Siemens SIMATIC S5 User manual

SIMATIC S5
IP 266
Positioning Module
Manual
EWA 4NEB 812 6057-02

STEP ® SINEC ® and SIMATIC ® are registered trademarks of
Siemens AG.
Subject to change without prior notice.
The reproduction, transmission or use of this document or
its contents is not permitted without express written
authority. Offenders will be liable for damages. All rights,
including rights created by patent grant or registration of a
utility model or design, are reserved.
Copyright© Siemens AG 1991
EWA 4NEB 812 6057-02

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System Overview
Technical Description of the IP 266
Installation Guidelines
Fundamentals of Positioning
Machine Data, Modes and Traversing Programs
Keyword Index
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Introduction
Preface
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Fundamentals of COM 266
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Communication Between the CPU and the IP 266
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Start-Up
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STEP 5 Programming
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EWA 4NEB 812 6057-02

IP 266 Preface
Preface
The IP 266 is a powerful intelligent I/O "positioning" module that was developed
specially for installation in the S5-100U programmable controller. The IP 266
makes it possible to operate servomotors via power electronics equipment. The
IP 266 can be used in conjunction with the following CPUs:
• CPU 100 (6ES5 100-8MA02 only)
• CPU 102 (without restriction)
• CPU 103 (without restriction)
The IP 266 provides numerous functions for both open-loop and closed-loop
positioning. These functions are described in detail in the section entitled Modes.
The IP 266 provides modes for
• positioning
• coordinate shift and
• correction (compensation)
All modes can be used both separately and as a consequence of individual
functions in machining programs.
The complex open-loop and closed-loop procedures which a standard pro-
grammable controller must perform in order to carry out a positioning task
require a great deal of processor time.
The IP 266 can considerably reduce the amount of processor time needed because
it takes over the entire positioning process.
Your control program can thus execute in parallel with the positioning
procedure.
Sequences of motions involving several axes are made possible by the use of
additional IP 266 modules.
Sequencing control can be implemented via the IP 266's digital inputs and
outputs.
Because this module can be installed only in an S5-100U programmable
controller, it has been assumed that the reader is well acquainted with the
S5-100U product manual. The fundamentals of STEP 5 programming are not a
topic of discussion in this manual.
EWA 4NEB 812 6057-02 v

IP 266 Introduction
Introduction
The information presented below is aimed at simplifying use of the manual.
Contents
The contents of the manual can be subdivided into topical categories:
• Hardware description
Section 1 ("System Overview") and Section 2 ("Technical Description") pro-
vide information on the components of the positioning system and their
integration in the S5-100U
System.
In addition to explanatory texts on connecting peripherals such as
- screen-based programmers
- encoders and
- power electronics equipment
you will also find detailed information on the connector pin assignments for
the various interfaces and the locations of these interfaces on the IP 266
module.
• Installation guidelines
All information relevant to system installation can be found in Section 3
("Installation Guidelines"). This includes:
- safety guidelines
- shielding
- switch installation
- module installation and removal procedures
• Fundamentals of positioning
Section 4 provides information on positioning options within the SIMATIC
system, the principles of positioning and the IP 266's position control
facilities. This section also defines terms such as setpoint, actual value and
following error and the interrelation of acceleration, speed and path.
• Machine data, modes and traversing programs
The data which the IP 266 needs in order to carry out the positioning process
is discussed in detail in Section 5.
This section also provides information on all modes, how they work, and the
parameters they require.
EWA 4NEB 812 6057-02 vii

Introduction IP266
• Fundamentals of COM 266
This section provides information on how to
- make a back-up copy of the COM 266 floppy
- install COM 266 and
- use COM 266.
It also includes a full description of all COM 266 screen forms.
• Communication between the CPU and the IP 266
Defined addressing message frames are used for data interchange over the
bus interface. You must know how to use these message frames when you
want to control the IP 266 via a STEP 5 program (see Section 7).
Examples are presented in Section 9 ("STEP 5 Programming") to show you
how to link and process these message frames in STEP 5 programs.
• Start-up
This section describes the procedures for installing and starting the IP 266.
The information presented in this section is based on that presented in
Sections 5 and 6.
• STEP 5 programming (Section 9)
This section uses examples to show you how to use the message frames
discussed in Section 7.
• Troubleshooting
This section tells you what to do when problems arise. It also provides a list of
errors and information on how they can be rectified.
viii EWA4NEB8126057-02

IP 266 Introduction
Training courses
Siemens offers an extensive range of training courses for the SIMATIC STEP 5
system.
For details, please contact your local Siemens branch office.
Reference literature
This manual deals primarily with the IP 266 positioning module. Other com-
ponents of the SIMATIC S5 system are mentioned only briefly.
Detailed information on these components can be found in the following
literature:
•Programming Primer for the SIMATIC S5-100U
Practical exercises on the PG 615 programmer
Siemens AG, Berlin and Munich, 1988
Contents:
- Configuration and installation of the S5-100U
- Introduction to programming on the PG 615 programmer
Order No.: ISBN 3-8009-1500-6
•Programmable Controllers
Volume 1: Logic and Sequence Control Systems; from the
Control Task to the Control Program
Günter Wellenreuther, Dieter Zastrow
Braunschweig 1987
Contents:
- Operating principles of a programmable controller
- Theory of control technology using the STEP 5 programming language for
the SIMATIC S5 programmable controllers
Order No.: ISBN 3-528-04464-0
EWA 4NEB 812 6057-02 i x

Introduction IP266
• Electronic Feed Drives for Machine Tools
Hans Groß
Order No.: ISBN 3-8009-1338-0
Conventions
To improve readability, the manual has been broken down into menus, i. e.:
• Each section has a thumb index.
• At the beginning of the manual you will find an overview of section headers.
• Each section is preceded by a detailed breakdown of its contents.
Each section has a three-level breakdown. Headers in bold type are used for
further subdivisioning.
• Pages, figures and tables are numbered separately in each section. A list of
the tables and figures in each section can be found on the flip side of the
breakdown for that section.
Certain forms of expression have been used in the manual with which you should
become acquainted before continuing.
• Characteristic abbreviations have been used for a number of terms. Each
abbreviation is explained in detail the first time it appears in the manual.
Example: Programmable controller (PLC)
• Cross-references are shown as follows: ("see Section 4.3.2)" refers you to
Section 4.3.2.
There are no page references.
• An arrow ( ) is used to indicate an action you must take.
• The response to an action is designated by the symbol .
x EWA4NEB8126057-02

IP 266 Introduction
• Information of particular importance is flanked by two gray bars. A key word
or phrase in the upper bar indicates the type of information involved.
Note:
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Additional information; emphazises a special feature or characteristic.
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C A U T I O N :
Precautions which must be taken to prevent damage to hardware or software.
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W A R N I N G !
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Failure to observe these precautionary measures may result in personal injury.
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
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a
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Product manuals always relate to the most recent version of a product. Should
modifications or supplements become necessary in the course of time, an
addendum is published which is then included in the next edition of the manual.
The manual release is shown on the title page, and is incremented by one each
time the manual is revised.
EWA 4NEB 812 6057-02 xi

IP 266 Introduction
• Remarks Form
The Remarks Form is provided for your comments and suggestions.
Conventions
The following conventions are used in this book and are listed for your reference.
Convention Definition Example
A box that indicates a type
of hazard,describes its
implications, and tells you
how to avoid the hazard is
safety notation. Some safety
notation includes a graphic
symbol representing an
electrical or radio-frequency
hazard. All safety notation has
one of the following levels of
caution:
• Indicates that loss of life,
severe personal injury, or
substantial property damage
will result if proper pre-
cautions are not taken.
• Indicates that loss of life,
severe personal injury, or
substantial property damage
can result if proper pre-
cautions are not taken.
• Indicates that minor
personal injury or property
damage can result if proper
precautions are not taken.
EWA 4NEB 812 6057-02 xiii

a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
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1 System Overview
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1.1 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1- 2
1.2 Axis Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1- 3
1.3 Installing the IP 266 in a Simatic S5 System . . . 1 - 6
1.4 Operator Servicing Options (PLC and PG)
and Their Priorities . . . . . . . . . . . . . . . . . . . . . . . .1 - 7
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
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a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
2 Technical Description of the IP 266
3 Installation Guidelines
4 Fundamentals of Positioning
5 Machine Data, Modes and Traversing Programs
6 Fundamentals of COM 266
7 Communication Between the CPU and the IP 266
8 Start-Up
9 STEP 5 Programming
10 Troubleshooting
EWA 4NEB 812 6057-02

Figures
1-1. Positioning with Three Axes . . . . . . . . . . . . . . . . . . . . . . . . .1- 2
1-2. Linear Axis with Range Limit Switches
(not to scale) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1- 4
1-3. The IP 266 in a SIMATIC S5 System. . . . . . . . . . . . . . . . . . . .1 - 6
1-4. Principle of Job Order Processing . . . . . . . . . . . . . . . . . . . . .1 - 7
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
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a
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a
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a
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a
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Tables
1-1. Axis Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1- 3
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
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a
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a
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a
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a
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a
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EWA4NEB8126057-02

IP 266 System Overview
1 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 con-
troller'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. The count is
then used to determine the current position.
Limit switches are connected to the module's digital inputs.
The IP 266 is equipped with the following:
• Serial bus interface to the 100U programmable controller
• Digital inputs and outputs
• Analog output for driving the power section over the standard ±10 V inter-
face
• Status indicators for various operating states
• Interface for connecting an incremental position encoder to determine the
current position
• Programmer port for connection of a screen-based programmer
The following example illustrates a number of typical applications for positioning
modules. Particular emphasis is placed on the distinctions between the two types
of axes (linear axis and rotary axis).
EWA 4NEB 812 6057-02 1-1

System Overview IP266
1.1 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.
A linear axis can be used for raising and lowering the workpiece as well as for
cross-machining from the conveyor belt to the assembling machine. The move-
ment can be restricted to within defined limits. The conveyor belt can be
initialized as continuous belt (rotary axis).
Fig. 1-1. Positioning with Three Axes
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a
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a a a a
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1-2 EWA4NEB8126057-02

IP 266 System Overview
1.2 Axis Types
You can operate either
• rotary axes
or
• linear axes on the IP 266. Initialization and operator servicing are dependent
on the axis type.
Any differences are pointed out in the relevant chapters and sections.
This chapter contains a description of the individual types of axis.
Table 1-1. Axis Types
Rotary AxisLinear Axis
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
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a
a
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a
a
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a
a
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a
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a
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a
a
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a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
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Table
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a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
Beginning/end of traversing range
a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a
Rotary table
can be initialized in [mm],[inch] can be initialized in [deg], [mm], [inch]
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a
a a a a
a a a a
a a a a
a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a
Continuous belt
EWA 4NEB 812 6057-02 1-3

System Overview IP266
The linear axis
A linear axis is an axis with a limited traversing range. The traversing range is
restricted via
• programmable software limit switches (SA/SE)
• hardware limit switches (HA/HE)
• emergency limit switches (NA/NE)
Fig. 1-2. Linear Axis with Range Limit Switches (not to scale)
Start of
machine End of
machine
Table
N A/N E: Emergency start/end (power section)
H A/H E: Hardware limit switch start/end
S A/S E: Software limit switch start/end
DecelerationdistanceS Br
Clearance distance X
a a a a
a
a a
a
a a a a
a a a a
a
a a
a
a a a a
N AH AS AS EH EN E
a a a
a
a
a
a
a
a
a a a
a a a
a
a
a
a
a
a
a a a
a a a
a
a
a
a
a
a
a a a
a a a
a
a
a
a
a
a
a a a
a a a
a
a
a
a
a
a
a a a
a a a
a
a
a
a
a
a
a a a
a a a a
a
a a
a
a
a a
a
a a a a
a a a a
a
a a
a
a
a a
a
a a a a
a a a a
a
a a
a
a
a a
a
a a a a
a a a a
a
a a
a
a
a a
a
a a a a
a a a a
a
a a
a
a
a a
a
a a a a
a a a a
a
a a
a
a
a a
a
a a a a
Traversing range
The software limit switches do not go into force until the reference point has
been determined (see Section 5.3.5).
The distance between the software limit switches and the hardware limit
switches must be such that the drive can be decelerated at the specified dece-
leration rate before it reaches the hardware limit switches. In addition to dece-
leration distance SBR, you must also maintain a clearance distance (X) between
the end of the deceleration distance and the next limit switch.
The same applies to the distance between the hardware limit switches and the
emergency limit switches.
C A U T I O N :
Incorrect initialization of the limit switches may result in mechanical damage.
Always make sure that you observe the clearance distance (X).
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
1-4 EWA4NEB8126057-02

IP 266 System Overview
The emergency limit switches, which are routed directly to the power section,
must also take the deceleration distance into account.
C A U T I O N :
If you initialize alinear axis unintentionally as a rotary axis, there are no soft-
ware limit switches. The drive can be stopped only over hardware limit
switches.
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
The rotary axis
A rotary axis is an axis with an unlimited positioning range.
This may be e. g.
• a rotary table or
• a continuous belt
When a rotary axis is used, the start and the end of the positioning range are
physically the same point on the axis.
The only effect the start of traversing range and end of traversing range
parameters have is that of switching the actual value displays.
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a
a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a
a a a
a a a
a a a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
0 = Start of traversing range
400 = End of traversing range
a a a a a a a
a
a a a a a
a
a
a a a a a
a
a
a a a a a
a
a a a a a a a
100
a a a a a a a
a
a a a a a
a
a
a a a a a
a
a a a a a a a
200
Example
A traversing range of 0 mm to 400 mm
was specified in the machine data for a
continuous conveyor belt. The value
0 mm and the value 400 mm both have
the same physical location on the belt.
When the value 400 mm is reached, the
display switches to 0 mm.
The hardware limit switches are evaluated in the same way as for a linear axis,
and provide extra protection when the positioning range is to be restricted to
values less than one revolution.
EWA 4NEB 812 6057-02 1-5

System Overview IP266
1.3 Installing the IP 266 in a SIMATIC S5 System
Figure 1-3. The IP 266 in a SIMATIC S5 System
IP266
Data bus
9 V
Data
GND
PLC
interface
Programmer
port
Setpoint
assign-
ment Power
section
Command
interpreter Position
controller
DAC MT
The IP 266 can be plugged into a bus module slot for analog modules (slot 0 to 7).
In addition to the wiring backplane, the IP 266 is also equipped with interfaces
for connecting
• a programmer (PG 635, 675, 685, 730, 750)
• power electronics equipment with speed controller over the analog output
• 8 digital inputs/outputs for limit switches, reference point switches, ...
• an incremental position encoder (rotary or linear)
1-6 EWA4NEB8126057-02

IP 266 System Overview
1.4 Operator Servicing Options (PLC and PG) and Their Priorities
The IP 266 can be controlled via a programmer (PG) or via the programmable con-
troller's CPU.
If job requests are issued to the IP 266 over both interfaces in the same firmware
cycle, the request issued via the programmer has priority but the next PLC job
request is serviced in the subsequent cycle. If this request differs from the PG
request and the latter is still being serviced, the IP 266 aborts the job and flags an
error.
Figure 1-4. Principle of Job Order Processing
Status info
Programmer
interface
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
a a a a a a a a a a a a a a a a a a a a
PLC
interface
PG
a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a
IP266
positioning module
Status info
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
a
a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a
Job order
processing
PLC
The IP 266 accepts two types of positioning requests:
•Single job orders (or requests) are forwarded to the IP 266 over the program-
mer port or the PLC interface.
Single job orders are all modes with the exception of mode 8 (AUTO) and
mode 9 (AUTO single block).
•Machining programs, i. e. a continuous sequence of single job orders, dwells,
corrections and switching operations.
The machining programs must be in the IP 266's memory. A machining pro-
gram is started over an operator interface by specifying the operating mode
and the program number.
EWA 4NEB 812 6057-02 1-7

System Overview IP266
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. These
blocks must be initialized in a STEP 5 program. Positions, mode numbers and the
like can be entered using, for example, numerical setters. The values are
forwarded in the process input and output images.
1-8 EWA4NEB8126057-02