Siemens SIMATIC S5 User manual

SIMATIC S5
IP 267
Stepper Motor Controller
Manual
EWA 4NEB 812 6061-02a

SIMATIC® and STEP ® are registered trademarks of Siemens AG.
Copyright © Siemens AG 1989
Subject to change without prior notice.
The reproduction, transmission or use of this document or
its contents is not permitted without express written
authority.
Offenders will be liable for damages. All rights including
rights created by patent grant or registration of a utility
model or design, are reserved.
EWA 4NEB 812 6061-02a

System Overview
Driving Stepper Motors with the IP 267
Module Description
Addressing and Programming
Notes on Operation
Function block for assigning parameters to the IP 267
Introduction
Preface
Application Examples
Index
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EWA 4NEB 812 6061-02a

IP 267 Preface
Preface
The IP 267 intelligent I/O module generates programmable pulse trains for
driving the power sections of stepper motors. The IP 267 has separate digital
inputs for controlling positioning movements and signalling certain events to the
CPU. The IP 267 can only be used in conjunction with programmable controllers
of the S5-100U range. It operates with the following CPUs:
• CPU 100 (6ES5 100 - 8MA02 only)
• CPU 102 (without restrictions)
• CPU 103 (without restrictions).
The IP 267 processes all the input and output signals necessary for approaching
the required positions autonomously in an application-specific integrated circuit
(ASIC). The CPU can, in the meantime, scan all signals present and communicate
with the I/O modules. The control actions in the IP 267 do not load the CPU.
Since the IP 267 is only used in conjunction with the S5-100U, this manual pre-
supposes you are familiar with the manual of the programmable controler. The
basics of STEP 5 programming and the principles of program execution are
therefore not described here.
The application examples in Chapter 6 are intended to help you familiarize
yourself with the module. However, the IP 267 is used in a wide range of
applications so that it is impossible to discuss all the problems that might occur in
day-to-day use. Should you have problems, please contact your nearest SIEMENS
representative.
EWA 4NEB 812 6061-02a v

IP 267 Introduction
Introduction
The following pages contain information which will help you to use this manual.
Description of contents
The manual covers the following topics:
• System Overview
(functional description, schematic diagram)
• Driving Stepper Motors with the IP 267
(fundamental terms of stepper motor control, description of the con-
figuration data)
• Module Description
(technical specifications, power supply, input and output signals, terminal
assignments, status displays, connecting cables for power sections)
• Addressing and Programming
(address assignment of the configuration message frames, positioning
message frames and feedback message frames, flowchart)
• Notes on Operation
(preparing the module, system startup, determining reference points, motor
selection, diagnostics sheet)
• Application Examples
(program examples for various applications)
• FB for assigning parameters to the IP 267
At the end of the book, you will find correction forms. Please enter any
suggestions you may have in the way of improvements or corrections in this form
and send it to us. Your comments will help us to improve the next edition.
EWA 4NEB 812 6061-02a vii

Introduction IP267
Courses
Siemens provide SIMATIC S5 users with extensive opportunities for training.
For more information, please contact your Siemens representative.
Reference literature
This manual is a comprehensive description of the IP 267 stepper motor
controller. Other topics of the SIMATIC® S5 range are only briefly dealt with. You
will find more detailed information in the following literature:
•Programming primer for the SIMATIC®S5-100U
Practical Exercises with the PG 615 Programmer
Siemens AG, Berlin and Munich, 1988
Contents:
- Design and installation of the S5-100U programmable controller
- Introduction to programming with the PG 615
Order No.: ISBN 3-8009-1528-6
•Speicherprogrammierbare Steuerungen SPS (available in Germany only)
Volume1: Logic and sequential controls, from the control problem to the
control program.
Günter Wellenreuther, Dieter Zastrow
Braunschweig 1987
Contents:
- How a programmable controller works
- The theory of logic control using the STEP 5 programming language for
SIMATIC S5 programmable controllers.
Order No.: ISBN 3-528-04464-0
viii EWA4NEB8126061-02a

IP 267 Introduction
•Automating with the S5-115U
SIMATIC S5 programmable controllers
Hans Berger
Siemens AG, Berlin and Munich 1987
Contents:
- STEP 5 programming language
- Program processing
- Integral program blocks
- Interfaces to the peripherals
Order No.: ISBN 3-8009-1484-0
Conventions
In order to improve the readability of the manual, a menu-style breakdown was
used, i.e.:
• The individual chapters can be quickly located by means of a thumb register.
• There is an overview containing the headings of the individual chapters at the
beginning of the manual.
• Each chapter is preceeded by a breakdown of its subject matter.
The individual chapters are subdivided into sections and subsections. Bold
face type is used for further subdivisions.
• Pages, figures and tables are numbered separately in each chapter. The page
following the chapter breakdown contains a list of the figures and tables
appearing in that particular chapter.
Certain conventions were observed when writing the manual. These are
explained below.
• A number of abbreviations have been used.
Example: Central processing unit (CPU)
• Cross-references are shown as follows:
”( 7.3.2)” refers to subsection 7.3.2.
No references are made to individual pages.
EWA 4NEB 812 6061-02a ix

Introduction IP267
• Information of particular importance appears between two thick gray bars.
Note:
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Additional information; highlighting a special feature or characteristic.
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C A U T I O N
Information you must observe to avoid damage to the hardware or software.
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W A R N I N G
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If this information is not observed, persons will be at risk.
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Manuals can only describe the current version of the programmable controller.
Should modifications or supplements become necessary in the course of time, a
supplement will be prepared and included in the manual the next time it is
revised. The relevant version or edition of the manual appears on the cover. In
the event of a revision, the edition number will be incremented by ”1”.
x EWA4NEB8126061-02a

1.1 Block Diagram of the IP 267 Stepper Motor Controller . 1 - 2
1 System Overview
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EWA 4NEB 812 6061-02a

Figures
1-1. Block Diagram of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . .1 - 2
1-2. Installing the IP 267 in the Bus Module . . . . . . . . . . . . . . . . 1 - 3
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EWA4NEB8126061-02a

IP 267 System Overview
1 System Overview
As an intelligent input/output module, the IP 267 adds positioning to the
repertoire of the S5-100U programmable controller. The IP 267 controls
positioning processes independent of the execution times of the user programs in
the programmable controller and the CPU is not loaded by current positioning
jobs.
You can plug the IP 267 into slots 0 to 7 of the S5-100U where it occupies
addresses in the analog address area of the programmable controller (bytes 64 to
127). The IP 267 runs with all CPUs except the CPU 100 (6ES5 100-8MA01).
The IP 267 has the following performance characteristics:
• Serial interface to the S5-100U programmable controller
• Digital inputs for calibrating and limiting traversing ranges
• Status displays for various operating states
• Programmable pulse generator
• Interfaces for commercial stepper motor power sections with 5 V differential
inputs or other logic inputs in the range of 5 V to 30 V.
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EWA 4NEB 812 6061-02a 1-1

System Overview IP267
1.1 Block Diagram of the IP 267 Stepper Motor Controller
Figure 1-1. Block Diagram of the IP 267
RDY
ACT
ABT
Sliding
switch
Signal level converter
ASIC (pulse generation
and communication)
Shift register
-L
SRG
Data bus
9 V
Data
GND
5 V
9 V
t
f
5 V
24 V
E-
E+
REF
STOP
IS N
Status displays
G
5 V
9 V Us 5 V
NL
TN
TN N
RP
RP N
T
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k
1-2 EWA4NEB8126061-02a

IP267
System Overview
—
Figure 1-2. installing the 1P 267 in the Bus Module
EWA 4NEB 812 6061-02a
1-3

2.1 Principle of Operation of the IP 267 . . . . . . . . . . . . . . . . . .2 - 1
2.2 Configuration Message Frame . . . . . . . . . . . . . . . . . . . . . . .2 - 2
2.2.1 Limit Switch Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .2- 3
2.2.2 Base Value for Frequencies (BV) . . . . . . . . . . . . . . . . . . . . .2 - 3
2.2.3 Start/Stop Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2- 3
2.2.4 Time Interval for Stepping Rate Increase and Rate
Decrease (TI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2- 4
2.3 Full-Step or Half-Step Mode . . . . . . . . . . . . . . . . . . . . . . . . .2- 5
2 Driving Stepper Motors with the IP 267
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EWA 4NEB 812 6061-02a

Figures
2-1. Velocity Profile of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . .2- 2
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EWA4NEB8126061-02a

IP 267 Driving Stepper Motors with the IP 267
2 Driving Stepper Motors with the IP 267
To aid your understanding of the following chapters, this chapter deals with
some fundamental terms and with the principle of operation of the stepper
motor controller.
2.1 Principle of Operation of the IP 267
The IP 267 generates pulses for the stepper motor power section. The number of
output pulses determines the length of the traversing path and the pulse
frequency is a measure of the velocity. Each pulse causes the stepper motor shaft
to turn through a certain angle. In the case of high-speed pulse trains, this step
movement becomes a constant rotational movement. Stepper motors can
reproduce all movement sequences excactly as long as no steps are lost. Step
losses can be caused when load variations occur or when the programmed pulse
trains exceed motor-specific values ( 5.6).
To enable the IP 267 to generate these pulse trains, the user must enter the
following data:
• Configuration data; this data describes the individual traverse jobs and the
technical characteristics of the drive system ( 4.1).
• Positioning data; you describe the individual traverse jobs and indicate the
velocities, directions and lengths of the configured paths ( 4.2).
The IP exchanges data with the programmable controller via the serial interface
( Figure 1-1.). During the program scans, all necessary information is sent from
the process output image (PIQ) to the IP 267 in 4-byte long message frames. The
IP 267 cyclically transmits feedback signals on the distance to go and various
status bits to the process input image (PII). See 4.1 to 4.3 for more details.
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EWA 4NEB 812 6061-02a 2-1

Driving Stepper Motors with the IP 267 IP267
Using the configuration and positioning data settings, the IP 267 generates a
symmetrical traverse profile consisting of an acceleration ramp, a constant
velocity range and a deceleration ramp.
Figure 2-1. Velocity Profile of the IP 267
fA
t
fss
fss = Start/stop rate; fA=Stepping rate
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1.Accelera-
tion ramp 2.Constant stepping rate/velocity range
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3.Decelera-
tion ramp
f
2.2 Configuration Message Frame
The configuration message frame data must be sent to the module at startup,
after every interruption in the power supply and following response of the
emergency limit switch (PD). The module can only accept positioning data if the
signals of the emergency limit switch (PD) are present and if they have been
configured. The module signals this status with the green ”RDY” LED on its
frontplate: ”RDY” lights up if the IP 267 can accept positioning jobs.
See Chapter 6.1 for a programming example for configuration.
The following are details of the information each configuration message frame
must contain:
• End switch configuration
• Base value for the stepping rate
• Start/stop rate
• Time interval for stepping rate increase and decrease
The meaning of this information is described in the following pages.
2-2 EWA4NEB8126061-02a

IP 267 Driving Stepper Motors with the IP 267
2.2.1 Limit Switch Configuration
The IP 267 can monitor the end points of the traversing range and interrupt
traverse movements if the permissible range is exceeded. You must connect limit
switches to the digital inputs I+ and I - for this purpose. You can use both NC and
NO switches here. You can determine the desired signal behaviour with the limit
switch configuration (”0” active for NCs or ”1” active for NOs.). See Chapter 4.1.3
for further details on this point .
2.2.2 Base Value for Frequencies (BV)
You can select frequency ranges by setting a base value for the start/stop rate
and for the stepping rate fA. The base value multiplied by the SS value (multiplier
for fss ) gives the start/stop rate: if you multiply BV with V (multiplier for fA) you
get the stepping rate fA( 4.1.5). The duration of the output pulses is
determined by the frequency range set ( Table 4-4.).
Frequency range: 0.4 Hz to 204 kHz
Relevant pulse duration: 255 µsto 1 µs
2.2.3 Start/Stop Rate
Stepper motors can be driven by the IP 267 from standstill with the start/stop rate
fss without losing steps or coming to a standstill. The value for fss must be found
specially for each plant ( 6.6.3). During the deceleration phase, the frequency is
continuously reduced from the stepping rate fAto the start/stop rate fss. The
IP 267 cannot generate control pulses lower than the start/stop rate
( Figure 2-1.).
You can set a value between 1 and 255 with bits SS 0 to SS 7. If you multiply this
value with the base value (BV) for the stepping rates, you get the start/stop rate.
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EWA 4NEB 812 6061-02a 2-3

Driving Stepper Motors with the IP 267 IP267
The following formula applies:
fss (Hz) = BV (Hz) · SS · R
fss = Start/stop rate
BV = Base value for the frequency
SS = Multiplier for the start/stop rate
R = Reduction factor (1 oder 0.1) for the start/stop rate (fss) and
the stepping rate (fA)
The reduction factor R is transferred with the positioning job.
Starting from the start/stop rate fss, the frequency is incremented by a certain
amount after each time interval (TI), until the preset stepping rate is reached. The
absolute value for the frequency increase in the stepping rate is linked to the
preset base value (BV) for the frequencies.
The number of the pulses output in the acceleration range is acquired by an
internal counter and used as a position setting for the deceleration range. The
stepping rate is modified by the same amount in the deceleration range as in the
acceleration range. This generates a symmetrical velocity profile with equal
acceleration and deceleration curves ( Figure 2-1.). This profile is also main-
tained when the traversing motion is interrupted, e.g. by limit switches (I+, I -),
the STOP switch or reference point switch. Only by the emergency limit switch
(PD) is a traversing motion immediately interrupted, i.e. without deceleration
ramp ( 3.4).
2.2.4 Time Interval for Stepping Rate Increase and Rate Decrease
(TI)
Starting from the start/stop rate, the acceleration rate is incremented by a
quarter of the base value (BV) after each time interval (TI), until the stepping rate
is reached. In the deceleration range, the frequency is reduced by the same
amount after each time interval. You can determine the time interval TI with bits
TI 0 to TI 7 and the value set is multiplied by a basic time of 32 µs ( 4.1.4).
2-4 EWA4NEB8126061-02a

IP 267 Driving Stepper Motors with the IP 267
2.3 Full-Step or Half-Step Mode
Most power sections can operate stepper motors in half-step mode or in full-step
mode. The dynamic torque of a stepper motor increases in half-step mode, but
the motor requires double the number of pulses per revolution since the step
angle is halved. Path resolution doubles in the case of half-step mode, thus
achieving higher positioning accuracy. The acceleration value and the maximum
traversing velocity are reduced by half compared to full-step mode.
You can set full-step or half-step mode on almost all stepper motor power
sections using DIP switches, etc. You do not have to change anything on the
stepper motor itself. However, please follow the relevant power section
manufacturer´s instructions. 2
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EWA 4NEB 812 6061-02a 2-5