encoder revolution" and "pulses per encoder revolution", and must be in the range 0.1 to 99.9. The following units must be taken into account when computing the resolution. Travel per encoder revolution Resolution [µm/pul] [µm/pul] [0.0001 inch/pul] [0.
Machine Data, Modes and Traversing Programs Example 1: An incremental encoder generates 1000 pulses per revolution. During this time, the reference point on the axis travels a distance of 5 mm. The resolution is thus: IP 266 5 mm A= 1000 pul A= 5 µm/pul Example 2: In your drive system, you are using an encoder that generates 1000 pulses per revolution. You are using a rotary axis, and have initialized it in [deg]. During one encoder revolution, the drive moves 10 degrees.
IP 266 Machine Data, Modes and Traversing Programs aaaaaaaaaaaaaaaaaaaa aaaaa Encoder direction of rotation The direction in which the encoder revolves is ascertained from the encoder's two signals, which are displaced from each other by 90 deg.
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IP 266 Machine Data, Modes and Traversing Programs Reference coordinate The reference point is used to calibrate the axis. Its location can be specified via the "Set/Approach to reference point" mode (see Section 5.3.5). The "reference coordinate" machine data parameter is used to assign a value to this position. The value must lie within the maximum range limits.
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aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaa [mm/min] Forward acceleration Constant speed forward Reverse deceleration EWA 4NE
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IP 266 Machine Data, Modes and Traversing Programs aaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaa The maximum Kv factor depends on • the drive's design or dynamic response and • the quality of the machine.
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IP 266 Machine Data, Modes and Traversing Programs Following error monitoring You can choose between "ENABLE" and "DISABLE". If you choose "DISABLE", the following error is no longer monitored and may therefore exceed the maximum value of 99.999.
5-16 1st ZO 3rd ZO 50 2nd ZO 70 90 80 90 aaaaaaaa aaaaaaaa 60 aaaaaaaa aaaaaaaa 50 aaaaaaaa aaaaaaaa 40 aaaaaaaa aaaaaaaa 30 aaaaaaaa aaaaaaaa 20 aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa 10 aaaaa
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Machine Data, Modes and Traversing Programs IP 266 Tool offset (TO) The tool offset is a coordinate shift, and is used to compensate for tool wear. The maximum value for a tool offset depends on the axis used. The value specified in the machine data can be called up from a traversing program only via G functions for positive or negative tool offsets (see Section 5.4).
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Machine Data, Modes and Traversing Programs 5.1.
IP 266 5.2 Machine Data, Modes and Traversing Programs Modes and How to Invoke Them The IP 266 provides a large variety of options for positioning, coordinate shifting and positional corrections. These options are grouped under the term "modes". The available modes can be divided into the two basic categories • open-loop positioning and • closed-loop positioning Table 5-4 lists the modes belonging to each of these two categories.
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IP 266 5.3 Machine Data, Modes and Traversing Programs IP 266 Modes A mode is invoked on the IP 266 by entering an operator command. An operator command comprises three elements: the mode, the parameters, and the keystroke representing the function. When you select a mode, you choose a function. After entering the required parameters, you start the mode by choosing the function. Figure 5-10 shows the elements comprising an operator command.
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IP 266 Machine Data, Modes and Traversing Programs aaaaaa aaaaaa aaaaaa aaa If you want to change the speed during travel, simply forward the appropriate Override factor to the IP 266. Change the Override factor in the COM screen form or in the output frame (PLC IP 266). Press "Exec". The drive accelerates or decelerates at a steady state to reach the new positioning speed. The IP 266 takes the - acceleration rate or - deceleration rate from the machine data.
Machine Data, Modes and Traversing Programs 5.3.2 IP 266 Jog 2 (Mode 2) Jog 2 Mode Override 1 to 200% Parameters Forward/Reverse/Stop/Exec Function In essence, the "Jog 2" mode is identical to the "Jog 1" mode. The machine data contains two speed values for this mode: • Jog 2 forward speed • Jog 2 reverse speed The jog speeds for jog mode 1 and jog mode 2 need not be identical. 5.3.3 Jog under Open-Loop Control (Mode 3) Jog under Op.
IP 266 Machine Data, Modes and Traversing Programs If the power section is correctly calibrated, the speed displayed and the actual speed are identical. The functions • "Forward" • "Reverse" and • "Exec" are the same in mode 1. "Stop" decelerates the drive at the specified deceleration rate until it has reached zero speed. When the axis has reached zero speed, the position control loop is once again closed and the axis is positioned under closed-loop control.
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Machine Data, Modes and Traversing Programs IP 266 Before approaching a reference point, you must make a distinction between four different situations. The criteria for making this distinction are • the position of the drive prior to the reference point approach (position A, B, C or D) • the direction from which the reference point is approached The four examples below describe a reference point approach in dependence on the starting position of the drive.
IP 266 Machine Data, Modes and Traversing Programs aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa
Machine Data, Modes and Traversing Programs IP 266 A Forward aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaa B aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaaaa
IP 266 Machine Data, Modes and Traversing Programs aaaaaaaa aaaa aaaaaaaa aaaa Example C: The drive is behind the reference point switch.
Machine Data, Modes and Traversing Programs IP 266 aaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa a
IP 266 Machine Data, Modes and Traversing Programs aaaaaaaa aaaa Actual-value display following a reference point approach The reference point is set when the position encoder's zero mark signal goes from 0 to 1. At the same time, the drive is decelerated. The drive moves a distance of X away from the reference point, the value of X depending on the specified deceleration rate and on reference speed 2. The distance X varies in dependence on the specified deceleration rates.
IP 266 aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa Machine Data, Modes and Traversing Programs aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa Reference point switch aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa Forward Encoder's zero mark Location
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Machine Data, Modes and Traversing Programs 5.3.6 IP 266 Increment Mode Absolute (Mode 6) Linear axis Increment mode absolute Override 1 to 200% Absolute target position Start/Stop/Exec Parameters Function Mode This mode allows you to specify a target position in absolute coordinates. The target position is approached at incremental speed, without regard to the starting position of the drive. You can vary the incremental speed between 1 and 200% by specifying an Override factor.
IP 266 Machine Data, Modes and Traversing Programs Example for Figure 5-20 You start mode 6 with the following parameters: • Override 100% • Absolute target coordinate: 30 mm aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa
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IP 266 5.3.7 Machine Data, Modes and Traversing Programs Increment Mode Relative (Mode 7) Increment mode relative Mode Override 1 to 200% Distance Forward/Reverse/Stop/Exec Parameters Function This mode differs from mode 6 primarily as regards specification of the target position; in this mode, you specify the target coordinate in relation to the current position of the drive. As in mode 6, the incremental speed can be varied by specifying an Override factor.
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IP 266 5.3.8 Machine Data, Modes and Traversing Programs Automatic Mode (Mode 8) Automatic mode Mode Program number Parameters Start/Stop Function A traversing program (TP) is started in automatic mode. Before you can start a traversing program, you must write it and store it on the IP 266 (see Section 5-4). The program may contain • positioning operations • coordinate shifts • corrections and • dwells. The IP 266 executes all programmed operations in succession.
Machine Data, Modes and Traversing Programs IP 266 The remaining distance to go is retained until the next positioning operation. Interruption of the traversing program via the "External Start Enable" signal is possible. If a positioning operation or dwell is currently in progress, it is completed prior to interruption of the program. When the signal is enabled, i. e. when the signal level is "1", the traversing program is resumed at the point of interruption. 5.3.
IP 266 Machine Data, Modes and Traversing Programs Interruption points in a traversing program in single block mode Table 5-11 lists the points at which a program is interrupted.
Machine Data, Modes and Traversing Programs IP 266 5.3.10 Enable Teach-In (Mode 10) Enable teach-in Mode Program number Parameters Start Function This mode is used to create a new traversing program for • automatic mode • automatic single block mode Prerequisites to the use of this mode: • The new traversing program must be assigned a number that has not already been assigned to another program. • The IP 266's RAM must contain valid machine data. • The reference point must be set.
Target position is specified by approaching it in mode 1 mode 2 by entering the coordinate in mode 6 mode 7 EWA 4NEB 812 6057-02 aaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa aaaaaa aaaaaaaa
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and parameters key for Mode 10 Prog. no. 7 Start Mode 1 Override 20% Forward Mode 1 Exec Mode 6 Abs. target Start pos.
Machine Data, Modes and Traversing Programs IP 266 Disable teach-in Mode aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa 5.3.11 Disable Teach-In (Mode 11) Start Parameters Function This mode disables teach-in (mode 10). Prerequisites: Mandatory: Mode 10 was started. Recommended: The creation of positioning blocks in mode 10. End block Nnn M02 is entered in the machining program. nn is the block number.
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Machine Data, Modes and Traversing Programs IP 266 Positive offset: Offset 32767.999 - |Software start limit switch| Example: The drive is at the absolute position 50 mm. This position is to be offset in succession by 400 mm, -200 mm and 0 mm. Select mode 12. Enter the coordinate value for the new actual position. Start the mode with the "Start" function. Repeat the sequence for each zero offset.
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ZO -150 forw. 0 aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa -350 EWA 4NEB 812 6057-02 aaaaaa aaaaaa aaa aaaaaaaa aaaa 50 aaaaaa aaaaaa aaa 50 200 aaaaaa aaaaaa aaa aaaaaa aaaaaa aaa 0 0 -300 0 150 -150 150 300 aaaaaa aaa 300 aaaaaa aaa aaaaaaaa aaaa aaaaaaaa aaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaa -50 aaaaaa aaaaaa aaaaaa ZO -50 reverse aaaaaa aaaaaa aaa -100 aaaaaa aaaaaa aaa ZO -200 forw.
Machine Data, Modes and Traversing Programs IP 266 Delete zero offset Mode aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa 5.3.14 Delete Zero Offset (ZO) (Mode 14) Parameters Start Function This mode deletes (resets) all zero offsets that were set • via mode 12, • via mode 13 and • via G functions (in prematurely aborted traversing programs). 5.3.
IP 266 Machine Data, Modes and Traversing Programs The direction of the tool offset is determined by • the sign of the offset value and • the Start function ("Forward" or "Reverse") aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaa
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Machine Data, Modes and Traversing Programs IP 266 Example: The traversing range of a linear axis lies between the software limit switches; a reference point has been set. Software start limit switch: - 500 mm Software end limit switch: 700 mm Traversing range is from - 500 mm to 700 mm.
IP 266 Machine Data, Modes and Traversing Programs Disable tool offset Mode aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa 5.3.16 Disable Tool Offset (TO) (Mode 16) Parameters Start Function This mode resets all tool offsets that were set via • mode 15 or • G functions in the traversing programs Mode 16 cancels all tool offsets, i. e.
Machine Data, Modes and Traversing Programs IP 266 Enable drift compensation Mode aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa 5.3.18 Enable Drift Compensation (Mode 18) Parameters Start Function Prerequisite to correct operation of the IP 266 is a properly calibrated power section (see Table 5-17).
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IP 266 Machine Data, Modes and Traversing Programs 5.3.20 EEPROM (Mode 26) EEPROM Mode Direction Start Parameters Function You can use this mode to transfer data from the IP 266's RAM to EEPROM or from EEPROM to the IP's RAM.
Machine Data, Modes and Traversing Programs IP 266 5.3.21 Information Modes (Mode 71, Mode 72, Mode 73) Current information can be called up from the IP 266 independently of modes 1 to 19 and 26. The IP 266 provides the so-called Information (or Monitoring) modes for this purpose. These modes do not affect other modes, and can be invoked at any time without regard to the status of the axis.
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Machine Data, Modes and Traversing Programs 5.4 IP 266 Elements of the Traversing Program A traversing program is a cohesive sequence of traversing operations, dwells and corrections. It consists of individual blocks comprising at least one self-contained, purposeful job. The traversing programs are stored in the IP 266's RAM, and can be executed as a whole with mode 8 or block by block with mode 9. A traversing program is divided into three main parts: %33 Test program Program header (see Section 5.
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Machine Data, Modes and Traversing Programs 5.4.2 IP 266 Traversing Blocks Table 5-18 lists all functions permitted in a traversing program.
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Machine Data, Modes and Traversing Programs IP 266 The G function The first function to follow an N function may also be a G function. A G function is identified by the letter "G", followed by a two-digit number. A number of G functions are latching functions, i. e. they remain in force when the traversing program is exited.
IP 266 • Machine Data, Modes and Traversing Programs G00: Rapid traverse A defined target is approached at maximum speed. The target must be specified as an X function immediately behind the G function. A block containing the G00 function must have the following format: N10 G00 X1000 The drive approaches target position 1000 at maximum speed. An additional speed specification after the X function is not permitted. The maximum speed is taken from the machine data.
Machine Data, Modes and Traversing Programs IP 266 Example 1: Changing the speed during a positioning movement V 1000 Program without G10 50 M30 100 M31 150 aaaaaa aaa N10 X50 F1000 M30 N20 X100 F500 M31 N30 X150 F1000 M32 N40 M02 500 s M32 The G10 function makes of the interrupted movement a positioning operation with smooth speed transitions.
IP 266 Machine Data, Modes and Traversing Programs Example 2: Alternating M functions V 1000 Program without G10 N10 N20 N30 N40 500 50 M10 100 M11 150 X50 F1000 M10 X100 F1000 M11 X150 F1000 M12 M02 s M12 Without the M function output, this movement could also be programmed in a block: N10 X150 F1000 A smooth movement of the type programmed in this block can be attained with the G10 function.
Machine Data, Modes and Traversing Programs IP 266 When G10 and M00 (programmed stop) are programmed in the same block, M00 has priority. To continue the program, you must press the EXEC key.
IP 266 • Machine Data, Modes and Traversing Programs G20: End of loop G24: Start of loop Loops may be nested. Subroutines which themselves contain loops may also be called in a loop. The nesting depth for loops and subroutine calls together may not exceed five. A continuous loop may be programmed only once, and only at the highest level. A program invoked via an L function may not contain a continuous loop. G20: End of loop G20 identifies the end of a program loop.
Machine Data, Modes and Traversing Programs • IP 266 G25: Approach target over the shortest path G26: Approach target in a clockwise direction G27: Approach target in a counter-clockwise direction These functions can be executed for a rotary axis only, and are ignored for a linear axis. G25: Approach target over the shortest path When the program is invoked, it defaults to G25. The IP computes the direction of travel.
IP 266 Machine Data, Modes and Traversing Programs Result: The IP 266 chooses the preferred direction. Due to the programmed backlash, the movement takes longer than it would in the opposite direction. The distance for the motor-driven axis is longer by the backlash compensation value. The function selects the direction of travel only when absolute target positions have been defined. G26: Approach target in a clockwise direction All absolute target positions are approached in a clockwise direction.
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IP 266 Machine Data, Modes and Traversing Programs aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaa
5-82 aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaa G44 Negative TO Mode 16 Reset TO Additive TO aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
IP 266 • Machine Data, Modes and Traversing Programs G53: Cancel zero offsets G54-G57: Enable offset 1-4 These functions effect a relative shift in the axis's coordinate system. Such a shift may be required when it is necessary to perform identical steps with the same incremental dimensions at different positions (see Example).
Machine Data, Modes and Traversing Programs IP 266 Rough structure of the program: 1. ZO forward + 10 mm (e. g. ZO 1) 2. C a l l s u b r o u t i n e f o r t h e t h r e e d r i l l h o l e s a t t h e p o s i t i o n s 1 0 m m , 2 0 m m a n d 30 mm 3. ZO forward + 50 mm to absolute position 50 mm (e. g. ZO 2) and positioning to the start position 4. Call subroutine for the three drill holes at the positions + 50 mm, 60 mm and 70 mm 5. ZO forward to absolute position + 90 mm (e. g.
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Reset ZO from the traversing program Overwrite ZO from the traversing program 5-86 G54 Enable ZO 1 G55 Enable ZO 2 G56 Enable ZO 3 G57 Enable ZO 4 G53 Disable ZO M02 End of prog.
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5-88 50 aaaaaaaa aaaaaaaa aaaa aaaaaaaa aaaaaaaa aaaa aaaaaa aaaaaa aaa aaaaaaaa aaaa 0 0 aaaaaaaa aaaa G74 aaaaaaaa aaaa aaaaaa aaaaaa aaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaa
IP 266 • Machine Data, Modes and Traversing Programs G90: Absolute position specifications G91: Relative position specifications These two G functions control the interpretation of all target specifications (X functions). G90: Position specifications are interpreted as absolute values G91: Position specifications are interpreted as relative values These two G functions control the interpretation of all target specifications (X functions).
Machine Data, Modes and Traversing Programs IP 266 The F function How an F function is interpreted depends on the function which precedes it.
IP 266 Machine Data, Modes and Traversing Programs • M02: End of program This function must be programmed in the last block of a main program or subroutine. • M99: External switching function This switching function is applied directly to an IP 266 digital output. This output is connected with pin 10 on the terminal block. All other values (i. e. M01 and M03 to M98) are available to the user.
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IP 266 6 Fundamentals of COM 266 Fundamentals of COM 266 The COM 266 software provides user-friendly support for programming the IP 266 and putting it into operation. All functions can be executed by making the appropriate entries in the interactive screen forms. The relevant program sections are invoked via function keys. In order to acquaint you with the COM 266 software and how to use it, Section 6.
Fundamentals of COM 266 IP 266 To call this utility, • enter DSKMAINT <1> if you are using an older version of PCP/M• or DISK <1> if you are using the newest version Please refer to your programmer manual for a detailed description of this utility. 6.1.2 • System Configuration First of all, you should learn how to install COM 266 on your hard disk. Load the PCP/M86 operating system Insert the COM 266 floppy into drive A You must now copy the contents of the floppy to USER extent 0 on the hard disk.
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Header Data area Function key menu 6-4 aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa
IP 266 Fundamentals of COM 266 Header: The two-line header for each screen form comprises six subfields. Field 1 Field 3 Field 5 Field 2 Field 4 Field 6 Figure 6-3. Format of the Header Lines Each of these fields contains information specific to the screen form in which they appear. This information is listed in Table 6-1.
Fundamentals of COM 266 IP 266 Data area: The data area of a screen form provides information on • the machine data • the defaults • the configuration parameters • Traversing (machining) programs The data area is subdivided into the following fields: • Fields with fixed texts A fixed text describes the relevant item of data. Input fields are displayed in reverse video. These fields are shown in the manual on a gray background. You may change the contents of these fields.
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IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
IP 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaa
IP 266 Fundamentals of COM 266 Function key menu: This key • takes you to the next screen form and • forwards the initialization data to the module when correct entries have been made in all input fields. This key is used to switch back and forth between "ONLINE" and "OFFLINE" in the "Mode" field.
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IP 266 Fundamentals of COM 266 Function key menu: Press this key to branch to the screen forms for entering • machine data and • traversing (machining) programs. Press this key to display • machine data and • traversing (machining) programs. This key is used to invoke the branch of the program used to test modes 1 to 19, and may be pressed in "ONLINE" mode only. Press this key to invoke the "Transfer" function.
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aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa INPUT MACHINING PROGRAM F1 F2 F3 F4 F5 F6 F7 F8 Fn n = 1 to 3 EWA 4NEB 812 6057-02 aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaa F7 aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa aaaaaaaa aaaaaaaa Fn F4 aaaaaaaa aaa
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IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
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Fundamentals of COM 266 IP 266 Header: The header contains the following: • Name of the screen form (fields 1 and 2): INPUT MACHINE DATA • Name of the software package (field 5): SIMATIC S5/COM 266 • Data destination. You chose the data destination with in the "INPUT" menu. The output field shows: DEVICE: IP 266 • You also specified the number of the data block in the "INPUT" form. The output field contains the string: BLOCK: DB1.
IP 266 Fundamentals of COM 266 Function key menu: Press this key to screen the next page of the "INPUT MACHINEDATA" form. This function is possible only when you have filled in all input fields correctly. Use this key to screen the preceding page of the "INPUT MACHINEDATA" form. This function is possible only when you have filled in all input fields correctly. Press this key to start a printout.
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IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
Fundamentals of COM 266 IP 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
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Fundamentals of COM 266 IP 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaa
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IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
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IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
Fundamentals of COM 266 IP 266 Function key menu: With the exception of , the function key menu is identical to that on page 1 of this screen form. is used to select predefined texts for the following input fields: • Reference direction • PLC BCD coded • Polarity HW limit switch And what now? Fill in all input fields. You have now entered all machine data. Press to transfer the machine data to its destination. "Active" appears briefly on the error line.
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Fundamentals of COM 266 IP 266 SIMATIC S5 COM 266-IP 266 These cannot LINEAR AXIS Meier items of data You can enter arbitrary combe modified in mentary in this gray-backed in- DATE: aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaa Siemens AG aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaa
IP 266 Fundamentals of COM 266 Function key menu: Press this key to start the printout. The following message is displayed on the error line while printing is in progress: FEC Printing ... When the printer stops, you will see the message: FEE Printed! This key has two functions. While a printout is being made, you can abort it by pressing this key. When you do so, "Abort printing (Y/N) ?" is displayed on the error line.
Fundamentals of COM 266 6.4.2 IP 266 Entering Traversing (Machining) Programs The structure of traversing (machining) programs corresponds in all essentials to a subset of the DIN 66 025 standard. The programs comprise a sequence of ASCII characters, and may not exceed 1023 characters in total. COM 266 stores traversing (machining) programs in data blocks. These blocks are distinguished from one another by a data block number.
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Fundamentals of COM 266 IP 266 Data area: The input field for "Program type" is subdivided into two sections, the first of which is for entry of the program type. Using , you can choose between • MAIN for a main program and • SUB for a subroutine In the second part of the input field, you can enter an arbitrary text as commentary. Function key menu: Press this key when you want to enter traversing (machining) programs to DIN.
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Fundamentals of COM 266 IP 266 Data area: The program header for the traversing (machining) program is displayed on the first line in the data area. "%2 SAMPLE PROGRAM" identifies a main program stored in DB2. "SAMPLE PROGRAM" was entered in the preceding screen form as commentary. The remaining lines in the data area are for the program itself. Only one block may be entered on each line. Refer to Section 5.
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Fundamentals of COM 266 IP 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaa
Fundamentals of COM 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaa
Fundamentals of COM 266 IP 266 Function key menu: Page down through the blocks to the end of the program. Page up through the blocks to the beginning of the program. Press this key to switch to "DIN" mode. Press this key to insert a new block in front of the block that is currently on screen. Press this key to delete the on-screen block. Press this key to forward a syntactically correct traversing (machining) program to the specified destination device.
IP 266 Fundamentals of COM 266 And what now? Enter a traversing (machining) program. Before doing so, select either DIN mode by pressing or TEXT MODE by pressing . Forward the traversing (machining) program to the specified destination device (FD, PG, IP 266) with . Exit the screen form with . You must confirm your intention to exit by pressing . The "FUNCTION SELECT" menu is displayed. You have now generated machine data and a traversing (machining) program.
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Fundamentals of COM 266 IP 266 Header: • The header is as follows before you start the "Transfer" function by pressing in the "TRANSMIT" form: The word "TRANSMIT" is shown as the name of the screen form. The name of the software package is the same as in all screen forms. The DEVICE field is blank, as is the field "BLOCK: DB".
Fundamentals of COM 266 aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaa
Fundamentals of COM 266 IP 266 Function key menu: If the IP is disconnected from the mains power, or if a power failure occurs, the data in its RAM is lost, and must therefore be stored on EEPROMs before the IP is actually put into operation in the plant. This applies to both machine data and traversing (machining) programs. On IP start-up, this data is transferred to IP RAM. The EEPROM has a maximum storage capacity of 8 Kbytes, only 7K of which is available for traversing (machining) programs.
IP 266 Fundamentals of COM 266 And what now? Machine data must be available on the IP 266 before you can proceed to the "TEST" form. If no valid machine data is in the IP's RAM, you must forward this data to the IP 266 from the programmer, disk or EEPROM. Select the source device and the number of the data block containing the machine data. If your source is a disk, enter the drive and the name of the source file. Select the IP 266 as destination. Start the transfer with .
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IP 266 Fundamentals of COM 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaa
IP 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaa
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Fundamentals of COM 266 IP 266 Function key menu: Press this key to screen the "Mode Select" form. The actualvalue display is "frozen" to the current value. The "Mode", "Program", "Distance" and "Override" fields become input fields, and the cursor is set to the start of the "Mode" field. ... These keys are mode-dependent. Refer to Table 6-3 in Section 6.6.2 for a key-to-mode assignment list. Press this key to exit the "TEST" form and screen the "FUNCTION SELECT" menu.
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Fundamentals of COM 266 IP 266 aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa aaa
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IP 266 Fundamentals of COM 266 The Help menu lists all modes and their numbers. Header: The header does not change when you screen the Help menu. Data area: The data area comprises a single input field. After viewing the mode list, enter the number of the mode you want in this field. Function key menu: Press this key to transfer the mode number you entered in the Help menu to the 'Mode' field in the "TEST" form.
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IP 266 Fundamentals of COM 266 The structure of each "OUTPUT" form is identical to that of the corresponding "INPUT" form; the only difference is the name of the form shown in the header. The data display begins when you have pressed , or . • Output machine data The seven screen form pages of machine data are displayed when you entered MACHINEDATA in the 'Data Block' field or selected MACHINEDATA with .
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IP 266 Fundamentals of COM 266 Header: • Prior to first-time execution of the "DELETE" function: You will see only the word "DELETE" as screen form name. The "DEVICE" field is initially blank, as is the "BLOCK" field. • Machinedata" or "Traversing (machining) Program" appears in the header while the "DELETE" function is executing, depending on your entry in the data area of the screen form.
Fundamentals of COM 266 IP 266 Function key menu: When you have specified the file you want to delete, press this key to start the Delete operation. The output fields in the header are updated. A prompt is displayed on the error line asking you whether you are sure you want to start the Delete operation. If you confirm with , the word "Deleted" appears to show you that the Delete operation has been successfully completed. Entry of a non-existent file is flagged by an error message.
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Fundamentals of COM 266 IP 266 Header: The header contains the following information: • Screen form name: INFORMATION INFORMATION • Name of the software package: SIMATIC S5/COM 266 • "DEVICE" field The contents of this field depend on which key you press to start the function (i. e. , or ). Data area: Until you have selected a device, no filenames are displayed in the data area and the cursor is set to the screen form's only input field. Choose between MACHINING PROGRAM and MACHINEDATA.
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PS CPU LIW88, LIW90, LIW92 and LIW94 aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa 7 TQW88, TQW 90, TQW92 and TQW94 IP aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa
Communication Between the CPU and the IP 266 IP 266 The IP 266 interchanges data with the programmable controller's CPU over the 100U bus. To make this possible, you must write operator commands to the process output image (PIO). From here, these commands are forwarded to the IP 266 once in each data cycle. A bit in byte 1 of the output frame prevents multiple execution of identical job orders.
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7.1.3 Mode 5 7.1.4 Use Reference point: Bit 0 = 0 : approach Bit 0 = 1 : set 8 Number of the machining Example: 9 10 program KF = +7 Program no.
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IP 266 Communication Between the CPU and the IP 266 Binary-coded positions 15 bits are provided for the integer portion of the number. It is thus possible to represent the number 215 - 1, or 32 767. In the case of a negative number, the integer portion is represented as two's complement. The decimal digits are specified as an absolute value.
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Communication Between the CPU and the IP 266 7.2.1 IP 266 Byte 0: Mode The IP 266 acknowledges the mode in byte 0. This value can be read in KF (fixedpoint constant) format. Example: The IP 266 returns the mode that is currently in progress or was just executed in byte 0 of the input frame.
IP 266 Communication Between the CPU and the IP 266 aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaa
Communication Between the CPU and the IP 266 IP 266 Bit 3 = 1 The controller is on. This bit is always set when the position controller is on. = 0 This bit is set to "0" in modes 3 and 4. Bit 4 = 1 The IP 266 is in Teach-In mode. This bit is set when you select mode 10 (Teach-In mode).
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Communication Between the CPU and the IP 266 IP 266 Example 2: The IP 266 receives a request to position the axis in a controlled mode (mode 1, 2 or 7). All status data is returned in binary. The machine data is correct. There is no reference point.
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IP 266 Start-Up 8 Start-Up 8.1 Configuring the System Before putting the IP 266 into operation, you must check to make sure that you are using the right interface module and that the peripheral elements have been assigned the correct parameters. These peripheral elements include: • the emergency limit switches • the power section on the IP 266's analog output • the hardware limit switches • the drive system mechanics • the incremental position encoder • the programmer. 8.1.
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IP 266 8.1.2 Start-Up The Power Section on the IP 266's Analog Output The power section must be connected to the IP 266's analog output. Check the connection between the IP 266 and the power section When you calibrate the power section, make sure that there is sufficient power reserve. The drive must never be operated at the current limit, as the motor speed could not follow the setpoint speed. 8.1.
Start-Up 8.1.4 IP 266 The Incremental Position Encoder Control precision depends on the location of the encoder in the drive system. A sequence of movements can be easily verified when the encoder is mounted directly on the motor axis. Check to make sure that the encoder is correctly installed. You must use an encoder which supplies two pulse trains displaced by 90 deg. with respect to each other and a zero mark signal. You may use a 5 V or a 24 V encoder.
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Start-Up Checking the Wiring aaaaaaaaaa aaaaaaaaaa aaaaa 8.1.6 IP 266 ok Check all cabling aaaaaaaaaa aaaaaaaaaa aaaaa - Make sure that the control cable and the power cable are sufficiently far apart and without kinks. ok aaaaaaaaaa aaaaaaaaaa aaaaa - Make sure that the cables to and from the controller are shielded over their entire length, and that the cable shields are grounded at both ends.
Start-Up aaaaaaaa aaaaaaaa aaaa IP 266 ok - 24 V supply aaaaaaaa aaaaaaaa aaaa - After making sure that all components are off circuit, attach the cables and screw them down. ok 8.2 Computing the Machine Data In this section, you will learn to compute the machine data with which you must initialize the IP 266. The machine data is based on the capabilities and mechanics of the drive. In order to compute the machine data, you need information on the hardware.
Start-Up IP 266 The following values are computed on the basis of this data: Table 8-2. Formulas for Computing the Machine Data The factor ü must be taken into account only when it is not part of xg. Maximum deceleration rate bmax Vmax [ mm/60s ] bmax [ mm/s2 ] = t [s] Take the time from the commissioning report for the power section you are using.
IP 266 Start-Up aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa
IP 266 aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaa
IP 266 8.3 Start-Up Initializing the IP 266 Before you can use the IP 266, you must first supply it with valid machine data. You have two options for entering machine data: • Defining machine data for a newly installed system • Loading an existing record from a non-volatile storage medium Entering machine data for a newly installed system Before putting a new system into operation, you must define your machine data for that system. The information presented in Section 8.
Start-Up 8.
IP 266 Start-Up aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa
Start-Up IP 266 aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa
IP 266 Start-Up Select mode 3 (Controlled jog). Select a low speed (approx. 1-5 %) via "Override". Select the "Forward" function and observe the actual position; this value must increase. If the actual position value decreases, switch off the power section immediately! In this case, you must interchange encoder signals A-A\ and B-B\ (if you are using a 5 V encoder) or A* and B* (if you are using a 24 V encoder) and retest the direction of rotation.
Start-Up IP 266 Refer to the following figure when you want to simulate tripping of a limit switch within the traversing range: Traversing range HE NE aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaa NA HA aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaaaaa aaa Table N A/N E: Emergency start/emergency end limit switch (powe
IP 266 Start-Up Testing the following error Travel a considerable distance in mode 1 or 2 ("Jog 1" or" Jog 2"), observe the following error, and stop travel. The result must be the buildup of a following error which, after some time, remains fairly constant and then goes back to zero following deceleration. At zero speed, the following error can vary by approximately ± 3 increments, depending on the drive calibration.
Start-Up IP 266 Possible errors: 1. The drive does not move although "Reference point set" is displayed. You have accidentally executed a "Set reference point". 2. The drive traverses, but does not reduce its speed at the reference point switch and does not find the reference point. The reference point switch is either defective or is an "NC" contact. 3. The drive reduces its speed at the reference point switch, but continues traversing until it reaches the limit switch.
IP 266 Start-Up Teach-In Select mode 10 ("Teach-in on"). Specify a program number. Start mode 10. Return info: Teach-in: on ok Approach various positions and store them with "Transfer". Start mode 11 ("Teach-in off"). Execute the program you generated in "Teach-in" mode. Supplement the program in DIN or Text mode by adding dwells, loops, programmed stop, speed changes and the like.
Start-Up IP 266 Generate an error such as "External STOP". The error is flagged on the programmer ok Start mode 17. The error is acknowledged. ok • Drift compensation (mode 18) ok • Drift compensation off (mode 19) ok Save the optimized machine data and traversing programs on floppy and transfer the contents of the floppy to the module's EEPROM.
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IP 266 STEP 5 Programming 9 STEP 5 Programming 9.1 What to Observe when Programming 9.1.1 General Information on Program Structure When programming the IP 266, you must observe a number of special features and exceptions. These are discussed in detail below. Response to starting a mode When you start a mode, you can expect the latest status info at the earliest two cycles later.
STEP 5 Programming 9.1.
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IP 266 9.
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IP 266 9.3 STEP 5 Programming Description of Sample Program 1 A workpiece is to be machined on an assembly line comprising several assembly bays. The following steps are to be carried out at four positions within the positioning range of the linear axis: Position 0: Position 0 is the home position of the worktable in the linear axis's traversing range.
STEP 5 Programming 9.4 IP 266 Sample Program 1: Overall Structure For better readability, many subfunctions have been programmed in separate FBs.
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STEP 5 Programming 9.4.2 IP 266 Cyclic Operation with OB 1 At the beginning of each OB 1 cycle, a check must be made to see whether the IP 266 has been initialized. This check consists of scanning bit 0 in byte 2 of the input message (PII). If the IP 266 has not been synchronized, mode 99 must be invoked in FB 10. If the IP has been synchronized, FB 26 is invoked. All further functions in the sample program are started from FB 26.
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STEP 5 Programming 9.4.3 IP 266 FB 26: Control FB for the IP 266 The following steps are executed in succession in this FB: • Read input message (PII) • Error analysis • Scan external signals • Check reference point and set if required • Select mode • Select function • Program TOGGLE bit The relevant calls must be made in this FB to invoke additional modes or change existing modes. The sample program could also be upgraded by programming mode interlocks.
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aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa aaaaaaaaaaaa Unconditional STOP call flag set? Edge END 9
IP 266 9.4.4 STEP 5 Programming Selecting Modes via IB 4 All modes are selected in FB 26. In almost all cases, the number of the FB is identical to the mode number. • FB 2 is for "Jog 2" mode • FB 5 is for approach/set reference point mode • FBs 6, 8 and 9 are for modes 6, 8 and 9 • The only exception is mode 99. Since not all CPUs allow FB numbers as high as 99, the FB number for this mode is 10. This mode is also the only mode that is directly invoked in OB 1.
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STEP 5 Programming IP 266 FB 6: Increment mode absolute In addition to the mode number, this mode requires specification of an override factor and an absolute target position. Simple parameters were chosen for the sample program. Select the parameters as follows via input I 4.5: I 4.5 = 0 positive direction Enter override factor 30 % in QB 67 and target position 360.800 mm in QW 68 and QW 70. I 4.5 = 1 negative direction Enter override factor 60 % in QB 67 and target position 360.
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STEP 5 Programming IP 266 aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaa
IP 266 STEP 5 Programming "External start enable" switch The "External start enable" switch must be wired as an NC contact. The IP 266 will accept no jobs until it receives a "1" signal. In FB 26, this signal is scanned and routed via Q 2.0 to pin 7 on the IP 266's terminal block.
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aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaaaa aaaaaaaaaaa aaaaaaaaaa Job in progress? Edge flag = 0? Load bit 0 = 1 (QB 65) into FY 6 END EWA 4NEB 812 6057-02 aaaaaaaa aaaaaaaa aaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaa aaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaaaaaaaa a
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aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaa aaaa Edge flag = 0? Forward? Reverse? EWA 4NEB 812 6057-02 aaaaaaaaaa aaaaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaa aaaaaaaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaa aaaaaaaaaa aaaaaaaaa
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STEP 5 Programming aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaaaa aaaaaaaaaaaa
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IP 266 9.5 STEP 5 Programming Sample Program 2: Traversing to Two Fixed Target Positions A second sample program is to be written to move the drive from one fixed target position to another in "Relative increment" mode. At each of the two fixed target positions, the direction of travel is to be reversed and a new positioning operation started. • Example Flags M 3.0 Is used as Edge flag Flag bit 3.0 must be set to start a positioning operation.
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IP 266 STEP 5 Programming "Automatic" positioning sequence as per example 2 State 1: Job terminated and flag 3.0=0; no job initiated, drive is at a standstill: Motor must be started by setting F 3.0 to "1". State 2: Job terminated and flag 3.0=1: The TOGGLE FB is entered and a new mode preset. State 3: Job terminated and flag 3.0=0, but no job order has been initiated: Loops are run through but no activities performed. State 4: Job in progress and flag 3.0=0: Flag 3.
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IP 266 10 Troubleshooting Troubleshooting This section provides detailed information on the errors which may occur when using the IP 266. During direct communication between the PLC's CPU and the IP 266, the error code is forwarded in KH (hexadecimal constant) format. When you service the IP 266 via COM 266, the error code and the associated text are displayed on the monitor's error line. The error codes flagged on the PLC are identical to those displayed by COM 266. 10.
Troubleshooting IP 266 F02 Wrong resolution F0F Position tolerance out of range F61 Incorrect hardware limit switch polarity F6A Incorrect following error Machine data errors F10 F11 Traversing program errors F2F Erroneous G-function Mass storage errors Inadmissible input Memory overflow FD0 Only one continuous loop allowed FD1 No end of loop programmed IM 511 errors (programmer) F31 Module errors F3F Incorrect file General errors F40 F41 Invalid drive Syntax or name not correct Not allo
IP 266 10.2 Troubleshooting List of Errors and Possible Causes Due to the exceptionally large number of errors which may be flagged on the PLC, it is necessary to have at hand a comprehensive list showing the error message for each error code. This list begins on the next page. In some cases, information has also been provided on measures for error recovery.
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Troubleshooting aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaa
IP 266 aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa
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IP 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaa
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IP 266 aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaa aaaaaaaaaa
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IP 266 aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaa
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IP 266 Index Index A Automatic Acceleration rate - Forward - Reverse Actual position - Read Actual value Actual-value display - Mode 5-11 5-11, 6-22, 6-23 - Single block - Synchronization Auxiliary screen form 5-44, 5-46 9-4 5-11, 6-22, 6-23 2-15, 5-13 - Mode select Auxiliary function Axis 6-66 5-90, 6-57 5-66 4-5, 4-6, 6-57, 6-59, 6-63, - Position - Status 7-15 2-16, 6-57, 6-60, 6-63 6-64 - Test - Type 8-13 1-3, 5-3, 6-19, 6-20 6-56, 6-57, 6-60 - Following a reference point approach B 7
Index Blank cycle Braided shield Bus module slot IP 266 9-1 3-3 3-5 C Cable - Connection - Length - Shielding Calibrating - Axis - Power section CLEAR - Screen form Clearance distance Closed-loop positioning Coding - Command code - Element - Mode - Pin 3-2 8-4 3-2, 3-3 CONFIGURATION - Screen form Configuring 6-3, 6-4 8-1 Connecting cable Continuous belt Continuous loop 2-8 1-3, 1-5 5-77 Control Controller 8-4 6-57, 6-60, 6-63 - Enable (FUM) - On - Parameters 5-9 5-62 2-24 7-15, 7-16 5-12 1-4
IP 266 Deceleration rate b max - Maximum - Reverse Decimal digit Index Distance to go 5-11, 6-22, 6-23, 8-8 5-11, 6-22, 6-23 7-8, 7-9, 7-19 5-44, 6-57, 6-59 - 6-61, 6-63, 6-64 - Read 5-67 5-27, 5-63, 8-13 - Compensation 5-27, 5-62, 5-64 5-62 Drift Degrees Delete DELETE 5-4 6-70 - Screen form Developer Device 6-70 6-9, 6-51, 6-53 6-51, 6-53, Drive Drive system - Mechanics 6-71 2-2 5-87, 6-45, Dwell time Digital-analog converter Dimensions 6-46 5-87 5-87 E Edge evaluation EEPROM RAM paramet
Index Encoder - Monitor - Signal IP 266 Exit 2-23 2-5 - Test mode External start 6-76 - Symmetrical - Type Encoder (5 V) 2-5, 6-25 5-4, 6-24, 6-25 - Effect - Enable External STOP 2-14 5-44 2-12 - Symmetrical Encoder (24 V) - Asymmetrical 8-4 - Polarity External switching function 2-11 5-91 Encoder revolution - Pulse - Travel 8-4 F 8-7, 10-4 8-7, 10-4 F function Factor 5-90 8-7 5-91 - Override Fault LED Feed rate 6-64 2-22 6-47 Field contents - Header Filename 6-5 6-9, 6-51, Final blo
IP 266 Index Forward (FWD) Frame FUM 6-65, 7-3, 7-5 7-1 2-10, 2-15 G90: Absolute position specifications G91: Relative position 5-89 - Signal Function - 1 (L) 8-6 5-23 6-45, 6-47 specifications Generation date Ground wire 5-89 6-9, 6-51, 6-53 8-6 6-45, 6-47 6-45, 6-47 6-45, 6-47 Grounded shield 8-6 - 5 (M) - Hardware limit switch FUNCTION SELECT 6-45, 6-47 8-15 Hardware - Configuration - Fault - Menu - Screen form Function signal FUM 6-12, 6-70 6-12, 6-70 Hardware limit switch - 2 (G) - 3
Index IP 266 Increment mode relative Incremental encoder Incremental position encoder 5-41 8-14 2-5, 8-3, 8-4 Interface - D SUB - PLC 2-3 2-3 1-8 Incremental speed 5-10, 5-47, 5-48, 6-32, 6-33 - Position encoder INTERRUPT Interruption of the 2-6 6-42 Information INFORMATION - Screen form 6-73 traversing program Interruption points Inversion 5-44 5-45 - Signal Invoking - Modes 2-5 I/O IP 4-5 6-73 Information modes Initialization - IP 266 5-66 8-11 INPUT - Screen form - Traversing program
IP 266 Index K KOMI screen form Kv (servo gain) factor 6-3 5-12, 5-13, 5-19, 6-24, 6-25, 8-8 L Machine data - Error - Missing - Optimized - Print - Valid 10-2 7-15 8-20 6-37 7-16 L function Last block 5-71 5-91 Machining Traversing MACHINING PROGRAM Machining program form 6-17 Latching LED flashes Limit switch 5-72 2-22 8-1 - Text mode MAIN Main program 6-45 6-42 5-69, 6-42 - Hardware - Software Linear axis 1-4, 2-11, 8-1 1-4, 8-1 1-3, 1-4, 5-3, Mass storage error Maximum deceleration rate
Index Mode - Screen form - Select - Table Mode select - Auxiliary screen form - Help form - Mode Mode select form Module - Address assignment - Components IP 266 6-63 6-66 6-56 Nesting - Depth - Loop 5-71, 5-77 5-71 6-65 NO contact Noise - Immunity 3-2 6-66 6-56, 6-63 6-64 Number - Format - of traversing programs 7-15 5-68 5-3, 6-19, 6-20 7-1 2-1 Number of pulses - Incremental position encoder 8-3, 8-4 - Error - Installation - Number 10-2 3-4 6-10 O - Removal - Restart - Start/restart 3-4
IP 266 Output message - Overview Override - Factor Overswing Overview - Input frame - Output frame Index 7-1, 7-2 7-3 6-57, 6-60, Position control direction - Monitor Position control system 2-24, 2-25, 3-6 2-24, 3-6 6-63, 6-64 5-24, 5-25, 6-64, 7-7 - Components Position encoder - Interface 4-4 - Replacement - Revolution - Signal 3-6 8-7 2-4 5-19 7-13 7-3 Position reached P - Switching conditions Parameter Path of travel - Limit 5-23, 7-2 8-1 PG - Date and time Phase displacement 6-10 - S
Index Printer - Initialization Printout - Function - Machine data - Procedure - Screen form - Terminated Process image - Inputs (PII) - Outputs (PIQ) Program IP 266 6-21, 6-36, 6-39, 6-75 6-38 Rapid traverse Ratio - Motor/axis 6-21, 6-39 6-37 6-37 Recovery procedure Reference - Coordinate 6-21 6-37 6-39 7-1 7-1, 7-2 5-73 8-7 10-4 - 10-17 5-9, 5-28, 5-88 - Direction - Signal - Speed 1 6-34, 6-35 2-5 6-34, 6-35 - Speed 2 Reference point 6-34, 6-35 1-4, 5-5, 5-9, 6-27, 6-28, - END 6-57, 6-60, 6-6
IP 266 Representation - DIN 66 025 - Text mode Index 6-40 6-40 Screen form - PRESETS - PROGRAM SELECT 5-20, 5-35, 5-36 - TEST - TRANSMIT Service life 6-56 6-50, 6-51 Reset Reverse REVERSE (REV) 5-63, 8-5 6-65 7-3, 7-5 - EEPROM Setpoint - Generator 5-65 4-5 4-2 Resolution - Wrong Rotary axis 5-4, 5-5, 6-35 10-4 1-3, 1-5, 5-3, - Speed Setpoint position - Computation 2-9 2-15, 5-13 5-26 5-8, 5-43, 5-53, 5-60, 5-78 Sheath wire Shield - Bus 3-4 2-4 3-3 - Increment mode absolute - Zero offset R
Index Speed IP 266 5-9, 5-46, 5-47, 5-90, 6-59, 6-61 Switching function 2-10, 6-57, 6-59, 6-61, 6-63, 6-64 1-6 6-32, 6-33 8-7 - M99 Symmetrical - 5V encoder 2-18 - Setpoint Standstill (zero-speed) monitor 4-2 6-24, 6-26, 6-60, 7-15 - Encoder Synchronization - Automatic 6-25 START Start - COM 266 7-3, 7-5 6-65, 7-3, 7-5 6-3 - IP Syntax diagram - Block 5-67 - Hardware limit switch Start enable - External 8-7 2-10 2-10, 2-13 T T x D_P 2-4 Start-up - Test STATUS 8-1 8-12 6-65, 7-3, 7-5 Ta
IP 266 Index Test - Axis - Start-up 8-13 8-12 6-56 Transfer - Key - Statement 6-65, 7-5 5-76 7-1 4-4 - Screen form ”TEST” form - Hierarchical structure 6-56 Transmission element - Mechanical Travel - Output fields Test mode - Exit 6-61 6-55, 8-13 6-76 - Encoder revolution Travel limits Travel per encoder revolution 8-7, 10-4 8-1 5-4, 5-5, 6-34, Testing - Following error - Hardware limit switches 8-17 8-15 Traversing block Traversing (machining) range 6-35 5-68, 5-70 5-7, 8-2, 8-12 - Maximum
Index IP 266 V Velocity - Ramp - Setpoint Voltage-speed - Characteristic 4-7 4-2 5-63 W Watchdog 5-63 Wirebreak Wiring Write cycle 3-1 8-6 5-65 X X function 5-89 Z Zero point 5-50 Zero offset (ZO) 5-15, 5-17, 5-43, 5-51, 5-84, 6-30, - Absolute 6-31, 6-46 5-50, 5-84, 5-86 - Cancel - Delete - Relative 5-83 5-56 5-54, 5-84, - Rotary axis - From traversing program Zero-speed monitoring 14 5-86 5-53 5-86 2-15, 2-16, 5-15, 6-24, 6-26, 6-60 EWA 4NEB 812 6057-02
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Siemens AG AUT E1114B Postfach 1963 Werner-von-Siemens-Str. 50 Suggestions D-92209 Amberg Fed. Rep. of Germany For publication: Corrections Title: IP 266 Positioning Module From: Order No.: 6ES5 998-5SC21 Name Edition: Firm/Dept. Should you come across any printing errors when reading this publication, we would ask you to inform us accordingly, using this form. Address We would also welcome any suggestions you may have in the way of improvement. Tel. No.