Section 2

Section 3

IP 252 Closed-loop control module

and COMREG

(EWA 4NEB8110480-02) Section 4

Section 5

Manual

Section 6

i
Section 7

4NES 811 0480 02

Release 03

for 6ES5252-5AB21
ISection 8

Section 9
/P 252 Supplement to the lP252 Manual,

Supplement to the 1P 252 Manual,

1 I I
4-7 Howeverthe fotlowing retentive data only can be entered in the STOP state
of the IP: I
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module

Operating Instructions Order No.: GWA 4NEB 811 0480 - 026

Fig. 1.1 General-Purpose Closed-Lwp Control Module

1. Contents

Contents Page Contents Page

1. Overview 1-1 4.9 Explanationof thesymbols used in the
1.1 Using themodule within the S5 System 1-1 configuring sheets (Section 8) 4-14
1.2 Description of the configuring principle 1-2 4.10 Descriptionof thedrive controller structure (DR) 4-16
2. Instructionsforthe lP252 2-1 4.10.1 Outer loopcontroller (9) 4-1 6
2.1 Description 2-1 4.10.2 Inner ioop controller (5) 4-16
2.1.1 Application 2-1 4.10.3 Current setpoint 4-17
2.1.2 Principle of operation 2-1 4.1 0.4 Additional functions 4-17
2.1.2.1 General 2-1 4.10.5 Detailed description of the drive controller
2.1.2.2 Hardwarearchitectureof the IP252 2-2 structure 4-18
2.1.3 Construction 2-3 4.10.5.1 Branch l: Controller output/currentsetpoint 4-1 8
2 1.3.1 Interface assignments 2-3 4.70.5.2 Branch 2: Friction 4-18
2.1.3.1.1 BusconnectorsX1,X2 2 -4 4.10.5.3 Branch 3: Accelerationcompensation and
2.1.3.1.2 MemorysubmoduleX3 2-5 diameter calculator 4-19
2.1.3.1.3 Digital tacho-generatorinput X4 2-6 4.10.5.4 Branch 4: Loop gain 4-20
2.1.3.1.4 PG interfaceX5 2-7 4.10.5.5 Branch 5: Speed controilerivelocitycontroller 4-20
2.1 3.1 .S Analog inputs/outputs 2-7 4.10.5.6 Branch 6: Setting up speed 4-21
2.1.3.1.6 Measuringsockets (M1, M2, M-) 2-9 4.10.5.7 Branch 7: Inching speed 4-21
2.1.4 Recommendationsfor installationand start-up 2-9 4.10.5.8 Branch 8: Speed/velocitysetpoint 4-22
2.1.5 Technical specifications 2-9 4.10.5.9 Branch 9: Outer loop (primary) controller 4-23
2.1.5.1 Environmental conditions 2-9 4.10.5.10 Branch 10: Actualspeedvalue 4-24
2.1.5.2 Mechanical specifications 2-9 4.10.5.1 1 Branch 1l: Actual armature current value 4-25
2.1.5.3 Electricalspecifications 2-10 4.10.5.12 Branch 12: Limitmonitorl 4-25
4.70.5.13 Branch 13; Limit monitor2 4-26
3 Brief Programming Instructions 3-1 4.10.5.14 Branch 14: Measuringsocket 1 4-26
3.1 The configuring principle 3-2 4.10.5.1 5 Branch 15: Measuring socket2 4-26
3.2 Examplefor Operating a DC Motorwith 4.10.5.16 Special case: Direction tension control 4-27
the lP 252 3-5 4.10.6 Functionsofthedrivecontroller 4-28
3.2.1 System configurationforthis example 3-5 4.10.6.1 Pre-assignedlimit monitors in branches5 and 9 4-28
3.2.2 Requirementsto be met by open-loopand 4.10.6.2 Filter (see Fig. 4.6) 4-30
closed-loop control system 3-5 4.10.6.3 Ramp-functiongenerator 4-31
3.2.3 Preparation of thestaticconverter and motor 3-5 4.10.6.4 Display 4-37
3.2.4 Preparation of the S5 control 3-7 4.10.6.5 Characteristiccurve 4-37
3.2.5 Programmingthe IP252 3-7 4.10.6.6 Thermal monitoring 4-39
3.2.6 Testing the controller block 3-8 4.10.6.7 Limit monitor 4-41
3-2.7 Enteringthe control program 3-8 4.10.7 Data block of the drivecontroller (DR) 4-43
3.2-8 information about the control program 3-9 4.1 1 Description of the standard controlierstructure 4-57
3.2.9 Generatinga "COM REG S5-DOS" work 4.1 1.l Controller and controller output 4-57
diskette 3-10 4.1 1.2 Setpoint branch 4-58
3.3 Application example fors5 115U 3-11 4.1 1.3 Actual-value branch 4-58
3.4 Application example for S5 135LI, Rprocessor 3-18 4.11.4 Additional functions 4-58
4 Programming Instructions 4-1 4.1 1.5 Detailed description of the standard controller
4.1 Configuration overview 4- 1 structure 4-59
4.2 Maximum number of control loops on the IP 252 4-2 4.1 l.5.1 Branch 1.l : Continuous controller (standard) 4-59
4.3 Inputloutputformatsof the LP252 4-3 4.1 1.5.2 Branch 1.2: Continuouscontroller (enhanced) 4-60
4.3.1 Timevalues 4-3 4.1 1.5.3 Branch 1.3: Continuousoutput 4-61
4.3-2 Percentage values 4-3 4.1 1.5.4 Branch 1.4: "On"-"Off" output 4-61
4.3.3 Dimensionedvaria bles 4-3 4.1 7.5.5 Branch 1.5: Step controllerwith pulseoutput 4-62
4.3.4 Dimensionlessvariables 4-5 4.1 1.5.6 Branch 2: Actual value branch 4-63
4.4 Meaning of the LEDs on the front panel of the 4.1 1.5.7 Branch 3: Setpoint branch 4-64
module 4-6 4.1 1S.8 Branch 4: Limit monitor 1 4-65
4.5 Data retentionin thememory module 4-7 4.1 1.5.9 Branch5: Limit monitor 2 4-65
4.5.1 Retentivelnonretentive data 4-7 4.1 1.5.10 Branch6: Measuring socket 1 4-65
4.5.2 Principleof data retention (see Fig.4.2) 4-7 4.1 1.5.1 1 Branch7: Measuringsocket 2 4-66
4.6 Start-up behaviour of lP252 4.1 1.6 Functionsof thestandard controller 4-67
(responseto "power on") 4-9 4.1 1.6.1 Preassigned limit monitors in branches2 and 3 4-67
4.6.1 Treatment of the controller data after 4.1 1.6.2 Setpoint sequence 4-69
"power on" 4-9 4.1 1.6.3 Function generator 4-71
4.6.2 Start-up behaviour of the control loops after 4.1 1.6.4 Averaging 4-72
"poweron" (Fig. 4.3) 4-9 4.1 1.6.5 Plausibility check 4-73
4.7 Enablingldisablingof thecontrol loops with 4.1 1.6.6 Limit monitor 4-75
the programmer 4-12 4.1 1.6.7 Ramp-functiongenerator 4-76
4.7.1 Disablingoithe control loop in the RUN mode 4.1 1.6.8 Filter 4-80
ofthe lP 4-12 4.1 1.6.9 PID controller 4-81
4.7.2 Enablinga control loop in the RUN mode of 4.1 1.6.10 "0d"'"Oif" output 4-85
the lP 4-12 4.1 1.6.1 1 StepcontroIler 4-88
4.8 RUNISTOPmodeof the module 4-13 4.1 1.7 Data block of the standard controller (SR) 4-94
4.8.1 RUN mode 4-13 4.12 Descriptionof the drive controller structurewith
4.8.2 STOPmode 4-13 self-optimization(DRS) 4-109
 l.Contents

Contents Page Contents Page

4.12.1 Outer loop controller (9) 4-109 6.1 . l Selectionprocedure 6-1
4.12.2 Inner loop controller(5) 4-109 6.1.2 Parameter inputloutput 6-2
4.12.3 Current setpoint 4-110 6.1 2.1 Subfield editor for inputloutput 6-2
4.12.4 Additional functions 4-110 6.1 2.2 Types of parameters 6-2
4.12.5 Detailed description of thedrive controller 6.1.2.3 Input formats 6-3
structure (DRS) 4-111 6.1.2.4 Parameterswith physical units 6-3
4.12.5.1 Branch 1: Controller outputlcurrent setpoint 4-1 1 1 6.2 PG (programmer)functions 6-4
4.12.5.2 Branch 2: Friction 4-111 6.2.1 Start-up 6-4
4.12.5.3 Branch 3: Peripheralvelocity (diameter 6.2.2 Input 6-4
calculator) 4-112 6.2.2.1 Selection of the target device 6-4
4.12.5.4 Branch 4: Loopgain 4-113 6.2.2.2 Input of controller loopnumber 6-6
4.12.5.5 Branch 5: Speed contro[ler/velocity controller 4-1 I 3 6.2.2.3 Configuration or structure selection 6-6
4.12.5.6 Branch 6: Setting-upspeed 4-1 f 4 6.2.2.4 Configuring 6-6
4.12.5.7 Branch 7: lnchingspeed 4-1 75 6.2.2.5 ' lnputof samplingtime 6-8
4.12.5.8 Branch 8: Speedlvelocity setpoint 4-1 15 6.2.2.6 Selecting the stop behaviour 6-8
4.1 2.5.9 Branch 9: Outer loopcontroller 4-1 16 6.2.2.7 Definition of controller names and area names 6-9
4.1 2.5.10 Branch 10: Actual speedvalue 4117 6.2.2.8 Determiningthephysical units 6-10
4.12.5.1 2 Branch 11: Actualarmature currentvalue 4-1 18 6.2.2.8.1 Characteristicinput 6-10
4.1 2.5.1 2 Branch 12: Acceleration compensation 4-118 6.2.2.8-2 ASCll string input 6-1 1
4.12.5.13 Branch 13: Limitmonitor 1 4-118 6.2.2.9 Assigning parameters 6-1 1
4.12.5.14 Branch 14: Limit monitor 2 4119 6.2.3 Output 614
4.1 2.5.1 5 Branch 15: Measuring socket 4 1 19 6.2.3.1 Output printer 6-14
4.12.5.16 Branch 16: Arithmetic 4-120 6.2.3.1 .l Printerparameters 6-15
4.1 2.5.17 Branch 17: Self-optimization 4-121 6.2.3.1.2 Print PG 6-15
4.12.6 Functions of the drive controller 4-122 6.2.3.1.3 Print IP 252/submodule 6-15
4.12.6.1 Pre-assigned limit monitors in branches 5.md 9 4 122 6.2.4 Transfer 6-16
4.12.6.2 Filter block(see Fig. 4.6) 4-124 6.2.5 Delete 6-17
4.1 2.6.3 Ramp-functiongenerator 4-125 6.2.6 Special functions 6-17
4.12.6.4 Display 4-131 6.2.6.1 Operating mode 6-18
4.12.6.5 Characteristic curve 4-131 6.2.6.2 Defaults 6-18
4.12.6.6 Thermal monitoring 4- 133 6.2.7 Information 6-19
4.12.6.7 Limit monitor 4-135 6.2.7.1 Controller list 6-19
4.12.7 Speed controllerself-optimization 4-1 37 6.2.7.2 SYSlD 6-20
4.12.7.1 Performancerange and area of application 4-137 6.2.7.3 Faults/errors 6-21
4.12.7.2 Preconditionsfor use 4-138 6.2.7.4 Processor loading 6-22
4.12.7.3 Speed controller self-optimization in the DRS 6.2.8 Controllertest 6-22
structure 4- 142 6.3 List of abbreviations used in the PG 615
4.12.7.4 Self-optimization messages 4-146 menus 6-23
4.12.7.5 Projecting the parametersfound to greater 6.4 Error messageson the PG 615 6-24
samplingtimes 4-147 6.5 Output: print PG 6-25
4.1 2.8 Data blockof the drive controller with self-
optimization (DRS) 4-149 7 COM REG 7-1

S5-CPU - IP 252 Communications 5-1 8-1

Standard function biock FB: STEU 5- 1 Projectionsheet: Drive controller 8-1
Function block for drivecontrotler structure Projectionsheet: Standard controller 8-19
FB-STEU-ANT 5-2
Function block for standard stucture Appendix
FB-STEU-STD 5-8 Drive controllerstructure
STEP 5-ExampleonF0:STEU 5-14 Standardcontrollerstructure
Use of the data handling blocks of the S5-CPU 5-17 Firmware- Overview
Command: Control loop enabletdisable 5-19 Abbreviations
Command: RUN/STOPmode of the module 5-19
Data exchange with the control loops 5-20
High-speed data exchange of defined data 5-20
Exchange of random control loop data 5-22
IP 252fault diagnostics by the CPU control
program 5-25
System identification and system status
(SYSID and SYSTAT) 5-26
Recording and transferring the measured values
of a control loop in the IP 252 (oscilloscope
function) 5-27
STEP 5-Examples lP252- S5-CPU data
traffic 5-29

6 COM 252/615 OperatorGuide &l

6.1 General 6- 1
1. Overview

1.1 Using the module within the S5 System

The IP 252 module is a general-purpose closed-loop control Local area network le. a. SINEC H I )
module which can be configured for dedicated applications
by inserting a memory submodule. The 252 intelligent I/O mo-
dule can be inserted into the subracks of the U range of pro-
grammable controllers (S5-ll5U. S5-135U with R processor
and S5-150U). It can be used with these programmable con-
trollers as a part of the SlMATlC S5 system.
Used in this wav. it can be networked via a CP communica-
liorslrocessor to a central operato.comnJnlcatron an0 mo
nltorlng system (e 6 CP 526. DIMOS) or vta anorner CP to 3
hiqher level bus.
~&f;gdration, paramerer ass.gnrnent an0 a so stan-LPcan
be carriec 021 dscg tne PG 61516351675,685 an- 695 pro-
crammers in con -nc! on wltn rne CCM 252 or C0h.l ?€Gc.3-
ied-loop controi oriented operating systems. The program-
mers provide easy-to-use menus for these tasks.

structuring
/
Parameter
assignment l
Start up

PG6351675/68516$5 COM REG PG 615 COM 252

Fig. 1.2

The software interface between the logic program and the

closed-loop control program is handled by a function block
(FE).The data t o be transferred between the CPU and the IP
are defined in this block.

Userpmgnm: Standard soitware: Closed-loop sontml rotrr;are:

l~rognrn I Function
'blosk(PB) 1 block (FE)

Fig. 1.3
 1. Overview

1.2 Description of the Configuring Principle

The 1P 252 is a closed-loop control modute which can be / ,-

,' I
configured for dedicated tasks by inserting a memory subrno-
dule into it.The available solutions for dedicated tasks are re-
ferred to in the following pages as controilerstructures.These /
/
/ Standard
controller,/
' /Speed
c O n t r g t ' ~/
I
/

/ / /Rampfunction ,
structures consist of individual functions such as speed con-
troller, ramp-functio~generator, etc., which are connected up
/ / ,' generatop'

t o form controllers ior specific tasks as required. There are

/' ,
/
/ ' /
/
,
'Speed /'

calculation ,
two memory subrnodules available with the following control- /
/
/H-
ler configuration: C - / -
1. Drive controller structure and standard controller structure friction compensation
[DR/SR]
MLFB No.: 6ES5 374-QAA11
2. Expanded drive controller structure with self-setting and
- --- - -- Outer loop controller

standard controller structure {DRS/SR] L l

MLFB No.: 6ES5 374-DAB11

Before starting up a control loop, the configuring data for the
\
' \ L
, \
It,
~coeleratio?
modulation
\
closed-loop controllers must be selected by ctosing appro- L l.
\ Controller
priate software switches during a configuring data program- <*put
ming cycle. '\
\ '--.
'' ' Limit
,signalling

C B13
\
\
\

Fig. 1.4
 2. Instructions for the IP 252

2.1 Description

2.1.1 Application

Digital closed-loop control systems are growing in significance alongside programmable controllers in the field of automation. For
this reason, the IP 252 general purpose closed-loop control module wasdevelopedfor use in fast closed-loop control applications.
It can be used with the U range of programmable controllers (S5-115U. S5-135U/R processor and S5-150U). The 1P 252 is one of a
range of independent processor modules, which are modules that carry out their functions autonomously without using main CPU
resources to any appreciable extent.
The closed-loop control module is available in compact design, so that it can be inserted in the S5-f35U and S5-150U programm-
abte controllers. For use in the 55-115U programmable controller, the IP 252 must be inserted into an adapter casing.

2.1.2 Principle of operation

2.1.2.1 General
The IP 252 interface processor module is used for solving fast closed-loop control tasks in the SlMATlC S5 automation system. It
can execute up to.eight control loops in parallel without using any CPU resources. With this module, muchfaster control loopscan
be processed by the SIMATIC system. The IP 252 cuts the shortest sampling time for other products from the previous figure of 100
rns down to 4 ms, which makes fast closed-loop controls such as in drive controls possible.
If more control loops have to be processed than can b e executed by one module-the number of executablecontrollers per module
depends on the requirements which are placed on the sampling time and the range of functions of the control system -then several
1P 252 modules can be operated in one central controlter.The number of closed-loop control modules which can be used in the var-
ious programmable controllers differs. Four IP 252 modules can be inserted in either the S5-135U or 55-15011programmable con-
troller. In the S5-315U PC, the maximum number depends on various factors. If the S5-115U is operated without fans, then two IP
252 modules can be used, with fans four are possible.
The IP 252 module has eight analog inputs and eight analog outputs as well as an input for an incremental speed sensor. If additional
analog inputs and outputs are required, analog modules can be used.The \P 240 module provides further digital pulse inputs. U p
to two digital tachogenerators, whose puke trains can be conditioned by the 1P 240 to produce an actual speed value, can be con-
n'ected.
As a special case when used in the S5-115U, the IP 252 can access the analog inputloutput modules in the same subrack directty
without going via the CPU. If one wants to make use of this special case, then the number of 1P 252 modules which can be used in
the central controller even with fans is limited to three.
The IP 252 isa general purpose closed-loop control module which is configured for certain tasks by inserting a memory subrnoduie.
Special solutions for any dedicated tasks are referred t o below as structures.

Fig. 2.1 shows the IP 252 used as a drivecontroller. The CPU

of the programmable controller carries out the sequential and
logic control and the iP 252 carries out the closed-loop drive
control. The output signal from the control module has a
range of -10 ... +10V. This signal represents the current set-
point for the external current controller, which is housed to-
gether with the power section in a separate unit (e. g . SIMO-
REG).

For operator communication and monitoring of thecontrolier,

the user has avaitable to him the 615/635/675/685 and 695
programmers with the corresponding COMREG software.
User-friendly configuration and parameter assignment of the
universal IP 252 closed-loop control module is possible with
these programmers.
Standard function blocks are available for transferring thefol-
lowing data between the control module and the S5 central
PG 615
processor:
- Start/stop commands Fig. 23 Drivecontrolierwith S5-lt5U
- Setpoints
- Binary variables
2. Instructions for the lP252

2.1 Description

2.1.2.2 Hardware architecture of the IP 252

The closed-loop controller is a double-width module in dou-
ble Eurocard format. It consists of an analog and a digital
card.The block diagram isshown in Fig. 2.2.
The closed-loop controller and its associated functions are
executed by the l b b i t 80186 microprocessor.The processor
section has an interface for a memorysubmodule, which can
be plugged in at thefront.The submodule is a mixed memory
C r_________---____________

type with 32K bytes EPROM and 8K bytes EEPROM).Theclo~

sed-loop controllerstructures, i.e. the firmwareof the control-
ler, are stored in the EPROM of this submodule.The configu-
ring data entered during the configuration and parameteras-
signment cycle with the programmer are stored in the
EEPROM of the memorysubmodule.
The processor section contains its own programmer interface I
for connecting up the programmer. Other interfaces connect
the digital section with the backplane bus and theanalog sec-
tion.
The analog inputloutput section contains eight analog inputs
and eight analog outputs. A 25-pin Cannon connector in the I
front panel is used for connecting up theinputloutput linesvia + t 4
a mating plug-in terminal box. The incoming and outgoing ~peedcontr~ller
lnputfordigirsl 8analog
inputs 8analo~
OUtPYtB
wires can be connected up to thescrew terminals in the termi-
nal box. Each of theeight analog inputs can be supplied with
+l-10V from a signal source. Higher voltages should be re- ~ i 2.2~ ~. ~ ~ ~~ f t r1h~ 2~t 5 2 i i ~ ~ ~ ~ ~
duced t o +l-1OV using an external actual value conditioning
circuit. The first input is an exception as it can accept a maxi
mum input voltage of 200V, which isthen reduced to +I-lOVin the terminal box.This input can be used for instance for connecting
up an analog tacho-generator (see Section 2.1.3.1.5).The inputs are equipped with suppression networks for protection against cur-
rent and voltage spikes and against overvoltages (up to +/-24V).
The eight analog outputs have a voltage range of +l-1OV at a maximum current of 5 mA. In order to protect against static dis-
charaes
~ ~
. . . with suooression
e~~ the outouts are eouiooed .. networks.
When using t h e ' l 252
~ as a ar ve 3 r POSIT on contrn ler, an aodittona ' n p ~for
t connecticf a d g t a tacho-genera:o- is ava!!ab,e in
rne module. The tacno-generaior sconnecteo up Ia a 15-pn Canron connecto: (see Sectcon2 1.3 1.3).
 2. Instructions for the IP 252

2*1 Description

21.3 Construction

The module is a compact type and therefore can be plugged

into the $5-13513 and S5-150U programmable controllers.
When using the S5-115U, the IP 252 must be inserted into an
adapter casing.
A fan is generally not required when using the IP252 controller
module.

The front panel contains a receptacle for the memory

submodule (X3), a 15-pin socket for connecting up a digital
tacho-generator @4), a serial interface for connecting up a
programmer (X5), a 25-pin socket for connecting up the ana- / Backplane bus eonnecror X1
log inputs and outputs via the terminal box (X6)and various
control and indicating elements (operating mode switch for
RUN/STOP, LEDs for operating mode indication and measu-
ring sockets).
Backplane bus connectors (XI, X2) are located at the back of
the module for connecting up to both backplane bus PCBs.
The construction of the IP 252 is illustrated in Fig. 2.3.
Memory submodule X3

Dtgitaltaeho-generator N4)

Measuring socket 1
Measurtng socket 2
Ground for measuring socMs

Analog inpurs/wtputs X6

Programmer interface X5

Fine adjustment for IN 0

...
(0 30VDC.0...1MVDC.0 ...250VDCl

.m q- Connectors forIN 0 (rna~.2r0.75mm~

screened)
Connecrorsfor IN 1 ... tN 7 and OUT0 ... OUT7
(max. 24AWG 26 screened)

i t g 2.3 Construction of the lP252

2.1.3.l tnterface assignments

In the following sections, the interfaces of the IP 252 are described in detail. These are:
- Backplane bus connectors @l,m)
- Usermemory (X31
- Interface for connecting up an
incremental encoder (m)
- Serial interfaceforthe programmer (XS)
- Analog inputs/outputs (X61
2. Instructions for the lP 252

2.1 Description

2.1.3.1.1 Bus connectors XI, X2

Both 48-pin backplane bus connectors of the 2 series form the interface between the IP 252 and the SIMATIC S5 (backplane) bus.
The signals compiy with the "Ss-bus specification"

Backplane bus connector 1 Backplane bus connector 2

d b z
-----h- ------L -------
21+5,2VI M I +5V 3
I-------I-------I------- I
41 UEATT I I I
I-------I-------I------- I
61 ADB12 I ADBO I RESET I

I-------I-------I-------
12IADE15I ABE3I
-
RDY
I
K
I-------f-------I------- I
7
141 IRA I AD84 I DHO I
I-------I-------I------- I.
161 I ADE5 I DP1 I
I-------I-------I------- I
191 I ADB6 f DP2 I
I-------I-------T------- I
20 1 I ADF7 1 D33 I
I-------I-------l------- I
22 I I ADEa f DB4 I
I-------f-------I------- I
24 1 I ADF? I DB5 I
I-------I-------I------- I
261 I'ADBIO I D B ~f
I-------f-------I------- 1
281 I ADFll I BE7 I
I-------I-------I------- I
30 5 I BASP I I
I-------I-------I------- I
321 I M I 1
-----------------W-----

Fig. 2.4 Pin assignment ofthe bus connectors X7 and X2

 2. Instructions for the IP 252

2.1 Description

2.1.3.1.2 Memory submodule X3

This interface (48-pinDIN 41612 connector, range c short version) is used for the memory submodule shown in Fig. 2.5.This module
contains the controller structures in the form of firmware in a 32K byres EPROM and the configuring data (such as structure
switches, controller parameters etc.) in an 8K bytes EEPROM.

C b a
-------I-----------

11 A13 f M I +5V I
I-------f-------I------- I
21 A 1
1 ------- I
I A 1
-------II --A---3 -- II
31 A 4 I A 5 I A 6 I
l-------I-------l------- I
41 A 7 I A B I A 9 I
f-------1-------I------- I
51 A 1 0 I All I A12 I
I-------I-------I------- I
61 A 1 4 I A15
X-------I-------I-------
I m I
1
71 AWR f D 8 I D 9 1
l-------I-------I------- X
61 DlCI f D11 I D12 L
I-------I-------I------- I
91 D13 1 014 1 D15 I
1 ---v--- 1 ------- ------- I
f
101 D O I D 1 I D 2 L
I-------I-------I------- I
111 D 3 I D 4 3 5 I
I-------I-------I------- I
121 D 6 I D 7 I K 1 1

131 CS1
-
I-------I-------I-------
1 I K 2
I
I
f-------I-------I------- I
C
= I C= I K 3 I
-
141
Fig. 2.5 Memory submodule
I-------I-------l-------
I:
151 IPSWbusyX K 4 I
I-------f-------I------- 1
161 +5V I M I K 5 I
_--------I--------

Fig. 2.6 Pin assignment X3

2. Instructions for the IP 252

2.1 Description

2.1.3.1.3 Digital tacho-generator input X4

If required (e. g. for speed control), it is possible to connect up an incrementalencoder (digital tacho-generator) via a 15-pin socket to
the pulse detection circuit of the IP 252.The utilization of the pulse acquisition module is projected during configuring with the pro-
grammer (PG 615 or PG 675). The exact assignment of the interface for connecting up the incremental encoder is shown in Fig. 2.7.

Sensors providing two putse trains displaced by 90°,a reference track and the relevant inverse signals can be connected

2 M5V Internal ground

! 3 /B TracklB
!
4 R Reference track !

1 9 /A Track /A i
10 B Track B

11 M5V Internal ground

l l2
/R Reference track /R
l

i l5 /W Warning track

Fig. 2.7 Interface for RS 422 incremental encoder

 2. Instructions for the lP 252

2.1 Description

2.1.3.1.4 PG interface X5
The 15-pin socket assignment shown in detail in Fig. 2.8 is the interface between the IP 252 and the programmer.

1 M W Externalground 1
2 TTYIN- Current input

3 +5.2V

l l
5 Ground Internalground I
l 6 TlYOUT+ Current output l
7 MOUT- Current output

8 MEXT Externalground 1
1 9 MIN+ Current input 1
l
10 M24V Earth ior24V 1
l
--

11 ZOmA Curren~sourcefortransmitter 1
12 Ground Internalground

13 20mA Current source for receiver

i 14 +5.2V
1 15 Ground Internalground 1
Fig. 2.8 Programmer interface

2.1.3.1.5 Analog inputsloutputs

Up to eight analog input and eight analog output signals can be connected via the terminal box (see Fig. 2.9) t o the 25-pin socket
on the controller module. Each of the eight inputs (IN 0-k.. . IN 7+) contains its own ground connections (IN 0- . . . IN 7-) whereas
the eight analog outputs (OUTO+ . . . OUT7+) are connected to the ground of the IP 252 (M5V).
The analog inputs and outputs are normalizedto 10V = 100%.The actual speed value from the analog speed controller can be ad-
justed to 10V. The coarse adjustment is carried out using jumpers on the terminat block and the fine adjustment using a multi-turn
potentiometer, which can be accessed from the outside of the terminal box.The maximum permissible tacho-generator voltage the-
refore lies in the range 0.. .200VDC depending on jumpers A . . . F.
Table 2.1 shows the relationship between the jumpers and the maximum permissible tacho voltages.

fachovoltage Insertedjumpers Fine adjustment Filter

width time constant 1
300ps
1.5 ms
1.5 rns
1.5 ms
1.5 rns

Table 2.1 Adjustment of theencodervoltage on the terminal block

The input impedance and therefore the smoothing time constant of the actual speed value detection circuit is there-
fore dependent on the jumper configuration. The standard configuration is with jumpers A and F inserted.
2. Instructionsfor the IP 252

2.1 Description

The actual armature current detection should be carried out via terminals K1.3 and K1.4, since it is possible toeffectively smooth out
the harmonic components a t these terminals. Jumper G removed and jumper H inserted produces a smoothing time constantTGL
= 10 ms.
All the other analog inputs have a smoothing t h e constant of 3 0 0 ~ s .

KI. INO+

~f r tun.
-
...... I
K1.41N 1 4 KVINSI ! 10
R7
H i
1 R6
I
L
t
l
22K
C1
L 22K
l
I
K1.d IN 1 - KVlNMl ! 11
K1.5 IN2 - 1 9
K1.6 IN 2 + 8

The terminat block is the interface

between the analog inputs/outputs
of the lP 252 and the 110 devices.

The relationship between the chan-

nel numbers, which must be speci-
fied when generating a closed-loop
controller structure with the pro-
grammer, and the terminal designa-
tions on the terminal block, is given
in Fig. 2.9. For example [NO+ and
INO- on terminals Kt.1 and K1.2 spe-
cify channel no. 0.
l
K1.23 OUT 1 + I 19
I
K1.24 OUTO+ ! 18
I

L-------J

Fig.2.9 Ciicvi; diagram ofthe terminal block

 2. Instructions for the lP 252

2.1 Description

21.3.1.6 Measuring sockets (M1, M2, M-)

The two measuring sockets M1 and M2 with the corresponding ground wires M- permit the analog measurement and recording of
any two selectable variables (e. g. controller deviation and manipulated variable). The assignment of the measuring socket to the
required variables is possible at any time during operation with the programmer. The measuring socket to be used must be specified
during the configuring run during structure configuration.

2.1.4 Recommendations for installation and start-up

The following measures are recommended for protecting the IP 252 against electrical and magnetic interference via the analog in-
puts/outputs:
- AH signal sources and loads must be connected via shielded cables.
- The leads, including theirshielding, must be connected t o a terminal block.
- Ashjelded, multi-core cable runs from the terminal block t o the terminal biock of the IP 252
The cable for the actual speed value (200 V max.) should be run externally.
- The cable shields must be connected t o the ground of the programmable controller via the terminal block.
- The shields of the analog input/output cables must be connected radially to the central grounding point in the immediate
vicinity of the terminal block.
In the case of the S5-135U and S5-150U programmable controllers, the IP 252 closed-loop controller module is plugged into a suit-
able mounting location which connects it to the backplane bus. When used in the 55-115U programmable controller, the IP 252 must
be inserted into an adapter casing, which is then attached to the subrack of the S5-115U.
To avoid erroneous addressing of the module, an interface block number should be assigned to the IP 252 in the SYStD function
immediately after "power on" which is used to address the module from the CPU in all subsequent operations.
After switching the power supply of the programmable controller "on",initially both red LEDs on the IP 252 light up and the self-test
on the module is initiated. After successful completion of the self-test routine the fault LED extinguishes; the modute waits in the
STOP state.
The IP 252 can be switched to the RUN state by moving the mode selector switch from the "STOP" position to the "RUN" position.
If the fault LED does not extinguish after the self-test, then the programmer (e. g. PG 615) can be used fordetermining the cause of
fadt (see Section4.5).
If the actual speed value is to be acquired via an analog tachogenerator, then the tacho voltage must be initially normalized to the
+l- 10V rated vottage with the voltage divider in the terminal box (see Section 2.1.3.1.5).
When the module is connected up to the programmable controller and the inputs and outputs, then the individual control loops
which are to be executed in the IP 252 can b e configured. This means that the required structure and parameters are entered using
a programmer (see Sections 6 and 7).

21.5 Technical specifications

2.1.5.1 Environmental conditions

Degree of protection : IP20
Permissible ambient temperature : Oto55 "C
Transport and storage temperature : -40t085 "C
Hurnidityrating F (DIN 40040) : < 75% humidity, average annual value
f o r t 3 5 "C,
no condensation
Mechanical stress : Can be mounted on fixedequipment not free of vibrations
-Vibration IEC 68-2-26 : 10 ... 57Hz0.15mrn
57 ...500Hz2g
-Shock IEC 68-2-27 : 309/18rns, semi-sinusoidal

2.1.5.2 Mechanicalspecifications
Printed circuit board format Double Eurocard format 160x233 mm
Front panel width 40.4 mm
Adapter capsule (42.5~l77X 201) mm
Weight
Backplane bus connectors
(£S 902, series 2,48-pin)
Front panel connector
(socket, D-Sub, 15-pin)
Front panel connector
(socket, D-Sub, 25-pin)
Operating modeswitch RUN/STOP
LED display elements
R N (RUN)
ST (STOP)
F (FAULT)

2-9
2. Instructions for the lP 252

2.1 Description

2.1.5.3 Electrical specifications

Dissipation 12.9W max.
Microprocessor iAPx 80186
Processor clock 8 MHz
Memory
Module EPROM 2 x 8Kbytes
Memory subrnodule EPROM 2 X 32K bytes
Module RAM 2 X BK bytes (backup)
Memory subrnodule EEPROM lX 8K bytes
Analog section
Analog inputs
lnput signal range L 1ov
Saturated range + 11.25V
Number of inputs 8
lnput resistance, channels 0-3 and 7 > IOM
channels4-6 1M
lnput filtertime constant 0.3 ms
Digital signal representation 11 bitswith additional sign bit
Conversion mode stepwise approximation
Conversion time 30 us
Conversion time f o r 8 inputs with
command execution cycles
Permissible voltage between input
and central ground point (destruction limit) max.24 V or 75 Vfor rnax. 1 ms and 3 : 20 duty cycle
Permissible vokage between (+)
input and (-1 input (destruction limit) rnax. i35 V
Permissiblevoltage between reference
potential of a non-floating encoder and central
ground max. k 1V
Basic error limits k70V : 20.06% k1LSB
Operatingerror limits (0 'C t o 55 "C) k0.17 % r lLSB
Analog outputs
Output voltage range 2 1ov
Number of outputs 8
Burden, channels 0 -6 2 3.3 K
channel 7 r 0.5 K
Digital signal representation 11 bits with additional sign bit
Short-circuit protection Yes
Short-circuit current, channels 0-6 approx. 25 mA
channel 7 approx. 35 mA
Referencevoltage of the analog output signals Module ground (low resistance connection tosubrack)
Basic error limits k1OV : -4 0.05% -L 1 LSB
Operating error limits 2035% +1LSB
(0 "C t o 55 "C)
Cable length rnax. 200 m (screened)
Supply voltage (serial interface) 24 V
Rated value 20V-30V
Supply voltage (logic) + 5v
Ratedvalue 4.75V-5.25V
Supply voltage (PG 615) + 5.2V
Ratedvalue 4.95v-5.45V
Current consumption i-5 V rnax. 2.3A
+ 24V rnax. 60 mA
Module width (1 SPS = 15.24 mm) 813 SPS (P2 mounting locations)
Pulse input
Measurement input type incremental
Counter range D to 32767
Inputvoltage for the tracks T L levelsfrom line drivers, type SN 55114
Supply voltage for the encoder + 5v
lnput frequency rnax. 200 kHz
Operating modes 2 pu!se trains, 9F shift, 1 zero pulse
 3. Brief Programming Instructions

3.1 The Configuring Principle

These brief programming instructions describe the generation and start-up of control ioops with the IP 252 closed-loop control
module. Familiaritywith the operation of the programmers used is assumed. The various input options (off-iinelon-line) are not de-
scribed further.
The PG 615, equipped with the special operating system for the I? 252:
COM 252 automatically displays the menu after switching on the power suppiy: "Default: bus access Y/N" [see Section 6.2.1).
After answering this question and pressing the execute key, the basic menu is displayed where, for example, the operating modes
"input", "Output", and "Controller test" can be selected.
If the PG 615 is connected to the IP via a PG cable, then the PG is supplied with +5.2V when the IP is operatedfrom an S5-115U PC.
If an S5-135 U PC or an S5-150 U PC is used, an external power supply (+5.2 V) is required.

If a PG 635/675/685/695programmmer is used, the COM REC diskette is required.

The programming package for generating control-loops with the 1P 252 is then called up with: S5
Afterthe COM REG package has been selected with the aid of the cursor, and soft key (function key) F1 is pressed, a menu with
defaults is displayed. After pressing the "Finished" soft key, the basic menu appears in which the operating modes "tnput" etc.
can be called up using the soft keys.

31 The configuring principie

The programming and observation of a control-loop is carried out in 8 steps using the programmer:
1) Selection of the controller structure and assignment of a control loop number
The following structures are avai!able
- DR (drive controliersee, Fig. 9.1)
- SR (standard controlier see, Fig. 9.2)
- DRS (expanded drive controller structure with seif-setting, see Figure 9.3)
The control loop to be generated with the selected controller structure is assigned a number from 1 . . .8. This means that up
to 8 drive and/or standard controllers can be operated in parallel on an IP 252.
2) Selection of all required functions
The functions of a control loop (e. g. ramp-function generator, PID controller etc.) are selected by closing configuring
switches. This occurs in the "configuration run". A configuring switch can only be modified in the "Input" and "Output" mo-
des using the programmer.
3) Selection of the sampling time
The selection of the sampling time is always a compromise between a quasi-continuous assumption for the control loop on
the one hand and the processor loading on the other.
Longer sampling times reduce the processing load on the processor of the IP 252 and allow the parallel operation of more
controt loops with one IP 252. Howeverthis also causes a slight degradation of the control system in terms of dynamic re-
sponse and re-tuning of,the controlling parameters t o a specified performance criterion (e. g. max. 5% overshoot forset-
point changes) may be required.
Recommendation for the selection of the sampling time:
In order to use the weil known analog assumptions for digital control loops (e. g. for seiecting the controller parameters
according to the symmetrical optimum principle), the sampling time cannot be too long.
Experience shows that a sampling time of approximately 1/10 of the time constantTRKdom, which determines the step re-
sponse of the closed control-loop, produces a controller response comparable with an analog control loop:

'As-! TRK, dom

20
The shortest sampling t i m e T ~= 4 msec loads the processor of the IP 252 t o such anextent that only one driveor onestandard
control loop is possible without overloading the processor.
If such an overloading of the processor occurs (for instance through the quasi-parallel operation of two drive controllers
with TA = 4 msec or 2 controliers with TA= 8 msec a n d 1 controller with TA= 4 msec) the operating system of the IP 252
automatically increases the sampling time temporarily to the next higher value. This ensures trouble-free further operation
of the control loops even in extreme cases.
The processor loading is displayed (in %) on the screen, as soon as the entryof the sampling time is concluded.

The following sampling times can be specified: TA = 4/8/16/32/64/128/256/512 msec, 1/2/4/8/16/32 sec.
3. Brief Programming Instructions

3.1 The Configuring Principle

4) Selection o f the controller response

The following Yes/No questions have to be answered:
I) If the control loop is not executed, then the outputs are at "0":Yes/No
"Yes" means that a disabled control loop has zero as its manipulated variable (m. v.).
"No" means that, as soon as a control loop is disabled, the last caiculated manipulated variable continues to be output.The
enabling or disabling of a control loop is carried out with the programmer using the "Special functions" menu in the sub-menu
"Operating mode" (tnstruction Manual: Section 6.2.6.1).
This question should only be answered with "No" in applications where a ramping or a crossing of a limit value by the con-
trolled variable (e. g. speed ortemperature) isnot possible or does not lead to damage. (For detailed description see Instruc-
tion Manual, Section 6.2.2.6)
Automatic warm restart after "Power on" required: Yes/No
This question determines whether after a power failure of any duration, the IP 252 should automatically enter the "Run"
mode after the power has returned and continue with the processing of the control loops. This assumes that the IF 252 was
in the RUN mode before the power failure.
If "No" is selected, this control loop is no longer executed after a power failure regardless of the previous state, the control
loop is disabled.
Furthermore, i f this question is answered with "Yes", then question Ill must also be answered
(Detailed description see Instruction Manual, Sections 4.7 and 6.2.2.6).
Ill)The warm restart criterion is considered: YeslNo
The warm restart criterion refers its decision criterion to the control deviation X, before and after the power failure. As a
guide t o the duration of the interruption, the following start criterion is used:
I X ~ , n e w - ~old'
~ .
0.z5 * I
where:
is the control deviation after the power failure
x,,~,, is the control deviation before the power failure
W
is the setpoint before the power failure
If the question was answered with "Yes" and the criterion is fulfilled, then theconciusion is drawn thatthe interruption is only
of short duration as the actual value has not distanced itself too far from the setpoint. In this case the old previous values
are used for the calculation (e. g. manipulated variable) and the control loop is executed.
In the other case (Ixp oe,-xD,O,,I > 0.25 * I W I) the previousvalues of all functions are reset and the control loops are then
executed further.Th~Scase corresponds to cold start" of the controller.
(Detailed description see Instruction Manual, Sections 4.7 and 6.2.2.6).
If this question was answered with "No", then a cold restart of the controller is always carried out, provided that.warm re-
start was selected and the module was in the "RUN" mode before the power faiture.

5) Specification of dimensions for dimensioned variables (only for the standard controller structure)
Limiting values, setpoint upper firnits etc. of the standard controiler configuration can be assigned any desired dimension. This
dimension consists of max. 6 ASCll characters.
The range limits must then be entered in dimensioned absolute values e. g.:
0% = 10.50 (dimension)
100.00% = 68.42 (dimension)
Note: The number of digits after the decimal point must be the same for both values.
The values entered for0% and 100% determine the coordinates of a straight [ine. In this way the range of valuesfor -100% . , .
0.. . +loo%of the dimensioned variable is specified.
(For detailed description see lnstruction Manual, Sections 4.4.3 and 6.2.2.7).

6) Assigning parameters to t h e selected branches a n d functions

All selected functions and branches of the controller configuration must be assigned the required parameters by making corre-
sponding entries on the programmer.
Parameters are for instance the controller amplification Kp, smoothing time constants, as well as analog inputloutput chan-
nels and measuring points within the controller structure (e. g. setpoint to ramp-function generator).
Input formats on the PG:
-Time formats (e. g. controiler integral-action timeT,).
The units msec, sec or h. min are selected by presstng a soft key and then the numericalvalue is entered.
The following time ranges can be selected on the programmer:
01 ... 999.9 msec
0.001 . . .9999. sec
00.01 . . . 59.59 h.min
- Percentage values (e. g. setpoint)
The inputloutput is carried out using fixed decimal point.
lnput range: + +
0.01 % . . . 100.00%
Output rsnge: +
0.01% . . . 200.00%
The number range of 2 100.00% corresponds to a voltage range of +10 V at the analog inputsloutputs. (For detailed de-
scription, see Instruction Manual, Section 4.4).
 3. Brief Programming Instructions

3.1 The Configuring Principle

AH parameters, except for input/output channels, can be modified not only in the "Input" and "Output" operating modes but
also in "Controlter test". Therefore one can intervene in a running control toop, which maskes for example the tuning of the
control loop or the entry of a new manipulatedvariabfe limit possible.
The assignment of analog channel numbers to the A/D or D/A converters shown in the controller structure diagrams (Fig. 9.1 to
Fig. 9.3) is carried out as follows:
For instance, in Fig. 9.1 (drive controller structure), DAC 2 of branch 1 is assigned to channel no. 3 corresponding to the wiring
of the terminal block.
This determines in this example that thecontroller output (manipulatedvariable) is available via terminals 21 (+)and 25 (ground)
in the terminal block (seeTable f .l).

I
Term~nals

Term 2
Term. 1

Term. 4
1:
Analog inputs (ADC)

Input channel no. 0

- Input channel no. 1

+
I
I
7
1 Term. 25

Term. 23
Analog outputs (DAC)

+-
Output channel no 0

Output channel no. 1

L

1I
Term 3 Term. 25

,
Term. 6
Term. 5 1 Input channel no. 2
1 Term.22
Term. 25 1l +
Output channel no. 2
I
I Terrn 8
l Term 21 I-
-

Output channel no. 3

Term. 7 - lnput channel no. 3
1 Term. 25
I /
+

Term. 10
Term. 9
+ Input channel no. 4
- Term. 20
Term 25
+- Output channel no. 4

: Term. 12 -4-
- Input channel no. 5
I 1 Term 19 t
- Output channel no.5
I Term 11 Term. 25

Term. l 4 , S lnput channel no. 6 Term. l8 + Output channel no. 6

Term. l3
?
Term. 25 -

11 - Output channel no. 7

i
Term. l6
Term. 15

Table 31
- Inputchannel no.7
+

1 Term 17
Term. 25
l

Reiatsonship between the~nputloutputchannel nos for wh~chparameters have to be ass~gnedand the terrntnals In the term~nalblock

If more than 8 AOCs or more than 8 DACs are required per IP 252, then it is possible to access externa[ DACs and ADCs via
direct bus access in the S5-215U.
(For detailed description see Instruction Manual, Sections 23.3.1.5 and 4.9).

7) Enablingof control-loops
Before a control loop can be started up, it must be enabled in the PG operating mode "Special functions" in the sub-menu
"Operating mode".
Note regarding control loop enabte:
Basically two different meanings are attached to 'Controller enable'.
- 'Controllerenable' within a control loop:
In the drivecontroller in each of the branches 5 and 9 there isa control algorithm which can only be executed if the correspon-
ding controller enable bit is active-This bit can be made active in the PG mode "Controllertest", where the branch (5 or9) is
selected and the RF bit is set to 1 via the PG.
- 'Control-loop enable' or enabling of a programmed control loop.
'Control loop' in this context means the controller structure selected by the user with all configuring data and parameter as-
signments.
Before a control loop, which has been assigned a control loop no. between 1 . . .8, can start control operation in the PG operating
mode "Controller test", it must first be enabled for execution.
3. Brief Programming Instructions

3.1 The Configuring Principle

The enabling is carried out in the PG operating mode "Special functions" in the submenu "Operating mode"
Example:
Operating mode on the PG 675:

1 ENABLE
R2
7
R3
N
R4
1
R5
-
R6
-
R7
-
R8
- l
1
I
This example illustrates the foliowing:
1. Of the 8 possible control loops, those with numbers 1,2,3 and 4 are aiready configured. Which structure (drive or standard con-
troller) is selected cannot be seen from this menu.
2. The control loops 2 and 4 are enabled, i. e. they are executed if the IP 252 is in the "RUN" state. Control loops 1 and 3 are dis-
abled, i. e. they are not executed.
The enabling of the control loop can also be carried out via the PC.

8) Start up of a control loop ("Controller test")

After steps 1-7 have been carried out, the control loop can be started up. Forthis purpose the IF252 is brought10 the RUN state
using the PG o r using the operating mode selector. Starting from the basic menu of the PG, the function "Test" or "Controller
test" is called up. Then the control loop no. is requested. Afterthis it is possible to call up the branches of the DR or SR structure
which have been configured and assigned parameters. Only then can the enable bits, such as, for example, the controller enable
bit RF in branch 5 of the DRstructure, be set. The controller algorithm in branch 5 only begins execution when RF = 1.This bit can
be set or reset either from the PC or from the PG.
The modification of a bit, relay orconstant during controllertest is carried out by
first pressing the key- in the PG 615 or
the "Force" soft key in the PG 635/675/685and 695.
The cursor begins to blink and the modification of bits, relays and constants is possible.
A controller structure must therefore be
- coniigured,
- assigned parameters,
- enabled in the PG operating mode "Special iunctions", and
- the corresponding enable bits must be activated in the PG operating mode "Controlter test". The last two functions can also
be carried out from the PC.
Only ther. is the selected controller structure able to control a process (e. g. electric drive).
 3. Brief Programming Instructions

3 2 Example for Operating a DC M o t o r with the IP 252

3.2.1 System configuration for this example

PG 675 programmer
S5 115 U programmable controller
CR 700-2 subrack
Modules from left t o right:
6ES5 951-7LD11, power supply, rnax. 15 A
6ES5942-7UA11, CPU, version 2, default: NR
6ES5 252-3AA11 IP with DR/SR memory submodule (6ES5 374-OAA11)
6ES5451-7LA11 digital output module
6ES5430-7LAll digital input module
Converter equipment and motor:
4-quadrant static converter equipment
10V current setpoint {actual value) corresponds t o an armature current of 24A
The nominal motor current i s 15A; analog actual speed sensor

3.2.2 Requirementsto be met by open-loop control and closed-loop control systems

- Speed controI of the motor, current setpoint generation
- Ramp function generator with "Manual" function (with the "Faster" and "Slower" keys)
- Temperature monitoring of the motor with shutdown at excess temperature (motor coasts to a standstill)
- Movement with auxiliary speeds "Setting-up forward" and "Setting-up reverse"; "Setting-up forward" is also used as t.he base
speed of the drive
- Braking at ''Stop''
- Generation of the warning, pause and enable time when switching on the drive
- Switching on the motor field and the motor fan, if installed
- Driving the warning horn
- Driving the main contactor
- Generating the controller enable
- Driving the control lamps for overload and enable time
- Output of two velocity limit values t o the inputioutput modules
- Assigning the current setpoint t o measuring socket 1 of the IP, and the actual speed to measuring socket 2.

3.2.3 Preparation ot the static converter and motor

- Connect the static converter and the motor
- Optimize current controller (close the main contactor and bridge the controller enabie)
- Wirethe current setpoint and the actuel current to the FP, connect the tachogenerator (see Fig. 3.1).
3. Brief Programming Instructions

3.2 Example for Operating a DC Motor wit the IP 252

Terminal block o f the I P 2 5 2 -

Fig. 3.1 System configuration
 3. Brief Programming Instructions

3.2 Example for Operating a DC motor with the IP 252

3.2.4 Preparationof the S5 control

- Plug the S5 modules and termination connector into the rack.
- Select thevoltage on the power supply module, inserting the back-up battery if applicable.
- Ground the rack and connect the supply voltage.
- Wire the inputs and outputs.
- Remove the "G" jumper on the terminal block of the IP and insert the "H" jumper; the "A, B, C, D, E, F" jumpers must also be
inserted -depending on the tachogenerator used.
- Attach the terminal block to the IP 252, plug in the user submodule, and set the mode seiector switch to "STOP".
- Switch on the controller and execute an Overall Reset (hold the switch on the CPU in the "OR" position and move the Run/Stop
switch twice from the ST position to the RN position).
- Switch the controtler to "RUN" mode.

39.5 Programmingthe IP 252

- Plug in the connecting cable between the programmer and the 1P 252 and switch on the programmer; insert the "PCP/M Opera-
ting System" diskette in drive 0 and the CEFU diskette (Section 3.2.9)in drive 1.
- The operating system answers with "A>". You can call up the SS-DOS system with "B:SS <CR>".
- Remove the "PCP/MMdiskette, insert the "COM REG" diskette (Section 3.2.9) and press function key <F7>.
- "S5-DOS" answers with the available program package. On pressing <F1> ("Package") the module menu appears. Press key
"IP 252" and you are now in the defaults form.
- In the "DEFAULTS FORM" the operating modes "ON LINE" and "IP 252 WITHOUTBUS ACCESS" are selected with <Fa> and
<F3>. <Fa> takes you to the main menu.
- On pressing <F7> "INFO" and <F4> "SYSID MODULE", page no.5isentered. <CR> and <F7> "READY" brings you back t o
the main menu.
- Now all old controller data of the module must be deieted. To do so, press <F5> "DELETE" and <F4> "DELETE MODULE". *is
inserted a s the controller nurnber.The job is terminated with <CR>.
- <F1 > "INPUT" is now pressed and the module is selected with <F4>.
- <F1> determines that a drive controller is t o be programmed.
- Next, the loop number is determined. 1 is entered and confirmend with <CR>.
- Now the controller structure is entered. The required branches are selected with 1. See printout: " 1. Configuring switch".
- Configuration is terminated with <F7> "READY".
- The sampling time is now selected. 4 ms is entered with <F2> "INPUT" and the time is confirmed with <CR>. After pressing
<F7> "READY", the "Controller action" form appears.
- The questions are answered with <F1> "YES" and <F3> "NO" as follows:
When the controller is not being processed, all outputs are set to 0:YES
Automatic warm restart after power up: YES
The warm restar? condition is valid: NO
This is also terminated with <F7>.
- Nothing is entered in the next form. Pressing <F7>7 "READY" again brings you to parameter assignment.
- The branches selected during configuration are now called up in sequence and initialized. After entering the branch number 1
and terminating with <CR>, the form of branch 1 uController output" appears. The individual parameters can be found in the
program printont under "5. Parameters".
- <CR> must be pressed every time a parameter is entered. When the last parameter of a branch is entered, the message "End of
list reached" appears. The next branch is called up with the "Enter" key.
- After the last branch has been entered, a list of all branches used appears, <F7> "READY" must now be pressed-Thistransfers
the controller block to the module.
The "ABORT" key takes you back to the main menu.
3. Brief Programming Instructions

3.2 Example for Operating a DC Motor with the IP 252

3.2.6 Testing the controller block

- Closing the main contactor and bypassing the controller enable (current controller).
- Switch the IP 252 to "RUN" mode.
- Press <F6> "SPECIAL FUNCTIONS" and the t F 7 > "CONTROLLER PROCESSING". Then enable controller l for processing
with <F1> "YESV.The "ENTER" key brings you back to the main menu.
- Press <F8> "TEST" and enter controller number l; cCR> takes you to the branch menu.
- Branch 5 is selected and terminated with <CR>.
- Now press <F2> ,,FORCEu. Set the "Controller enable" parameter from 0 to 1 and confirm with <CR>. Important note: the
drive may already have started to rotate slowly.
- Now press the "ENTER" key three times. The following parameters must be changed in branch 8:
"Setpoint enable" l
"ADC1Key"in 1
A constant setpoint of 30% must also be entered. <F2> "FORCE" must be pressed before every change to a parameter and
every entry must be confirmed with <CR>.
- The drive should now run with 30%. of its nominal speed. The speed is adjusted with the spindle potentiometer on the terminal
block of the IP 252.
- The speed controller can now be optimized by disabling and enabling the set-up speed setpoint. For connecting a recorder, the
current setpoint is available at measuring socket 1 and the actual speed at measuring socket 2.
- Branch 6 is called up using <F%>. Now set the "Set-up speed enabie" parameter to 1 and then reset it to 0 again.
To change the controller parameters between step changes in the setpoint, branch 5 must be selected with <F8>.The proportio-
nal coefficient can be changed here and the integral action time can be entered.
- The speed of the motorwith the setpoint of 100%. and the operating mode "Setting-up reverse" (creep speed branch 7) should
now be checked.
- At the end of the test, set the controller enable in branch 5, the two parameters in branch 8 and all setpoints to 0. Remove the
jumpers for the main contactor and the controller enable of the current controller.

3.2.7 Entering the control program

- Connect the interface cable from the IP 252 to the CPU and switch the IP 252 to "STOP".
- Change the operating system in the programmer and execute a cold restart with the keylock switch.
- Now transfer the FB244, FB245, FB247, FB248 and FB249 function blocks (data handling blocks) from the PC to diskette. FBI00
(FB:STEU) must also be transferred to this diskette.
- Mow write the program onto the diskette (see printout).
- Then transfer all block types individually to the PC. When transferring the function blocks, error message 70 appears and the pro-
grammerabortsthe transfer {becausethe data handling blocks are already in the SS-115U). However, all the other function blocks
have been transferred before the abort. '
 3. Brief Programming Instructions

3.2 Example for Operating a DC motor with the IP 252

3.2.8 Informationabout the control program

- Blocks used
OB 1,21,22;
PB 1,2,3;
FB 96,97,98,99,100,244,245,247,248,249; (with the S5 7 15U)
FB 96,97,98,99,100,120,121,123,124,125; (with the S5 135U, R processor)
FB 96,97,98,99,100,180,181,183,184,185; (with the S5 150U)
DB 10, 11;

- Inputs
[ 8.0 "0" corresponds to STOP (fail-safe)
18.1 Faster
18.2 Slower
18.3 Setting-up forward
18.4 Setting-up reverse
18.5 Acknowledgement overload
18.6 Warning
18.7 Acknowledgement "Main contactor on"

- Outputs
Q4.0 Main contactor on
Q4.1 Controller enable
Q 4.2 Field and fan on
(24.3 Enable lamp
Q4.4 Overload display
04.5 Warning horn
(24.6 Limit monitor 6% of max, speed
04.7 Limit monitor 10% of max. speed

- Timers
T10toT17

- Flags
0.0, 0.1, 31.1, 31.2,
FB 30, 112,124,
FW 100 to 110,114 to 118 and 200 to 213

- Parameter assignment errors are not evaluated by the program.

3, Brief Programming Instructions

3 2 Example for Operating a DC motor with the 1P 252

32.9 Generating a "COM REG SS-DOS" work diskette

"COM REG"

Make a back-up copy of the "COM REG" diskette.

"CEFU diskette"
The central functions (CEFU) are located in several files.
Find the CEFU diskette which contains the following files:
 3. Brief Programming Instructions

3.3Application Example for S5 115U

In addition to the blocks printed out below, FBI00 (FB:STEU) and the data handling blocks for the S5 115U (excepting FB 246 and
FB 248) are used.These data handling blockare integrated in the operating system of the CPU.The data blocks used are not listed. -
DB10, length 20 words
DB11, length 20 words.

OB 1 LEN= 2 3 SEC
PAGE l
SEGMENT 1
0000 :A F 0.0 GENERATION OF RLO FLAG " D "
0001 :R F 0.0
0002 :AN F 0.1 GENERATION OF R E 0 FLAG "1"
0003 :S F 0.1
0004
0005 :A F30.0 COLD RESTART AT F 30.0 = 1
0006 :JC FB98 => IP 2 5 2 MUST BE STARTED
0007 NAME :STP=>RUN
0008
0009 :A F 30.1 POWER FAILURE AT F30.1 = 1
OOOA :JC FB96 => SET IP 252 TO I N I T I A L STATUS
OOOB NAME :GRUNDST.
oooc .
OOOD :JU P31 RESTART CONTROL,FLAGS FOR F3 100
OOOE :JU P32 CALL FB 100
OOOF :JU PB3 ASSIGNMENT OF FLAGS -> OUTPUTS
0010 :***
SEGMENT 2
0011 :BE
......................................................................

SEC
PAGE 1
SEGMENT 1 COLD RESTART
0000 GENERATE RLO FLAG " O n
0001
0002 GENERATE RLO FLAG " 1"
0003
0004
0005 CODE: NO POWER FAILURE
0006 (F 30.0 = 1) FOR F399
0007
0008 IP 252 SYNCHRONISATION
0009 NAME
OOOA
OOOB RLO = 1
oooc F 30.6 = 1 => JOBS FOR XP
OOOD INHIBIT 252 (FB98 EXECUTES
OOOE BEFORE THE fP JOBS)
OOOF CODE: NO POWER FAILURE
0010 (F 30.1 = 0) FOR OB 1
3. Brief Programming Instructions

3.3 Application Example for S5 115U

0011 RESET AUXILIARY FLAG

0012 MAIN CONTACTOR
0013 RESET DROP-OUT DELAY
0014 MAIN CONTACTOR
0015 RESET "RESTART CNTL. RUNNING"
0016 RESET CONTROLLER ENABLE
0017 T17 IS PROCESSED HERE ONCE
0018 W I T H RLQ = 0 BEFORE STARTING
0019 IN FB 98
00lB
SEGMENT 2
OOlC

LEN= 29 SEC
PAGE 1
SEGMENT 1 AUTOM. WARM RESTART AFTER POWER FAILURE
0000 :A F 0.0 GENERATE RLO FLAG " 0 "
0001 :R F 0.0
0002 :AN F 0.1 GENERATE RLO FLAG " I "
0003
0004
:S F 0.1 -
0005 :A F30.0 CODE: POWER FAILURE
0006 :R F 30-0 (F 30.0 = 0) FOR FB 9 9
0007
0008 :JU FB99 IP 252 SYNCHRONISATION
0009 NAME :SYNC :IPS
OOOA
OOOB :A F 0.1 RLO = 1
OOOC :S F 30.6 F 30.6 = 1 => JOBS FOR THE IP
OOOD INHIBIT 2 5 2 (FB 96 EXECUTES
OOOE BEFORE THE IP J O B S )
OOOF :S F 30.1 CODE: POWER FAILURE
0010 (F 30.1 = 1 ) FOR OB1
0011 :R F 30.2 RESET AUXILIARY FLAG
0012 "MAIN CONTACTOR ON"
0013 :R T14 RESET DROP-OUT DELAY
0014 MAIN CONTACTOR
0015 :R F 30.3 RESET "RESTART CNTL. RUNNING"
0016 :***
SEGMENT 2
0017
 3. Brief Programming Instructions

3.3 Application Example for S5 115U

LEN= 116 SEC

PAGE 1
SEGMENT 1 GENERATE "STOP STORED1'
0000 :A 1 8.0 THE STOP IS ONLY CANCELLED
0001 :UN 1 8.7 (F 30.4=1) IF THE MAIN CONTACTOR
0002 :UN Q 4.4 HAS DROPPED OUT AFTER BRARING AN
0003 :S F 30.4 THERE IS NO MOTOR OVERLOAD
0004
0005 :Q F110.0 TRIGGERING OF STOP (F30.4 = 0 )
0006 :ON 1 8.0 W I T H MOTOR OVERLOAD AND WITH
0007 :R F 30.4 1 8 . 0 = 0 (FAILSAFE)
0008 :***
SEGMENT 2 GENERATE F 3 0 . 3 "RESTART CNTL.
0009 :A 1 8.6 RUNNING"
OOOA :S F30.3 THE RESTART CNTL. IS STARTED
0008 W I T H A WARNING
OOOC :ON F 30.4 THE RESTART IS TERMINATED WITH
OOOD :Q 1 8.7 STOP, MAIN CONTACTOR ON OR ENABL
OOOE :0 T 13 TIME OUT
OOOF :R F30.3
0010 :***
SEGKENT 3 SWITCH ON FIELD CIRCUIT AND FAN
0011 :O F 30.3 THE FIELD CIRCUIT AND FAN ARE
0012 :O 1 8.7 SWITCHED ON WITH A WARNING
0013 :L KT200.1
0015 :SQ T 10 AFTER THE MAIN CONTACTOR HAS
0016 :A T 10 DROPPED OUT, FIELD CIRCUIT AND
0017 := Q 4.2 FAN REMAIN SWITCHED ON FOR
0018 :*** ANOTHER 20 SEC.
SEGMENT 4 WARNING TIME AND HORN
0019 :A F30.3 START 3 SEC. WARNING TIME
OOlA :L KT030-1
OOlC :S1 T l1
OOlD
OOlE :A F 30.3 SWITCH ON HORN
OOlF :S Q4.5
0020
0021 :O T 11 THE HORN IS SWITCHED OFF AGAIN
0022 :ON F 30.4 AFTER 3 SEC. OR WITH STOP
0023 :R Q 4.5
0024 :X. +*
SEGMENT 5 PAUSE TIME
0025 :U T 11 WHEN THE WARNING TIME HAS
0026 :L KT020.1 ELAPSED, THE PAUSE TIME (2 SEC.)
0028 :S1 T 12 STARTED
0029 :t**
SEGMENT 6 ENABLE TIME
002A :A T 12 IF THE PAUSE TIME HAS ELAPSED,
002B :L KT100.1 ENABLE TIME (10 SEC.) IS STARTED
002D :S1 T 13
002E :***
SEGMENT 7 ENABLE LAMP
002F :A T12 THE ENABLE LAMP LIGHTS UP
0030 :AN T 13 IF T12 HAS RUN DOWN AND T13 IS
*-
0031 - Q 4.3 STILL RUNNING
0032 :++*
SEGMENT 8 AUXILIARY F U G "MAIN CONTACTOR ON"
0033 :O I 8.3 IF THE PUSHBUTTON "SETTING-UP
0034 :O 1 8.4 FORWARD" OR "SETTING-UP REVERSE"
0035 :A Q 4.3 IS PRESSED DURING ENABLE TIME,
3. Brief Programming Instructions

3.3AppIication Example for S5 115U

LEN=116 SEC
PAGE 2
0036 :S F 30.2 F30.2 WILL BE SET
0037
0038 :AN F 107.3 F30.2 IS RESET WITH STOP AND
0039 :AN F 30.4 WITH CONTROLLER ENABLE INACTIVE
003A :R F 30.2
003B :t * *
SEGMENT 9 MAIN CONTACTOR ON/OFF
003C :A F 30.2 AUXILIARY FLAG "MAIN CONTACTOR
003D :L KT050.0 ON" 0.5 SEC. DROP-OUT DELAY OF
OO3F :SQ T 14 THE MAIN CONTACTOR AFTER CON-
0040 :A T 14 TROLLER ENABLE OFF
0041 := Q 4.0
0042 :***
SEGMENT 10 CONTROLLER ENABLE
0043 :A P30.2 THE CONTROLLER ENABLE IS TRANS-
0044 :A I 8.7 MITTED TO THE IP 252 IF THE MAIN
0045 :A F30.4 SWITCH IS ON, W E ACKNOWLEDGE-
0046 ,:S F 107.3 MENT SIGNAL IS PRESENT AND THERE
0047 IS NO STOP
0048 :AN F 30.4 THE CONTROLLER ENABLE IS
0049 : F 109.2 SWITCHED OFF WITH STOP AND N ACT
004A :0 F 110.0 1% N MAX. OR ON MOTOR OVERLOAD
004B :R F107.3
004C
004D :A F 107.3 Q 4.1 CONTROLLER ENABLE FOR
004E .
• - F 4.1 CUFtRENT CONTROL
004F :***
SEGMENT 11 BREAKE ENABLE
0050 :AN F 30.4 THE BREAKE SETPOINT IS ENABLED
0051 :AN A 4.4 WITH STOP AND IF W E R E IS NO
0052 := F106.6 0vERI;oAD
0053 :***
SEGMENT 12 SETTING-UP FORWARD
0054 :A 1 8-3 "SETTING-UP FORWARD" IS INTER-
0055 :A F30.2 LOCKED WITH THE MAIN CONTACTOR
0056 :AN F 106.4 AND "SETTING-UP REVERSE"
0057 :S F 106.5
0058 :
0059 :R F30.4 TEE SETPOINT IS SWITCHED OFF
005A :R F 106.5 AGAIN WITH STOP
005B :+**
SEGMENT 13 "SETTING-UP BACK" IS INTERLOCKED
005C :A I 8.4 WITH THE MAIN CONTACTOR AND
005D :A F30.2 WITH "SETTING-UP FORWARD"
OOSE :AN F 106.5
005F :S F 106.4
0060
0061 :AN F 30.4 THE SETPOINT IS SWITCHED OFF
0062 :R F 106.4 AGAIN WITH STOP
0063 .***
SEGMENT 14 FASTER
0064 :A 1 8.1 IF "SETTING-UP FORWARD" IS
0065 :A F 106.5 ACTIVE AND IF N SETPOINT OF
0066 :AN F 111.0 BRANCH 8 IS NOT YET GREATER THAN
0067 := F 107.2 96% OF N MAX. (4% FROM BRANCH 6)
0068 .*** "FASTER" IS ENABLED
0069 :A 1 8.2 IF "SETTING-UP FORWARD" IS ACTIV
006A :A F106.5 AND IF N SETPOINT OF B W C H 8 >
 3, Brief Programming lnstructions

3.3 Application Example for SS 115U

P31 LEN=116 SEC

PAGE 3
SEGMENT 1 5 SLOWER
006B :A F 111.1 "SLOWER" IS ENABLED
006C := F 107.1
006D t**
SEGMENT 16
006E :BE .

LEN=2 6 SEC
PAGE 1
SEGMENT 1 CALL FBlOO
0000 :A F 30.6 F30.6 = 1, JOBS TO IP 252
0001 :BEC INIfIBITED
0002 :L RI31 1 - DATA TRAFFIC PC <-> IP,
0003 :T m112 CONTROLLER NUMBER 1
0004 :JU F3100 DRIVE CONTROLLER COMMUNICATION
0005 NAME :STEU:ANT
0006 DBNR : DB11 DB FOR INTERNAL USE, 1 2 DW,
0007 SSNR : KF+5 PAGE NR. 5
0008 RENR : MB112 JOB AND CONTROLLER NUMBER
0009 VAR8 : MW100 SPEED SETPOINT (VAR 8.1)
OOOA VAR9 : MW102 SETPOINT (VAR 9 .l )
000B VAR3 r MW104 INITIAL DIAMETER (VAR 3.1)
OOOC DEO : m106 RELAYS UND BITS (V- 3.1)
OOOD DE1 : MB107 RELAYS UND BITS (VAR 3.1)
OOOE DE2 : M3108 RELAYS UND BITS (VAR 3.1)
OOOF DAO : m109 MESSAGE BITS OF THE IP
0010 DA1 : MBll0 MESSAGE BITS OF THE IP
0011 DA2 : MB111 MESSAGE BITS OF THE IP
0012 PAFE : F 31.2 P W E T E R ASSIGlWENT ERROR, 1
0013 :t+* => ERROR
SEGMENT 2
0014 z %E
3, Brief Programming instructions

3.3 Application Example for 55 115U

LEN=18 SEC
PAGE 1
SEGMENT 1 OVERLOAD FLAG
0000 SET FLAG
0001
0002 ACKNOWLEDGEMENT CAN BE W E IF
0003 THE OVERLOAD NO LONGER EXISTS
0004 AND IF THE MOTOR IS AT STANDSTIL
0005
0006
SEGMENT 2 LIMIT VALUES TO INPUT/OUTPUT MODULES
0007 LIMIT VALUE 6 % N MAX.
0008
0009 LIMIT VALUE 6 % N MAX.
00 OA
OOOB
SEGMENT 3
OOOC

LEN=4 7 SEC
PAGE 1
SEGHENT l CNTL. NO. 1 THE IP IN INITIAL STATUS
NAME :GRUNDS!T.
0005 :L KB21 21 DATA TRAFFIC CPU -> IP,
0006 :T m112 CONTROLLER NUMBER I
0007
0008 :L KM00000000 00000000 ALL RELAYS AND BITS HAVE
0 0OA :T W100 "0" DEFAULT
OOOB tT W102
OOOC :T FW104
OOOD :T FW106
OOOE :T W108
OOOF :T m110
0010 :JU FBlOO DRIVE CONTROLLER COMMUNICATION
0011 NAME :STEU :ANT
0012 DBNR DBlO DB FOR INTERNAL USE, 12 DW
0013 SSNR KF+5 PAGE NR. 5
0014 RENR FBI12 JOB AND CONTROLLER NUMBER
0015 VAR8 m100 SPEED SETPOINT (VAR 8.1)
0016 VAR9 m102 SETPOINT (VAR 9.1)
0017 VAR3 m104 INITIAL DIAMETER (VAR 3.1)
0018 DEO FBI 06 RELAYS UND B f T S
0019 DE1 FBI07 RELAYS WND BITS
OOlA DE2 FBI08 RELAYS UND B f T S
OOlB DAO FBI09 MESSAGE B I T S OF THE I P
OOlC BA1 FBI10 MESSAGE BITS OF THE IP
OOlD DA2 FBl ll MESSAGE BITS OF THE IP
OOlE PAFE F 31.1 PARAM. ASSIGNM. ERRORS, 1=> ERR0
OOlF :A F 212.0 BIT 0 OF THE PAFE BYTE OF THE
0020 FB: CNTL.-INTERNAL "SEND" IS
0021 USED HERE. 1 => JOB HAS NOT YET
0022 RUN (E.G. DUE TO IP OVERLOAD),
0023 0 => NO ERROR.
0024 :JC =M001 IF THE JOB HAS BEEN PROCESSED,
0025 :R F 30.1 FB96 IS KO LONGER PROCESSED ANI3
0026 :R F30.6 THE IP IS READY TO PROCESS OTHE
0027 MOO1 :BE JOBS.
 3. Brief Programming Instructions

3.3 Application Example for S5 115U

LEN= 3 3 SEC
PAGE L
SEGMENT 1 I P 2 5 2 FROM STOP TO rZUN
NAME :STP=>RtM

0005 :A F 0.1 RLO = 1

0006 :3U FB244
0 0 0 7 NAME :SEND
0 0 0 8 SSNR : KYO ,5 0 DIRECT INITIALISED, 5 PAGE
0 0 0 9 A-NR : KY0, 2 0 NR. 0 . 2 TASK NO. FOR SEND 20
OOOA ANZW : m114 DISPLAY WORD
OOOB QTYP : K5NN NN - NO DATA
OOOC DBNR : KY0,O IRRELWANT
OOOD QANF : KF+O IRRELEVANT
OOOE QLAE : KT?+0 IRRELEVANT
OOOF PAFE : FBI21 ERROR D I S P L A Y
0010
0011 :A F 0.1 X0 = 1
0012 :L KTO10.1 1 SEC. WAITING TIME AFTER STOP
0014 :S1 T 17 => RUN
0015
0016 :A T 17 IF THE PULSE TIMER HAS RUN DOWN,
0017 :J C =MO01 IS NO LONGER PROCESSED AND THE
0018 :R F 30.0 IP IS READY TO PROCESS JOBS
0019 :R F 30.6
OOlA F 0 0 1 :***
SEGMENT 2
OOlB :BE

LEN= 2 9
SEC
PAGE 1
SEGMENT 1 SYNCHRONISATION OF THE IP 252 INTERFACE
NAME :SYNC:IPS
0005 THERE WAS A POWER FAILURE AT
0006 F 30.0 = 0
0007 => 2 SEC. WAITING TIME BEFORE
0008 SPNCHRONISATION OF THE IP 252
OOOA T 15 IS PROCESSED ONCE BEFORE
0 0 OB STARTING WITH RLO = 0
OOOC
OOOD STARTING T 1 5
OOOE F002 2 SEC. TIME LOOP, SCAN TIME
OOOF MONITOR IS INOPERATIVE I N OB2 2.
0010 SYNCHRONISE INTERFACE WITH PAGE
0011 F001 m. 5
0012 NAME
0013 SSNR 0 DIRECT PARAMETER ASSIGNMENT,
0014 BLGR 5 PAGE NR.0,6 BLOCK S I Z E 5 1 2
0015 PME BYTES ERROR FLAG
0016
SEGMENT 2
0017
3, Brief Programming Instructions

3.4 Application Example for S5 135U, R Processor

The FB 100 (FB:STEU) and the data handling blocks for the S5 135U, R processor (without FB 122 and FB 124), are used as we[l as
the blocks printed out. These data handling blocks are integrated in the operating system of the CPU, but they can only be called
up if their headers have previously been loaded into the CPU from the FB:STEU diskette.The foliowing data blocks are used but not
listed
DB 10, length 20 words
DB 11, length 20 words.

LEH=23 SEC
PAGE 1
-
S 1
0000 :A F 0.0 GENERATE FX;AG " 0 "
0001 :R F 0.0
0002 :AN F 0.1 GEHERATE RU) FLAG " 1"
0003 :S F 0.1
0004 'JWXRE WAS A COLD RESTART OR A
0005 :A F30.0 HAMJAL WARM RESTART AT F 30.0=1
0006 :JC FB98 => IP 252 MUST BE STARTED
0007 NAME :STP=>RBN
0008
0009 :A F30.1 THERE WAS A POWER FAILURE AT
OOOA rJC FB96 F 30.1 =l
OOOB NAME :GRTJNDST. => SET IP 252 TO INITIAL STATE
OOOC
OOOD :JQ PB1 RESTART CONTROL, ELAG F. FB 100
OOOE :JlJ PB2 CALL FB 100
OOOF :JQ PB3 ASSIGN FLAGS => OUTPUTS
0010 :***
SEGMENT 2
0011 :BE

LAe=2 0 SEC
PAGE 1
SEGBENT 1 MANUAL COLD RESTAIZT
0000 U N F 0.1. GENERATE RI;O FLAG "l"
0001 :S F 0-1
0002
0003 :UN F 30.0 ID: NO POWER fAU;URE
0004 :S F30.0 (F 30.0 = 1) FOR FB 99
0005
0006 m F399
0007 IilAMI3 :SYNC: IPS
0008
0009 :A P 0.1 m = 1
OOOA :S F 30.6 P 30.6 = 1 => INBIBIT JOBS TO
OOOB IP 252 (FB 98 IS EXECTE'KD BEFURE
OOOC TaE IP JOBS)
OOOD :*++
S W 2
OOOE
 3. Brief Programming Instructions

3.4AppIication Example for S5 135U, R Processor

LEN=35 SEC
PAGE 1
SExa!mm I B!mmmL 'CfARH RESTART
0000 :A M 0.0 G-TE RLO FLAG *OR
0001 :R M 0.0
0002 :AN M 0.1 GENERATE RLO FLAG "1"
0003 :S H 0.1
0004
0005 :AN H 30.0 ID: NO POWER FAIL=
0006 :S 1 30.0 (F 30.0 = 1) FOR FE3 99
0007
0008 :JU H399 IP 252 SYNCHRONISATION
0009 NAME :SYNC: IPS
OOOA :
OOOB :A F 0.1 RU)=l
OOOC :S F 30.6 F 30.6 = 1 => INHIBIT JOBS TO
OOOD IP 252 (PB 98 EXECWTES BEFORE
OOOE TRE IP 303s)
OOOF :R F 30.1 ID: NO POWER FAILURE
0010 ( F 30.1 = 0 ) FOR 03 I
0011 :R F 30.2 RESET ATJxILUlRY FLAG "MAIN
0012
0013 :R
-. T 14
CONTACTOR" ON"
RESET DROP-OUT DELAY HAIN
0014 COIFPACTOR
0015 :R P30.3 =SET "RESTART CNTL. RUNNING"
0016 :R P107.3 RESET CONTROLLER ENABLE
0017
0018 :A F 0.0 T 17 IS PROCESSED ONCE WITH
0019 :L KTOIO.l RLO = 0 BEPORE STARTING I N TEIE
OOlB :SD T 17 PB 98
OOlC :BE

OB22 LEN=29 SEC

PAGE 1
SRmmNT 1 WARH RESTART AFTER PWEX FAILURE
0000 G-TE RLO FLAG " 0 "
0001
0002 GENERATE RU] FLAG "1"
0003
0004
0005 ID: POWER FAILURE
0006 (F 30.0 = 0 ) FOR FB 99
0007
0008
0009 NAME
OOOA
OOOB m = 1
OOOC P 30.6 = 1 => INHIBIT JOBS TO
OOOD XI? 252 (FB 96 EXECWTES BEFORE
OOOE !EIE IP JOBS)
OOOF ID: POWER FATLURE
0010 (F 30.1 = l) FOR OB 1
0011 RESET AUXILIARY FLAE "HAXN
0012 CONTACXOR ON"
0013 RESET "DROP-OUT DELAY HAIN
0014 CONTACTOR
0015 RESET "RESTART m.RUNNING"
0016
3. Brief Programming Instructions

3.4 Application Example for S5 135U, R Processor

LEN=116 SEC
PAGE 1
-S 1 GENERATION OF "STORED STOP"
0000 :A I 8.0 TLfE STOP IS ONLY CANCEIU3D
0001 :AN I 8.7 (F 30.4=1), IF THE MAIN
0002 :AN Q 4.4 CONTACrOR HAS DROPPED OUT AFTER
0003 :S P 30.4 BRAKING AND I F TBXRl3 IS NO MOTOR
0004
0005 :O
. F1lO.O
OVERU3AD
STOP TRIGGERED (F 30.4 = 0 ) -!'CH
0006 :ON I 8 . 0 WrrOR OVElUOAD AND WITH I 8.0
0007 :R F30.4 = 0 (FAILSAFE)
0008 :***
SEGMENT 2 GENERATE 30.3 "RESTART CNTL. RUNNING"
0009 :A I 8.6 TRE RESTART CNTL. IS STARTED H I T
OOOA :S F 30.3 A WARNING
OOOB
000C :ON F 30.4 THE RESTART IS T~~ WITH
OOOD :0 I 8.7 STOP, MAIN COrnACTOR ON OR
OOOE :O T 13 ENABLE TIME W S E D
OOOF :R F30.3
0010 -
***
SEG?ENT 3 WITCH ON FIELD CIRCUIT AND FAN
0011 :O F 30.3 THE FIELD CIRCUIT AND FAN ARE
0012 :O 1 8.7 SWITCRED ON WITH A m I N G
0013 :L RT200.1
0015 :SF T 10 FIELD CIRCUIT AND FAN REHAIN
0016 :A T 10 SUTTCEIED ON FOR 20 SEC. AFTER
0017 := Q 4.2 THE MAIN CONTACTOR fIAS DROPPED
0018 :*** OUT
SExamNT 4 WARNING TIME AND H O m
0019 :A F 30.3 START 3 SEC. WARNING TIME
OOlA :L KT030.1
OOlC :S1 T 11
OOlD
OOlE :A F 30.3 SUITCfI ON HORN
OOlF :S Q 4.5
0020
0021 :O T 11 THE HORN IS SWITCHED OFF AGAIN
0022 :ON P 30.4 AFTER 30 SEC. OR UKTH STOP
0023 :R 94.5
0024 :+**
SEGMENT 5 PAUSE TIME
0025 :A T 11 TEZE PAUSE TIWE (2 SEC.) IS
0026 :L KT020.1 STARTED UXEN THE WARNING TIME
0028 :S1 T 12 HAS ELaPSED
0029 :+*t
SEGMEBW 6 ENABLE T m E
002A :A T 12 THE ENABlWe TIHE (10 SEC.) IS
002B :L KT100.1 STARTED UHEN THFI PAUSE TIME
002D :SI T 13 HAS E3irAPsm
OOZE :***
SEGMENT 7 ENABLE LAHPPE
002F :A T 12 m ENABLE LAXP LIGHTS UP, IF
0030 :AN T 13 T12 HAS RUN DOWN AND IF T 13
0031 := Q 4.3 IS STILL RUNNING
0032 :*++
S E 8 ~ ~ AUXILIARY FLAG "MAIN CONTACTOR OH"
0033 :O I 8.3 IF T H E "SETTIWG-UP FORWARD"
0034 :O X 8.4 PUSRBUTTON OR m "SETTING-UP
0035 :A Q 4.3 REVERSE" PUSHBU!ITON IS PRESSED
 3. Brief Programming Instructions

3.4 Application Example for S5 135U, R Processor

-=l16 SEC
PAGE 2
F 30.2 IS SET
F 30.2 IS RESET W f T a STOP AND
CONTROLLIB ENABLE I N A C T m

MAIN CONTACTOR ON/OFF

A m . FLAG "MAIN COmACTOR ON"
0 . 5 SEC. DROP-ODT DELAY OF
T3E WAIN CONTACMR AFTER CON-
TROLLER ENABLE OFF

C o m o ENABLE
~
IF THE HAIN SWITCH fS ON, THE
A ( S K N 0 W Z l E D G ~IS PRESENT AND
THWE IS NO STOP, THE CONTROLLER
ENABLE IS TRANSMITTED TO THE IP

THE CONTROLLER EN24BUi IS

mfTCHED OFP WI'I'H STOP AND W I T H
N ACT 1% N HAX. OR ON MOTOR
OVERLOAD

Q 4.1 CONTROLLER ENABLE FOR

CDRREWT CONTROL

BRAKE ENABLE
THE BRAKE SETPOINT IS ENABLED
WITE STOP AND NO oll'ERu3AD

SETTING-UP FORWARD
" S m I N G - I T P FORTJA1RD" IS INTER-
LOCKED W I T 3 THE &LAIN CQNTACTOR
AND WITH " SE'ICTIWG-UP REVERSE"

THE SETPOINT IS SWITCHED OFF

AGAIN WITH STOP

*SETTING-UP BACK" IS INTER-

LOCKED WITH THE HAIN CONTACTOR
'SETTING-UP FORWARD "

TEE SETPOINT IS SWI-D OFF

AGAIN WITH STOP
FASTER
IF "SETTING-UP FORWARDa IS PRE-
SENT AND El SETROINT OF BRANCH 8
IS NOT YET GREATER THAN HAX. 96%
OF N HAX. ( 4 % FROM BRKNCH 6 ) ,
"FASTER" IS ENkBLED
IF "SETTING-UP FORWARD" IS PRE-
SEETT AND SETPOINT N OF BRANCH
3. Brief Programming Instructions

3.4 Application Example for S5 135U, R Processor

PB1 -=l16 SEC

PAGE 3
SEGBEWt' 15 SLOWER
006B
006C
:A
. F 111.1
-- F 107.1
8 0, "SLOWW" IS ENA3LED
006D :t**
SEGHENT 16
00633 :BE

LEN=26 SEC
PAGE 1
SEGMENT 1 FB 100
0000 :A H30.6 P30.6 = 1, W K S TO IP 252
0001 :BEC D 1 SABLED
0002 :L KB1 1 - DA!TA TRAFPIC PC c-> IP,
0003 :T FBI12 C O ~ O L L E Rm m 1
0004 :JU FBlOO DRIVE CONTROILER COHHTJNICATION
0005 NAME :STED:ANT
0006 DBElR : DB11 DB FOR IEITERNA3t USE, 12 DW,
0007 SS?JFt : W+5 PAGE NR. 5
0008 RENlR : m112 JOB Am) CONTROUJCR NUMBER
0009 VAR8 : FWlO0 SPEED SETPOINT (VAR 8.1)
OOOA VAR9 : m102 SETPOINT (VAR 9.1)
OOOB VA1R3 : m 0 4 INITIAL -D (VAR 3.1)
OOOC DEO : FBI06 RELAYS A N D BITS
OOOD DE1 : FBI07 RELAYS AND BITS
OOOE DE2 : m108 RELAYS AND BITS
OOOF DAO : F3109 MESSAGE BITS OF THE IP
0010 DA1 : F3110 MESSAGE BITS OF THE IF
0011 DA2 : FB111 HBSSAGE BITS OF TBE IP
0012 PAFE : F 31.2 PARAMETER ASSIGNMENT =OR,
0013 :*t+ 1 => ERROR
SEG!mN!P 2
0014 :BE
 3. Brief Programming Instructions

3.4 Application Example for S5 135U, R Processor

LEN=18 SEC
PAGE 1
SEQIENT 1 OVERLOAD DISPLAY
0000 :A F 110.0 SET DISPLAY
0001 :S Q 4.4
0002 :AN F 110.0 IF THE OVERLOAD NO LONGER EXISTS
0003 :AN F 109.2 AND TEE HOTOR IS AT STANDSTILL,
0004 :A I 8.5 AQRNOWLEDGE24ENT CAN BE MADE
0005 :R Q 4.4
0006 :***
SEGmwl! 2 LIMIT VALUES TO THE I/O VALUES
0007 :A F109.0 LIMIT VALUE 6 % N HAX.
0008 := Q 4.6
0009 :A F 109.1 LIHIT VALUE 10% B U .
OOOA := Q 4.7
0003 :BE

LEW=47 SEC
PAGE 1
C M Z . No.1 OF TEE IP 252 TB INITIAL STATE

0005 :L KB21 21 DATA TRAFFIC PC -> IP, CON-

.0006 :T FB112 TROLLER NUMBER 1
0007
0008 :L KM00000000 00000000 A I L RELBYS AND BITS HAVE "0'
OOOA :T FulOO DEFAULT
0003 :T m102
OOOC :T m104
OOOD :T FR106
OOOE :T m108
OOOF :T m110
0010 :m FBlOO DRIVE CONTROLLER COMMUNICATION
0011 mQm :STrn:Am
0012 DBNR : DBl 0 DB FOR INTERNAL USE, 12 DW
0013 SSNR : KF+5 PAGE NR. 5
0014 RENR : FBI12 JOB AND CONTFtOlXXR NR.
0015 -8 : m100 SPEED SETPOINT (VAR 8.1)
0016 VAR9 : W102 SETPOINT (VAR 9.1)
a017 VAR3 : -104 INITIAL Dl3KETER (VAR 3.1)
0018 DEO : FBI06 RELAYS AND BITS
0019 DE1 : -107 RELAYS AND BITS
OOlA DE2 : m108 RELAYS AND BITS
OOlB DAO : F3109 MKSSIU;E BITS OF THE IP
OOlC DA1 : ET3110 MESSAGE BITS OF THE IP
OOlD W : FBlll MESSAGE BITS OF THE IP
OOlE PAFE : F 31.1 P-TER ASSIGNMENT ERROR,
OOlF I => ERRQR
0020 :A F212.0 BIT 0 OF THE PAFE BY333 OF THE
0021 FB: INTERNAL "SENDu IS USED
0022 HERE. I => JOB HAS HOT YET PRO-
0023 CESSED (E.G. DUE M IP O W R -
0024 m), 0 => NO ERROR.
0025 :JC =F001 IF TBE JOB HAS BEEN PROCESSED,
0026 :R F 30.1 THE FB96 IS NO LONGER PROCESSED
0027 :R F 30.6 AND THE IP 1S READY TO PROCESS
0028 MO01 :BE OTRER T S K S .
3. Brief Programming Instructions

3.4Application Example for SS 135U, R Processor

LEN=33 SEC
PAGE 1
IP 252 FROM STOP M RUN

0005 :A P 0.1
0006 :J17 FB120
0007 NAWE :SEND
0008 SSHR : KY0.5 0 D I R . P ~ . A S S I G ~ . , 5PAGE NR.
0009 A-NR : KYO, 20 0.20 - JOB NR. FOR SRND 20
OOOA ZLNZW : MU114 JOB s m s WORD
OOOB QTPP : KCNN EIN - NO DATA
0 OOC DBNR : KPO.0 -1
OOOD QANF : m+O -1
OOOE QLAE : Wi-0 -1
OOOF PAFE : m121 ERROR FLAG
a010 .
0011 :A F 0.1 = = l
0012 :L KTO10.1 1 SEC. WAITING TYIE AFTER STOP
0014 :SE T 17 => RUN
0015 .
*
0016 :AN T 17 IF TEE DELAY TIME BAS ELAPSED,
0017 :JC =H002 THE m 9 8 IS NO LONGER PROCESSED
0018 :R F30.0 AND TEE IP IS READY TO PROCESS
0019 :R F 30.6 JOBS
00lA H002 :***
SEGMENT 2
OOlB :BE

SEC
LEN=29
PAGE 1
SYNCBROMISATLON OF THE IP INTERFACE

0005 :A M30.0 THERE WAS A POWER FAILURE AT

0006 :JC =F001 P 30.0 = 0 => 2 SEC. WAITING
0007 TIBE BEFORE SYNCHRONISATION
0008 :L KT020.1 OF THE IP 252
OOOA :A F 0.0 'P 15 IS PROCESSED ONCE WI!I!E
OOOB :S1 T 15 R . = 0 BEFORE STARTING
OOOC :A F 0.1
OOOD :S1 T 15 STARTING T 15
OOOE M002 :A T 15 2 SEC TIME LOOP, SCAN TIME
OOOF :JC =F002 MONITOR IS INOPERATlTE IN 0322.
0010 SrnCHRONISE IlYTERFAcE WITH PAGE
0011 X001 :XI FBI25 m. 5
0012 NAME tSYNQEIR0N
0013 SSNR : KY0.5 0 DIR.PAWM.ASSIGNJ4-, 5 PAGE Nit,
0014 BLGR : KY0.6 0-6 - 3
- S I Z E 512 BYTES
0035 PAFE : NOB120 ERROR PLAG
0016 :X.*.*
NETZWERK 2
0017 :BE
 3. Brief Programming instructions

3.5 Application Example for S5-15OU

In addition to the blocks below, FBI00 (FB:STEU) and the data handling blocksforthe S5-150U (excepting FB182, FBI83 and FB186)
are used. These data handling blocks must be ordered separately on diskette, if required. The following data blocks used are atso
not listed:
DB10, length 20 words
DB11, length 20 words.

OB1 LEN=23 SEC

PAGE 1
SE- 1
0000 :A F 0.0 GENERATION OF RU) FLAG " O n
0001 :R F 0.0
0002 :AN F 0.1 GWEKXTION OF RLO FLAG " 1"
0003 :S F 0-1
0004 COLD RESTART AT F 3 0 . 0 = 1
0005 :A F 30.0 => IP 2 5 2 MUST BE STARTED
0006 :JC FB98
0007 WUlE :STP=>RUN
0008
0009 :A
-F30.1 POWER FAILURE AT F30.1 = 1
OOOA :JC FB96 => SET IP 252 M INITfAL STATUS
OOOB EIAZIE :GRUNDST.
OOOC -.
OOOD :JU PB1 RESTART CONTROL, FLAGS FOR FBI00
OOOE :JU PB2 CALL FB 100
OOOF :XI PB3 ASSIGJWENT OF FLAGS -> OUTPUTS
0010 :***
SEGMENT 2
0011 :BE
----------------------------------------------------*----------------

LW=20 SEC
PAGE 1
SEGMENT 1 MANUAL COLD RESTART
0000 :m P 0 - 1 G-TE RLO FLAG "1"
0001 :S F 0,l
0002 * t

0003 :AN F 3 0 . 0 IDENT. NO POWER FAILURE

0004 :S F 30.0 ( F 30.0 = 1) FOR FB99
0005
0006 :JU F899
.

0009 :A
.
0007 NAME :SPNC:IPS
0008
P 0-1 RIXJ=1
OOOA :S P 30.6 F 30.6 = 1 => INHABIT JOBS TO
OOOB
OOOC
OOOD :***
. IP 252 ( m 9 8 IS RUN BEFORE
IP JOBS)
SEGHmT 2
OOOE :BE
3.Brief Programming Instructions

3.5 Application Example for S5-ISOU

LEN=35 SEC
PAGE 1
SEGMENT 1 MANUAL COLD RESTART
0000 GENWATE RLO FLAG "On
0001
0002 GENERATE RLO ]P= "l"
0003
0004
000s IDENT: NO PO- FAILURE
0006 (P 30.0 = 1) FOR FB99
0007
0008
0009 NAME
OOOA
OOOB - = l
OOOC F 30.6 = 1 => JOBS FOR IP
OOOD 252 INHIBIT (IPB 98 EXECUTES
OOOE BE- TEE IP JOBS)
0OOP IDENT: POWER FAILURE
0010 (P 30.1 = 0 ) FOR OB1
0011 RESET AUXILIARY FILAG
0012 "MAIN CONTACTOR ON"
0013 RESET DROP-OUT DELAY
0014 MAIN CONTACTOR
0015 RESET "RESTART CNTI;. RUNNINGn
0016 RESET CONTROKLKR ENABLE
0017
0018 T 17 IS PROCESSED BWE
0019 ONCE WfTR RU3 = 0 BEFORE
OOlB STARTING IN FB 98
OOlC
---------- .------------------h----------------------------

OB22 SEC LEN=29

PAGE l
SEGMENT 1 AUTOM. RAN4 START APTER POWER FAILURE
0000 :A F 0.0 GEMERkTE RLO FLAG "0"
0001 :R F 0.0
0002 :AN F 0-1
0003 :S F 0.1
0004
0005 :A P 30.0 IDENT: POWER FAILURE
0006 :R F30.0 (F 30.0 = 0) FOR FB99
0007
0008 :JU FB99 3P 252 SYNCHRONISATION
OOOA * .
0009 NAME :SYNC: IPS
OOOB :A F 0-1 m=1
OOOC :S P 30.6 F 30.6 = l => JOBS FOR TEE IP
OOOD * . 252 INHIBIT (FB 96 EXECUTES
OOOE BEFORE IP JOBS)
00OF :S F 30.1 IDENT: POWER FAILURE
0010 . (P 30.1 = 1) FOR OB1
0011 :R P 30.2 RESET AUXILIARY FLAG
0012 . "MAIN CONTACTOR OH"
0013
0014
0015
:R
:R
-.
T 14
F 30.3
RESET DROP-OUT DELAY
MAIN COWTACTOR
RESET "RESTART CNTL. RWNNING"
0016 :BE
 3, Brief Programming Instructions

3.5 Application Example for S5-150U

PBI LEN=116 SEC

PAGE 1
SEGKmT 1 GENERATE "STOP STORED"
0000 :A I 8.0 THE STOP IS ONLY CANCELLED
0001 :AN I 8.7 ( F 30.4=1), I F =IN CONTACTOR
0002 :AN Q 4.4 HAS DROPPED OUT AFTER BRhKING
0003 :S F 30.4 AND TIIERE IS NO MOTOR o.vEIuoAD
0004
0005 :O FllO.0 TRIGGERING OF STOP (F30.4 = 0)
0006 :ON I 8.0 WITW MOTOR O A D AND WITH
0007 :R F30.4 I 8.0 = 0 (FAILSAFE)
0008 :+ t t
SEGmm! 2 GENERATE F 30.3, "RESET CNTL. RIIIWING"
0009 :A 1 8.6 THE RESTART CNTL. IS STARTED
OOOA :S F 30.3 WITH A WARNING
OOOB :
OOOC O N F 30.4 THE RESTART IS TERHINATED WITH
OOOD :O 18.7 STOP, MAIN CONTACTOR ON OR
OOOE :O T 13 ENABLE TIME OUT
~OOF :R ~30.3
0010 :***
SEGMENT 3 SWITCH ON FIELD CIRCUIT, AND FAN
0011 :0 F 30.3 THE FIELD CIRCUIT AND FAN ARE
0012 :O I 8.7 SWITQEED ON WITH A WARNING
0013 :L RT200.1
0015 :SQ T 10 APTER THE MAIN CONTACTOR HAS
0016
0017
0018
:A
=
:t + *
-
TlO
Q 4-2
DROPPED OUT, FIELD CIRCUIT AND
FAN REMAIN !5WITCHED ON FOR
20 SEC.
SE- 4 WARNING T m A N D HORM
0019 :A F30.3 START 3 SEC, WARNING TIME
OOlA :L KT030.1
OOlC :SI T I1
OOlD
OOlE :A F30.3 SRTTCH ON HORN
OOlP :S Q4.5
0020 *
0021 :O T 11 TBE HORN IS mTCJ3ED OFF A W N
0022 :ON F 30.4 AFTW 3 SEC. OR WITH STOP
0023 :R Q 4.5
0024 :+*t
SEGlBWI 5 PAUSE TIME
0025 :A T l1 THE WARNING TIHE HAS
0026 :L KT020.1 gLAPSED, TEIE PAUSE TIME ( 2 SEC. )
0028 :S1 T 12 IS S!l!ARTED
0029 :* * i s
SIC(3IKNT 6 ENABLE T r n
002.A :A T 12 IF TBE PAT3SE T m HAS ELAPSEI3,
002B :L KT100.1 THE EIUULE TIME (l0 SEC.) IS
002D :S1 9! 13 STARTED
002E **a
SEQIENT 7 EEI[ABLEIAm?
002F :A T 12 TBE ENABLE LwP LIGHTS UP
0030 :AN T 13 IF T12 HAS RUN DOWN AND T13 IS
0031 := Q 4.3 STILL RUNNING
0032 ***
SEGMENT 8 AUXILIARY FLAG "MAIN CONTACTOR ON"
0033 :O 1 8.3 IF TEE PUSH3WTTON "SETTING-UP
0034 :O I 8.4 FORWARD" OR "SETTING-UP REVERSE"
0035 :A Q 4.3 IS PRESSED DURING ENABLE TIME,
3. Brief programming Instructions

3.5 Application Example for S1150U

lXN=ll6 SEC
PAGE 2
P30.2 WILL BE SET
F30.2 IS RESET WITH STOP AND
mm CONTROLLFa EEIABLE
INACTIVE

MAIN C O ~ A C T O ROW/OFF
AKTXILUPRY FLAG 'MAIN CONTACTOR
ON' 0 - 5 SEC. DROP-OUT DELAY UP
!PBE MAIN CO#TACTOR AFTER
c0moY;ER Ew4Ea.E OE'F

C O N T R O ~ENAaLE
THE CONICROLLER ENABLE IS TRANS-
klIT!CED TO THE IP 252 IF THE MAIN
SWITCH IS ON, TIfE ACKN-E-
MEElT SIGNAL IS PRESENT AND TfIERE
IS NO STOP
THE c o m o m ENABLE IS
SWITCHED OFF WIT3 STOP AND N ACT
> 1% N HAx* OR ON m m R OWRLOAD

Q 4.1. CONTROILKR ENABLE FOR

clmmm" c0moI.
BRAKE EUAEm3
THE B m ENABZ;E SETPOINT IS
ENABLED WITH STOP AND IF THERE
1s NO 0 ~ 2 m
SETTING-UP FOEZWARD
*SETTING-UP FORWARD" IS INTER-
LOCKER WITH THE HAIN CONTACTOR
"SETI'ING-UP REVERSEn

THE SETPOXNT IS SWITCHED OFF

AGAIN UITH STOP

"SETTINGUP BACK" 1S INTERLOCKED

lrjITETHE MAIN CONTACTOR AND
"SE'M'ING-UP PORHAFtD"

THE SETWINT IS SWITCHED OPP

AGAIN mm STOP
FASTW
IF "SEmING-IJP FORWARD" IS
ACTIVE AND IF N SETPOINT OF
BRAHCH 8 IS NOT YET GREATER TEIAN
96% OF N m- ( 4 % FROM IBRAEJCE
6 ) , "FASTW" IS ENABLED
IF "SETTING-UP FORwmD" IS
ACTIVE AND IF N SETPOINT OF
 3. Brief Programming Instructions

3.5 Application Example for S5-150U

FBI LEN=116 SEC

PAGE 3
SEGMEWl' 15 SLOWER
006B :A F 111-1 BRANCH 8 > 0 , "SLOWER" IS
006C := F 107 .l ENABLED
006D :*t*
SEGKEN!T 16
006E :BE

LEX= 26 SEC
PAGE 1
SE- 1 mm100
0000 :A 130.6 F30.6 = 1, JOBS TO IP 252 IN-
0001 :BEC HIBITED
0002 :LKB1 1 - DATA TRAFFIC PC c-> IP, CON-
0003 :Tm3112 TROIJZR FiWF3ER 1
0004 :m FBlOO DRIVE CONTROLLERR COMMUNICATION
0005 NAHE :SW:-
0006 DBNR : DBI l DB FOR INTERNAL USE, 12 DW,
0007 SSNR : KF+5 PAGE NR- 5
0008 IZENR : FBI12 JOB A m C O N T R O ~m m
0009 VAR8 : FmOO SPEED SETPOINT (VAR 8.1)
OOOA VAR9 : W102 SETPOINT (VAR 9.1)
OOOB VAR3 : FW104 INITIAL DI.AI!ETER (VAR 3 . l)
OOOC DEO : W106 RELAYS AND BITS
OOOD DE1 : P13107 RELAYS AND BITS
OOOE DE2 : FBI08 RELAYS AND BITS
OOOF DAO : m109 MESSAGE BITS OF THE I P
0010 D A ~ : wrio MESSAGE BITS OF !THE IF
0011 DA2 : FBlll MESSAGE BITS OF THE IP
0012 PAFE : F 31.2 , PARAMETER ASSIGNHENT =OR,
0013 :t*t 1 => ERROR
SEGMENT 2
0014 :BE
3. Brief Programming Instructions

3.5 Application Example for S5-150U

LEN=18 SEC
PAGE 1
SEGMENT OVERLOAD DISPLAY
0000 SET D I S P L a Y
0001
0002 ~0~~ CAN BE MADE IF
0003 THE OVERLOAD NO LONGER EXISTS
0004 AND I F THE MOTOR IS AT STAND-
0005 STILL
0006
-S LIMIT VALUES TO 1NPUT/OTEl?UT MODULES
0007 LIKlX"J?TJE 6 % N MAX.
0008
0009
OOOA
0003

IJm=47
SEC
PAGE 1
SEGMENT f CNTL, NO. 1 THE IP IN INITIAL STATUS
NAME :GRUNDST.
0005 :L KB21 21 DATA TRAFFIC CPU -> IP,
0006 :T B112 CONTROUW NUMBER 1
0007
0008
-.:L KM00000000 00000000 ALL RELAYS AND BITS HAVE " 0 "
OOOA rT m100 DEFAULT
OOOB :T FW102
OOOC :T m104
OOOD :T m106
OOOE :T m108
OOOF :T m110
0010 :m FE100
0011 NAME :STEU:ANT.
0012 DBNR : DBlO DB FOR INTERNAL USE, 12 DW
0013 S= : KF+5 PAGE NR- 5
0014 RENR : m112 JOB AND CONTFiOLLER NOHBER
0015 WUt8 : PW100 SPEED SETPOINT (VAR 8.1)
0016 -9 : m102 SETPOINT (VAR 9.1)
0017 VAR3 : m104 I N I T L A L DIAMETER (VAII 3-11
0018 DEO : m106 RELAYS AND BITS
0019 DE1 : m107 REWLYS BITS
OQlA DE2 : F B l 08 REWIYS AND BITS
OOlB DAO : m109 l@SSAGE BITS OF TBE IP
OOlC DA1 : FBllO MESSAGE BITS OF m IP
OOlD DA2 : FBlll MESSLLGE BITS OF T E E IP
OOlE PAPE : F 31.1 PAFammR A S S I ERRORS, ~
OOIF
0020
.
0

:A F 253.0
1 => ERROR
BIT 0 OF THE PIWE BYTE OF THE
0021
0022
.-
" FB: CNTL.-1- "SEND" IS
USED HERE. 1 => JOB HAS HOT TtET
0023
0024
0

. RIM (E.G. DOE '20 IP

0 => NO ERROR.
0025 :JC =NO01 IF THE JOB HAS BEEN PROCESSED,
0026 :R F 30.1 FB96 TS NO LONGER PROCESSED
0027 :R F 30.6 AND 'JXE IP IS READY TO PROCESS
0028 M001 :BE cmKm YOBS.
 3. Brief Programming Instructions

3.5 Application Example for S5-150U

LEN=33 SEC
PAGE l
IP 252 FROM S M P M RUN

0005 :A F 0.1
0006 :JU FBI80
0007 NAME :SEND
0008 SSNR : KP0.5 0 DIRECT INITIAIrISEX), 5 PAGE
0009 A-WR : KJT0,20 NR. 0.2 rPASK NO. FOR SEND 20
OOOA ANZW : m 1 4 DISPLAY UORD
OOOB QTYP : KSNN NN - H0 DATA
OOOC DBWR : KY0,O I n m m
OOOD QANF : W+O IRRELEVANT
OOOE QLAE : KF+O 1RR-
OOOF P M E : FB121 WROR DISPLAY
0010
0011 :A P 0.1 IUX)=l
0012 :L mo10.1 1 SEC. WAITING TIME AFTER STOP
0014 :S1 T 17 => RUN
0015
0016 :AN T 17 IF THE PULSE TIMER HAS RUN
0017 :JC =H002 DOWN, m 9 8 IS NO LONGER PRO-
0018 :R F30.0 CESSED AND Rne IF IS RFZADY TQ
0019 :R F 30.6 PROCESS JOBS.
OOUl H002 :***
SEGMENT 2
OOlB :BE

LEN=29 SEC
PAGE 1
SYNCHRONISATION OF THE IP 252 INTERFACE

0005 :A P30.0 THERE WAS A POWW FAILURE AT

0006 :SC =M001 P 30-0 = 0
0007 => 2 SEC, WAITING TIKE BEFORE
0008 :L KT020.1 SYNCHRONISATION OF TElE IP 252
OOOA :A F 0.0 T 15 IS PROCESSED ONCE BEFORE
OOOB :SI T 15 STARTING WITH RM = 0
OOOC :A F 0.1
OOOD :S1 T 15 SIIARTIHG T 15
OOOE M002 :A T 15 2 SEC. TIHE LOOP, SCAN TIME
OOOP :JC =M002 MONITOR IS INUPBRATIVE IN OB22.
0010 SYHCHRONISE INTERPACE WITE PAGE
0011 M001 :JO m 1 8 5 m. 5
0012 NAME :SYNCHROI
0013 SSHR : =0,5 0 DIR.PARAH.ASSIGNM., 5 PAGE NR.
0014 BLGR : KYO, 6 0,6 BLOCK SIZE 512 BYTES
0015 PAFE : m120 ERROR DISPLAY
0016 :-t**
SEGMENT 2
0017 :BE
5.1.3 STEP 5 - m l e for PB:STW
 4. Programming Instructions

4.1 Configuration Overview

The IP 252 is a closed-loop control module which can be adjusted to specialised applications by plugging in a memory submodule.
The task-specific solutionssuggested are referred to in the following as controller structures.These structures consist of: individual
functions, e. g. speed controller, ramp function generator etc., which can be connected together to form task-specific controllers.
The currently availabre controller structure spectrum is contained in two different memory submodules:

1. Memory submodule DWSR 6ES5 374-0AAl'f.

This submodule contains the structures "Drive controller" (Section 4.10) and "Standard controller" (Section 4.11).

2. Memory submodule DRSlSR 6ES5 3744ABll.

This submodule contains the expanded "Drive controller structure with self-setting" (Section 4.12) and the slightly modified
structure "Standard controller" (Section 4.11).

In addition to the self-setting feature, the DRS structure has been expanded by the following functions:
- lnterlink capability of the control loops, also with the SR structure.
- Free assignment of measuring sockets
- Function expansions of the DRS controller structure
In the ramp function generator
In the diameter calculator
In the primary controller
In field current measurement
Arithmetic operations

Two of these functions, which apply to both structures of the "DRS/SR submodule, are briefly dealt with in the following:

a) Free assignment of measuring sockets

Both measuring sockets on the frontplate of the IP 252 module are used for displaying two measured values. Which measured
values (control deviation, manipulated variable etc.) are to be displayed within which control loops (1 to 8) must be defined in the
user submodule with the structures
DR/SR in the configuration phase. Later modifications can only be made in stop mode of the module.
In contrast ta this, the measuring sockets for the
DRS/SR user submodule must be assigned to the desired measuring points immediately the controller is tested; in other
words, while the process is running:
The operator interface of the COM REG packages also offers the "Measuring sockets" function as well as the "Controller
test" function. Inthe "Measuring sockets" function, you can assign thesocket 1 (DAC channel no. 5) and the socket 2 (DAC
channel no. 6) in menu-driven mode to any measuring point of the controller structure (controllers nos. 1 to 8). These assign-
ments can be changed at any time.
The measuring sockets can only be activated if the analog output channels 5 and 6 have not been otherwise assigned.

b) lnterlink tapabilityof the control loops

The user submodule with the "DRSfSR" structures supports the interlinking of control loops 1t o 8 to form master and slave control-
lers. Wherever an ADC n is indicated in Sections 8.2 and 8.3 of the configuration documentation, the following parameters may be
entered:
ea.ADCG= Oto 7 Internal ADC channels
128to 254 Backplane bus addresses of the S5 analog inpuWoutput modules: only possible with
the S5-115U
RNo.MP No. R No. is thecontroller number 1to 8 and MP No. the number of a measuring paint of this
controller sturcture.
It is now possible, for example, to transmit the processed actual value of controller no. 2 as a setpoint t o controller no. 3.
The following value is now entered in the input field of ADC 6 (of branch 8 in controller no. 3) using the programmer:
ADC6 2.72
 4. Programming instructions

4.2 Maximum Number of Control Loops an the IP 252

. The operating system of the l? can supervise a maximum of 8 control loops. Each control loop is assigned a sampling time by the
user.fhe minimum sampling time i s 4 ms,the maximum 32 s.

Each control loop uses up a certain percentage of the CPU resources of the IP 252.The totat sum of resources used by the control-
lers should not exceed 100% of the CPU capacity.

How many percentage points a control loop uses up depends on the following influencing factors:

- Choice of structure (drive controller, . . .)

- Choice of sampling time (4 ms, 8 ms, . . .)
- Choice of branches (limit monitor, . . .)within the structure
- Choice of functions (ramp function generator,. . .) within a branch
The PG displays the percentage loading of the CPU in orderto provide an estimate of the CPU loading of the IP. The table included
in the Appendix (Section 9) states to what extent (in %)each individual function loads the processor, given a sampling time of 4 ms.
These data are however only a rough guide. Exact information as to whether all controllers in the 1P can run without time problems
is generated by the IP itself as follows:
If the FAULTlamp (Section 4.4) does not light up in the RUN state of the IP, then the loading is under 100%.
Illumination means momentary overloading. This can happen for instance when the PG or SS-CPU accesses the IP frequently.
Overloading is detected by the operating system and "smoothed out" (see Section 4.4).

Overloading causes timing conflicts in the control loops of the [P.This means that the control loops cannot be processed at the
sampling times specified by the user via the PG. In this casethe operating system of the IP automatically lengthens the sampling
time by 4 ms. This lengthening continues until the time conflict has ended. After this the control loops operate with the sampling
times specified by the user.
The operating system can cope with any overload situation.The IP can be operated via the PG or PC under all circumstances.

In the case of a permanent as opposed to a temporary overloading, the operating system permanently lengthens the sampling
times of all control loops. This indicates that the user has selected sampling times which are too small and thus overloaded the IF!

Note:

The selected control loop sampling time is not valid for a l branches of the structure
Branches such as the speed controller (branch 5, AR) are processed with the set sampling time TA,whereas the limit signal monitor
is only processed during every eighth sampling interval (8.Tn).
This relationship is represented in Sections 8 and 9 in the upper half of the diagram with "Tn, 2 .TAand 8.TA".
 4. Programming Instructions

4.3 Input/Output Formats of the 1P 252

The IP recognizes the following number formats:

- Time values
- Percentage values
- Dimensioned variables
- Dimensionless variables

4.3.1 Time values

The ranges which can be displayed on the PG are:
0.1 to 999.9 ms (milliseconds)
0.007 to 9999. s (seconds)
00.01 to 59.59 h.m (hours.minutes)

4.3,2 Percentage values

The input/output is carried out with fixed decimal point.
Input range: & 0.01 % t o k 100.00%
Output range: + +
0.01 % to 200.00%

The number range of + 100% corresponds to a voltage range of r 10V.

433 Dimensioned variables
It is possible t o input and output a dimensioned variable (e. g. setpoint for a temperature controller). For this the PG requests the
following information:

The values entered far 0% and 100% define a straight line. This specifies the value range for the dimensionedvariable.

The example in Fig. 4.2 illustrates this. A temperature 9alue is to be controlled. The user knows that the occurring temperaturevalue
varies in the range + 3,O "C to - 2,0°C.The setpoint and the actual values are to be input and output in 'C. The following must be
entered on the PG:

Input at PG
- 0% = 0.5
- 100% = 3.0
- ASCtl = DEG C (maximum 6 characters)

The 0% value corresponds t o the middle of the possible temperature range, the 100% value to the maximum value.
After these specifications the dimension of temperature can be specified directly (e. g. 2.01 *C).
Measuring point displays are then also converted t o the temperature range (e. g. - 3.00 "C). The output range in this example lies
-
between + 5.50 "Cand 4.50 "C.
4. Programming Instructions

4.3 Input/Output Formats of the IP 252

Dimensionedvariable

1 of measuring points

100% 4
ASCll
0% a
F] DEG C

Fig. 4.2 Example ofdimensioned input/output via the PG

-
Notes on the correct selection of theO% and 100% specification:

- Permissible range forthe (0% / 100%) specification

- The permissible combinations for the (0% / 100%)specification:

After the 0% and the 100%values have been entered in the PG, the PG checks whetherthis pair of values is permissible. Only
those pairs of values are permissible which make sense from the accuracy consideration and for which the specification of the
700% value is larger than the 0% value.

The checking of the accuracy is carried out according to the following procedure:
- Determination of the position of the decimal point for 0% and 100% values: Kt K2
- Multiplication of the 0% and the 100% values by to*, wherexis the larger of the two numbers K%KZ.
- ff the magnitudeaf both results ofthe multiplications S 10000thenthe (0% / 100%)pair of values is sensible and permissible.
 4. Programming Instructions

4.3 Input/Output Formats ofthe IP 252

Example 1:

1. Determine position of decimal point

0.1 - l o l = 1
2. Multiplication with 1 OX
-
12345 10' = 123450

Result: The (0%/100%) pair of values is not permissible!

Example 2:

0% =0.01 K1 = 2
1. Determine position of decimal point
100% = 10 K2 = 0

2. Multiplication with 10"

Resutt: The (O%1100%) pair of values is permissible!

The following inputs/outputs are possible via the PG:
0.01 0.9 0.95 1 1.2 1.06 ...

4.3.4 Dimensionless variables

There are dimensionless variables with and without a decimal point:

- Variables without decimal points have a range of 0 tort 32767.

- Variables with decimal points always contain two digits afterthe decimai point and have a range of + 00.01 to 2 99.99.
4. Programming Instructions

4.4 Meaning of the LEDs on the Front Panel of the Module

Combinations: Meaning:

n RUN Themodule is in the STOP mode

8 STOP (see Section 4.9)
0 FAULT
@ RUN The module is in the RUN mode
0 STOP (see Section 4.9)
0 FAULT
0 RUN
@ STOP
@ FAULT Both lamps light up immediately after the module power has been switched on. If no faults are present, the
fault lamp extinguishes after a few seconds. This means that after switching the power on, the diagnostic rou-
tines of the module could not detect any faults. If the fault lamp (FAULT) does not extinguish, then the module
is defective.

@ RUN The loading of the module is partially too high;

0 STOP i.e. during those periods when the fault lamp lights up (momentarily), there are timing problems in the cfosed-
FAULT loop controllers (see Section 4.2).

The following alternative remedies are available:

- Increase the sampling time of a control loop

- Delete a control loop
- Disable a control loop
- Switch individual functions off
- Switch individual branches off
- Limit the communication with the S5-CPU or the PG
Symbols:
0 Lamp extinguished
c
9 Lamp illuminated
 4. Programming Instructions

4.5 Data Retention in the Memory Submodule

4.5.1 Retentivejnon-retentive data

The memory submodule used in the IP 252 contains memory (EEPROM) which retains data when the voltage is switched off. The
controller parameters for a maximum of 8 control loops are stored there.
These variables are listed in Table 4.1 for each individual control loop. The controller parameters stored in the EEPROM are known
as "retentive" data. In contrast to this sort of data there is also "non-retentive" data, which is listed in Table 4.2. Non-rententive
data is not stored in the EEPROM and are lost during a power failure, if no back-up battery is available.

The storage of controller parameters in the memory submodule is carried out fully automatically by the IP 252, without the user
having to worry about it. The principle is explained briefly in Section 4.5.2.

Table4.1: Retentive data of a control loop (see also Sections 4.10.7,4.11.7 and 4.12.8 data words 0 to 167)

- Type of structure (drive controller, standard controller, . . .)

- Sampling time of the control [oop
- Dimension specifications
- Structuring of the control loop (state of the structure switches)
- Addresses of the analog controller inputs "ADC 1, .. ., ADC 8"
- Addresses of the analog controller outputs "DAC 1,. . ., DAC 8"
- Constant of the control loop "KON X.Y"
- Assignment of the measuring points to the measuring sockets
- Assignment of the measuring points to the limit monitors

Table4.2 NON-retentive data of a control loop (see also Sections 4.10.7,411.7 and 4.12.8 data words 168 t o 255)

- Variable "VAR X.Y"

- Contents of analog inputs/outputs
- Binaryinputs/outputvalues "0lTX.Y"
- Relay states "REL X.Y"
- Measuring pointvalues "MP X"
- Past values of functions (smoothing, PID,. . .)

4.5.2 Principle of data retention (see Fig. 4.2)

Aworkspace memory (RAM) is located in the IP, in which all the controller data is stored.This data can be subdivided into:
*

- retentive data (see Table 4.1)

- non-retentivedata (seeTable 4.2)
Retentive data can be modified with CPU/CP and PGs (Fig. 4.3, 1 and 2). However the following retentive data cannot be entered
in the STOP state ofthe IP:

- Structure type
- Sampling time
- Dimensions
- Structure switches
- Addresses for analog inputs/outputs

The remainderof the retentive data of Table 4.1 can also be modified in the RUN state of the IP.

Each input via the CPU/CP or PG is stored initially in the RAM of the IP.The operating system of the IP continuousry compares the
controller data of the module (RAM) with the controller data inthe memory submodule (EEPROM). If a value differs then it is automa-
tically updated in the memory submodule (Fig. 4.2,3).

Note:
If random data are transferred cyclicalty from the S5 CPU t o the IP 252 (8. g. KON1O.l,KON5.KP etc.), it may not be desirable to
dump these data on EEPROM. If this is the case, use of a special job no. during data transferwill prevent these data being dumped
in the EEPROM of the user submodule. The reason for using this method far data transfer is that the EEPROM can survive only a
limited number of write cycles (updating).
This mode (Section 5.2.3.2) is only possible with the submodule "Expanded drive controller structure with self-setting and standard
controller structure (DRSISR)" (MLFB 6ES5 374-0AB11).

After a user input via the CPU/CP or PG, there is a certain interval of time during which the retentive data in the memory submodule
is updated. Ifa power failure does not occur during this (short) interval of time, then the description given under "Case 1" applies.
If a power failure occurs during this interval of time, then the description under "Case 2" applies.
4. Programming Instructions

4.5 Data Retention in the Memory Submodule

Case 1: NO power failure during the updating of the EEPROMs

The EEPROM of the memory module contains all the latest data required for the control loops according torable 4.1.

Case 2: Power failure during the updating of the EEPROMs

In this case one must differentiate between whether the RAM of the IP is backed up or not. A battery in the power supply of the
programmable controller is used for supplying the back-up voltage.

The RAM is supplied by a backup battery:

After the restoration of power, the EEPROMcontains the most recent data for all the control loops as listed inTabie 4.1. After power
restoration there is no difference to case 1.

The RAM is not backed up:

After restoration of power, the EEPROM contains the most recent data listed in Table 4.1 for all control loops except for those
whose updating was interrupted by the power failure. The data of the control Ioop during which the power failure occured has the
same state in the EEPROM as bef~r the
e last modification.

Comment to case 2:
If the memory submodule is pulled out with the IP supply voltage switched "off", then it is not important whether RAM is backed up
or not. The contents of the EEPROM are as follows:
The data for all control loops except for the one during which the powerfaiture occurred, are the most recent.
The data of the controi loop during which the power failure occured, has the same state as before the last modification.
 4. Programming Instruciions

4.6 Start-up Behaviour of the IP 252 (response to "power on")

4-61 Treatment of the controller data after "power on"

After switching the power "on", theoperating system checks the IPforthe presence of a user memorysubmodute. If nosubmodule
is present or a submodule with the wrong identification (+ 28) is present, then the IP remains in the STOP mode. The 1P can be
accessed via the PG even when no subrnodule is plugged in!

If a valid memory subrnodule is plugged in, then the following two cases must be considered:

Case l:

Assumption: The IP is powered up and the power fails. The submodule remains plugged in and the power is again restored.

Consequence: The controller data in the RAM of the IP and the memory submodule are identical. How current the data are, as
compared to the tast modification by the user, is described in Section 4.6.2.

Case 2:

Assumption: The IP is powered up and the power fails. The submodule is removed when the power is "off" and another sub-
module with valid data is plugged in. Then the power is restored.

Consequence: In the following cases the controller data is copied from the memory submodule into the RAM of the IP:
- No battery is present
OR
- The 1P was in the STOP mode before "power off"
0R
- The stop switch of the IP was switched to stop in the unpowered state.

Note to case 2:

If the user wants to load new controller data into the IP, then the IP must be switched "off", the new memory submodule plugged
in, the STOP switch moved to the STOP position and the power switched "on" again.

4.62 Start-up behaviour of the control loops after "power on" (Fig. 4.3)

After powering up, the IP goes into the RUN mode (green RUN LED lights up) or into the STOP mode (red STOP LED lights up).

The STOP mode is entered under the following conditions:

- No battery is available OR
- The switch on the [P is in the STOP position OR
- The IP was in the STOP mode before power failure OR
- The power failure indication is not set
Before reaching the STOP mode, the controller data from the EEPROM of the memory submodule is copied to the RAM on the
module. Also all the previous values, bits, relays and variables of the control loops are erased.

The RUN mode is entered under the following conditions:

- Battery is available AND

- The switch on the 1P is in the RUN position AND'
- The 1P was in the RUN mode before power failure AND
- The power failure bit is set AND
- The SS-CPU switches the 5ASP signal inactive i. e. the CPU is in the RUN mode

There are various ways of influencing the start-up response of a control loop from the PG. The foliowing statements assume that
the 1P automatically goes to the RUN mode after "power onm.ThePG can be used for setting in each control loop whether warm
restatt is desired and in that case whether the warm restart criterion should be used.
4. Programming Instructions

4.6 Start-up Behaviour of the iP 252 (response to "power on")

POWER ON
I
- Battery connected AN D
- Switch in RUN position AND
- No STOP before power failure AND
- Power failure bit set?

YES

For all control loops I Delete all controller

data blocks
f
-
(DLW 0 DW 511)
- Warm restart desired? The following are reset
NO - Relays RELX.Y
- Bits BIT X.Y
- Use warm start criteria - ~ i ~control
~ b -
l Variables
~ VAR X.Y
loops - Previous values
YES
- Warm start criterion
fulfilled
J , NO
fl
- Deleteprevious values in the controller data block
(NOT relays, bits, variables)
REL X.Y. BIT X.Y VAR X.Y

fl
Load contents of EEPRO
into RAM

For inactive BASPfrom CPU, the IP goes into the RUN mode The lP goes intothe STOP
(green LED illuminates) mode {red LED illuminates)

I
Q 0
RUN mode of the IP is reached with disabled or enabled STOPmodeof the IP
control loops 1 is reached with
I disabled control loops

I
l

Fig. 4.3 Start-up behaviour of the IP 252 after -power on"

 4. Programming Instructions

4.6 Start-up Behaviour of the 1P 252 (response to "power on")

The warm restart criterion is:

The actual values before and after power failure should not differ in magnitude by more than 25% of the actual vaIue before the
power failure.
-
I actual value e t t e r N A ~ actual value beforemuI
r 1 0.25 x actual value NAU l

If no warm restart is required, the operating system disables all control loops and resets the previous values in the corresponding
controller data blocks, i.e. the IP goes into the RUN mode with disabled control loops. These control loops can be enabled from
the S5-CPU via a command, which is transmitted by data handling blocks. The enabling is carried out individualty for each control
loop ("Controller cold restart").

Nowthe case is considered where the user has selected warm restart behaviour via the PG. If the warm restart criterion is then not
used, then all previous values of the control loops are reset. The IP goes into the RUN mode and the control loops which were
enabled before "pawer off" remain enabled and begin to operate from the start up mode ("Controller cold restart").

When the warm restart criterion is used, the operating system of the IP checks whether the criterion is fulfilled. If it is not fulfilled,
then all the previousvalues of thecontrol loops are reset. The IPgoes into the RUN mode and the control loops which were enabled
before "power off" remain enabled and begin to operate from the start up ("Controller cold restart").

If the warm restart criterion is fulfilled, no previous values are erased. The IP goes into the RUN mode and the control loops which
were enabled before "power off" remain enabled and begin to operate again from the point at which they were interrupted by
"power off" ("Controller warm restart").

Summary:

Controller cold restart means that the control loops begin to operate from the restart after switching the power on. This means
that afl the previous values of these control loops are reset.

Controller warm restart means that the control loops continue to operate with the old values after switching the power on. These
values correspond to the state at the instant of the power failure. Several conditions must be fulfilled before any of the (maximum
8) control ioops can carry out a warm restart.

The following applies for the [P 252:

- The RAM of the 1P is backed up by a battery

- The IP is in the RUN mode at the instant of the power failure.
The following applies to the controf loops:

- Warm restart is se~ecteband the warm restart criterion is fulfilled.

The following applies to the S5-CPU:

- The CPU is in the RUN mode

4. Programming Instructions

4.7 Enabling/bisabling of the Control Loops with the Programmer

Individual control loops can be enabled or disabled via the PG from the "Operating mode" menu. This is possible in the RUN and
in the STOP mode of the 1P.
The command acts immediately in the RUN mode of the IP.If the command is given in the STOP mode of the IP, then it operates only
when the IP goes to the RUN mode.

Example:

The following is entered during the STOP mode of the IP:

R1 R2 R3 R4 R5 R6 R7 R8
ENABLE N Y N Y - - - -
When the IP subsequently goes into the RUN mode, the following happens:
Control loops 2,4 are enabled, i. e. they are processed
Control loops 1,3 are disabled, i. e. they are not processed

Note:
If, during configuration of the control loops, the programmer query "Warm restart after power failure" is answered with 'No', the
relevant control loops R1 to R8 will be disabled at power recover. Re-enabling must then be effected from the programmer or the
S5-CPU.

4.7.1 Disabling of a control loop in the RUN mode of the IP

If a control loop is disabled by the programmer in the "Controller processing" form (or "Mode" form in the case of the PG 6151, this
means no calculation is carried out for this control loop.
The response of the analog outputs assigned t o this disabled control loop can be selected by the user. There is a menu for this
purpose on the PG. There are two options for selection:

Option 1: the analog outputs remain in the state they had at disabling.
Option 2: the analog outputs are reset, i.e. DV is output.

If the user selects option 2, then in addition all measuring points and previous values of the cantroi loop are reset.

4.79 Enabling a control loop in the RUN mode of the IP

The reaction of a control loop to being enabled depends on its past history.

The control loop was enabled during RUN of the IP and then disabled. When the control loop is again enabled, then
Pm-history l:
two cases must be differentiated:

Case 1: The analog outputs of the control loop have retained the last value while the control loop is disabled. In this case, a check
is made as to whether a warm restart of the controller is possible. If the warm restart criterion is fulfilled, then the control
loop continues with the last values, which it had when it was disabled.The warm restart criterion is (as in Section 4.6):
The actual value before disabling and the actual value after enabling should not differ iri magnitude by more than 25%
of the actual value before disabling.

If the warm restart criterion is not fulfilled, then a cold restart of the controller is carried out, .i e. all previous values of the
control loop are reset.

Case 2: The analog outputs of the control loop were reset while the control loop is disabled (outputs at OV).
This always requiresa cold restart of the control loop as a consequence.This meansthat the previous values of the control
loop are reset.

Pre-history 2: The control loop was never enabled in the RUN mode of the IP.In this case enabling always leads to a cold restart of
the control loop.
 4. Programming Instructions

4.8 RUNISTOP Mode of the Module

Both modes STOP and RUN of the IP can be selected via the switch on the module, via the PG or via the SS-CPU.The switch has
the top priority. If for instance the RUN mode was selected via the PG and the switch was set to the STOP position, then the IP al-
ways goes to the STOP mode.

Atransition from the STOP mode to the RUN mode caused by the PG, CPU or switch always triggers a cold start (Section4.7-2).
This means that all previous values, bits, variables and relays are reset. The control loop enabling however remains uninftuenced!

4.8.1 RUN mode

The foltowing characteristics apply to the RUN mode:

- The analog outputs of the control loops are active.

- lndividual control loops can be enabled or disabled.
- Enabled control loops are executed.
- Communication with the PG is possible.
- Communication with the S5-CPU is possible.
- Controller parameters are automaticaliy saved on the EEPROM of the memory submodule.
- Constants, relays, bits, variables and measuring point assignments of the control loops can be modified.
- The structuring of a control loop is not allowed.
The IP can reach the RUN state in various ways.
After "power on" the IP goes automatically into RUN, if the conditions of Section 4.6.2 are fulfilled:

If the IP is in the STOP mode, then thereare various ways of going to RUN. It is assumed that a memory submodulewith a valid iden-
tifier is inserted, and the S5-CPU is in the RUN mode. These ways are:

- The switch is moved to the RUN mode

OR
- The PG gives the RUN command and the switch is in the RUN mode
OR
- The SS-CPU gives the RUN command and the switch is in the RUN mode

4.8.2 STOP mode

The following characteristics apply to the STOP mode:

- Alf analog outputs of the module are connected to module earth via relays.
- lndividual control loops can be enabled and disabled. Enabled controllers are not executed.
- Communication with the PG is possible.
- Communication with the S5-CPU is passible.
- Controller parameters are automatically saved on the EEPROM of the memory submodule.
- Constants, variables and measuring point assignments can be modified: this does not apply to bits and relays.
- The structuring of a control loop is not altowed.
The STOP mode of the IP is reached by various ways.
After "power on'' the IP goes into STOP, if the conditions described in Section 4.6.2 are fulfilled.

The IP goes from the RUN mode into the STOP mode, due to the following:

- The S5-CPUgoes to STOP (BASP active)

OR
- The switch on the IP is set to STOP
OR
- Thevoltage monitoring of the module signals a fault
OR
- The PG gives a STOP command
OR
- A hardware fault occurs
OR
- The SS-CPU gives the STOP command
OR
- The watchdog is triggered
OR
- An access is made to a defective or missing analog module.
4. Programming Instructions

4.9 Explanation of the Symbols used in the Configuring Sheets (Section 8)

The basis of the description of the controkler structures are the configuring sheets (Section 8) forthese controller structures. The
symbols and abbreviations used are described below.

Main structure switch (configuring bit) for branch 13:

The switch (St 13)is used for selecting branches within a controller structure. The user determines via the
programmer if the branch is to be executed or not.

Structure switch 1 in branch 8:

The switch (S 8.1) determines the signal flow within a branch. The switch position is only scanned by the PG
if the corresponding branch is selected.
Note regarding the main structure switches. Modiiication of the switch position is only possible in the STOP
state of the IP. The PG must be in the "Structuring" mode.

Relay 2 in branch 8:
The term relay (REL 8.2) is used to identify switches which can be modified in the RUN state of the control
loop, i. e. during the time the 1P is processing control loops, the signals in a control loop can be interrupted,
switched through or switched over.
The relays are influenced by the control program of the CPU and from the PG.

Binary (input) vaiue 1 in branch 3:

Binary (output) value 1 in branch 11:

The control loop recognises binary input variables and binary output variabtes.The states of the input bits (0/
1) can be modified in the RUN state of the IP both from PG and also from the control program of the CPU.
Binary output variabbs (0/1)are transferred to the control program of the CPU from the IP.They can be simul-
taneously observed with the PG.

Analog input 4 of the controller structure (analog-to-digital converter)

Analog output 1 of the controller structure (digital-to-analog converter)

Each controller structure has a certain number of analog input/output variabtes (ADC 1, ADC 2,. . .or DAC 1,
DAC 2, .. .). The assignment of these inputsloutputs to the connected signal lines of the IP or the analog
modules is carried out with the PG.This is only possible in the STOP state of the IF?
The following inputs are possible via the PG:
0,....7 The analog input/output variables are processed in the IP and are connected to channel num-
bers 0, ....7 at the terminal block. (Section 2.1.3-1.5)
128,. ... 254 The analog input/output variables are processed in the analog module. The S5 addresses are
in the range FO80H to FOFFH. This is the peripheral range without process image.
Addressing is stot-coded. Address "128" corresponds to an analog input or output module in the slot next to
the CPU and the second slot is then coded with "160" (= 128 + 32). The two's complement must be set as
the format and sampling is performed cyc~ically.
The IP 252 can only access analog modules when used in the 115U-CPU. Depending on the CPU version only
a limited number of IPs can access analog modules:

The following input is also possible in the case of user submodules with the structures "DRS/SRm,wherever
an ADCn is indicated in Sections 8.2 and 8.3 of the configuration documentation:
RNo. MPNo. R No. is the controtler number 1 t o 8 and
M No. is the number of a measuring point of this controller structure.
This makes it possible to assign, for exampfe, the processed actual value of controller No. 2 to controller No.
3 as a setpoint. The following value is entered by the programmer in the entry field of ADC 6 (of branch 8 in
controller No. 3): ADC 6 2.12.
 4. Programming Instructions

4.9 Explanation of the Symbols used in the Configuring Sheets

Constant value 1 i n branch 10

Thefotlowing numerical values can be input via the PG in the STOP a n d the RUN state of the IP:
- Timers (e. g. ramp-up time = 20 S)
- Percentage values (e. g. setpoint = 50.05%)
- Dimensionedvariables (e. g. setpoint = 300.5 revlmin)
- Dimensionless variables (e. g. proportional value = 10.01)
(refer to Section 4.4 for available possible input formats)

Variable value 1 i n branch 9

Setpoints can be input not only as analog signals but also as numerical values. These numerical values can be
generated both by the PG and also by the control program of the CPU. Ifthese numerical values are gener-
ated by the S5-CPU, then they are identified with "VAR". Variable values can be entered in the STOP and the
RUN state of the IP.
The following vatues can be input:
- Percentagevalues(e. g. speed setpoint = 10.83%)
- Dimensioned variables (e. g. temperature setpoint = 1024°C)
(reier to Section 4.4 for available input formats)

Measuring point 1 of the controller structure

A series of measuring points are distributed over each controller structure. These measuring points can be
used to observe the most important signals of the control loop.
Measuring points are
- Percentagevalues
0R
- Dimensionedvariables
In the RUN state of t h e IP it is possible toassign any desired measuring points t o limit monitors or measuring sockets with the PG.
A recorder can be connected to the measuring sockets (on the front panel of the IP) and the signal can be recorded. Crossing of
upper or lower limits by signals can be monitored with the limit monitors.
Note regarding the switch position for relays and function switches:
The position drawn in the configuring sheets is always the default position. Aswitch position can only be changed by an action on
the part of the user:
- For structure switches, a branch or a function must be selected with the PG ( = l ) .
- For relays, the corresponding bit must be active ("1"). This is possible using "Force" on the PG during the "Controller test"
mode orvia the S5-CPU.
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

The structure contains all functions required for controlling a drive, except for the current controller and the power stage. This
means that depending on the requirements of the user, a speed control system (e. g. far mills, turbines) or a velocity control
system (e. g. for paper machines, winders and foil machines) can be implemented.

The drive controller structure (Fig. 9.1) consists basically of two cascaded closed-loop controllers. Parameters can be as-
signed t o each of the controllers of P, PI, PD or PID response.Theouter loop controller (9) is used e. g. for position control, tension
control or pressure control. One should mention at this stage that the numbers in brackets correspond to the branch number ((5)
branch 5). Avelocity control loop or a speed control loop can be implemented using the inner loop controller (5).

Upon a request by the CPU of the programmable controller, the closed-toop controller structure can be switched over t o "direct
tension control". The output of the inner loop controller (5)is then switched to limit the outer loop controtler (9).The output of the
outer loop controller (9) generates the manipulated variable (current setpoint).

4.10.1 Outer loop controller (9)

The setpoint (e. g. position setpoint) is input either via an A/D converter, or via the programmer or the CPU of the programmable
controller. The actual value (e. g. actual position value) is sensed by an A/D converter. The controller output can be reduced in
proportion to the actual speed value. This is used for speed-dependent adaptive control in foil machines.

4.102 Inner loop controller (5)

The following setpoint sources can be programmed:

- 1st channel: Output of the outer loop controller (9)

- 2nd channel: Setting up speed (6)
- 3rd channel: Inching speed (7)
- 4th channel: Armature current dependent component (11)
This component is used e. g, in conveyor belts and continuous casting processes (load regulation).
- 5th channel: Main setpoint (speed or velocitysetpoint (8)).
This setpoint isinput eithervia a n N D converter, via the programmer or via the programmable controller CPU.The
acquired setpoints can be processed by a ramp function generator and/or a smoothing module,
The ramp function generator module produces a ramp output from a step function a t its input. This is required for
instance during start up processes.
The smoothing module is used for "smoothing" the setpoint.
The control loop can be tuned to optimum disturbance response. Selection of a suitable smoothing time constant
produces an optimum response t o setpoint changes.

The actual value (10) (actual speed value) can be input either as a tacho voltage via the AID converter or via a counter input. A
smoothing module is used for suppressing any resonances. In addition, the high frequency disturbances to which the controller
cannot respond are kept away from the PID module (10).
The display function (10) providesa steady disptay of the actual speed valuevia a measuring instrument connected tothe D/Acon-
verter.

In the case of the speed control loop, the actual speed value (10) is used directly in the inner loop (speed) controller (5). If a velocity
control is required, the current velocity is calculated from the actual speed value (3 a) and transmitted to the inner loop (velocity
controHer) as an actual velocity value.

The controller output, optionally evaluated with a factor (4). forms the main component of the current setpoint.This evaluation of
the controller output produces a loop gain, as required e. g. during the field weakening operation of motors.
 4, Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.3 Current setpoint

The current setpoint which is generated by the IP 252 as a 110 Vvoltage atthe D/A converter consists of thefollowing:

- 1st channel: Main current setpoint (5)

- 2nd channel: Friction compensation (2)
- 3rd channel: Acceleration compensation (3 b); is used in velocity controllers (e. g. reeling and unwinding operations)
- 4th channel: Braking current modulation (1 b)
Instead of the summed output (1 a), an actual speed dependent braking current can be output asthe manipulated
variable.

Before the current setpoint is output as the manipulated variable, it can be converted and limited (1 b)

4.10.4 Additional functions

- Two user connected limit monitors (f2), (13):

Each of the limit monitors can be assigned to any desired signal (measuring point) of the controller structure.The limit monitors
contain 6 stages, which are specified via the programmers. The results of the limit monitors (overshoot or undershoot) areevalu-
ated by the logic control program of the S5 central controller.

- Four pre-assigned limit monitors:

These limit monitors support the operator communication and control concept of the compact controller structures. The results
of the monitors are used for instance by the CP 526 communications processors as inputsforthestandard displays on theVDUs.
The limit monitors monitor setpoints and actual values of the outer loop (9)and the inner loop (5) controllers.
The danger and the warning limits are specified via the programmer in the planning stage.

- Thermal monitoring of the motor (If):

Using the actual armature current a thermal monitoring of the motor is possible. If one of the switching limits specified by thepro-
grammer is reached this is communicated t o the logic control program.

- Two user assigned measuring sockets (14,15)

Two measuring sockets are located on the front pane[ of the controller module. Any desired signals (measuring points) of the
controller can be measured at these measuring sockets. The programmer is used t o assign a particular signal to a particular
measuring socket.
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.5 Detailed description of the drive controller structure

The foIlowing description refers t o the configuring sheets (Section 8) for the drive controller structure.The symbols used here are
explained in Section 4.9.

The three overview pages of Section 8 show all the branches of the drive contro[ler structure. The shading in branches 1,5, and 10
of the drive controller structure means that these branches cannot be switched off.These branches are always active! The precise
representation of the structure can be found in Section 9 (Fig. 9.7) of the Appendix.

4.10.5.1 Branch 1: ControlIer output/current setpoint

Function:
The current setpoint (manipulated variable) is generated and output via an analog output channel. The current setpoint can be in-
verted with structure switch S1.1.
The limiting stage limits the current setpoint t o values, which are specified by the user via the PG. The upper and lower limiting
values are detected in branch 5 (Section 4.10.5.5) by the PG. If the current setpoint crosses the limits, then this is taken intoaccount
in the inner loop controlier (PID module) in branch 5; i. e. the corresponding overflow bits are set and the 1 component of the PID
controller is disabled as long as an overflow bit is set.

Relay REL 1.1 isavailable for braking action. If the relay is active, then DAC2 outputs the current setpoint, which is linearly dependent
on the instantaneous actual speed value. MP12 is multiplied by (-100) and by the constant CON1.l, with REL1.1 active.This means
that 0% is output as the current setpoint when 0 speed is reached.

Input variables:
- Current setpoint component from branch 2
- Currentsetpoint component from branch3
- Main current setpoint from branch 5

Braking compensation:
- CON1.l The constant influences the magnitude of the braking current
- MP12 Actual speed from branch 10
- REL1.l When active, the motor is braked to standstill.

Output variables:
- DAC2 Current setpoint (manipulated variable) after limiting.
- MP6 Magnitude of the Faking current.
The actual speed value, multiplied by the constant CON1.l and (-100) is the braking current.
- MP9 Current setpoint before limiting

4.10.52 Branch 2: Friction

Function:
This branch can be activated with relay REL 2.1for compensating friction (stiction) forces. In orderthat the correct polarity of these
current setpoint components is maintained even when the direction of rotation changes, the constant 2.1 is multiplied with the sign
of the speed setpoint.

Input variables:
- CON2.1 The constant specifies the magnitude of the current setpoint component.
- REL2.1 When active, the current setpoint component is enabled.
- MP14 Speed setpoint from branch 8

Output variables:
- The output from branch 2 is connected t o the summation point of branch 1.
 4. Programming Instructions

4.10 Descriptionof the Drive Controller Structure (DR)

4.10.5.3 Branch 3: Acceleration compensation and diameter calculator

This branch consists of two sections, which are used for operating axel-driven upcoilers and downcoilers.
Functions:
a) Acceleration compensation, branch 3b
If rotating masses are accelerated (decelerated) an acceleration (deceleration) torque is required from the electric drive. If the
rotating mass is connected by a web of material to a drive with a different mechanical time constant, this can produce fluctua-
tions in tension in the web during acceleration or deceleration. To minimizethese fluctuation, the drive is supplied with a current
setpoint component dependent on the acceleration torque.
The speed setpoint from branch 5 is differentiated forthis purpose.The result is acceleration.This is multiplied with the constant
KON 3.1 and applied to branch 1 as acceleration current.
b) Diameter calculator, branch 3a.
A primary requirement in upcoiling and downcoiling is that the web material is kept at a suitable tension.The IP 252 does this by
means of velocity control (speed control) with primary tension control. With this "direct tension control" (actual tension
measurement via tension load cells or dancer roll), the tension is controlled with branch 9. If there is a dancer roll, the primary
controlter functions as a position controller. The tension is determined by the weight of the dancer roll or the load applied to it.
The actual speed is matched to the coil diameter in branch 3a. Excitation during the coiling operation can be influenced via
measuring point MP 15, which is then routed to a DAC via a measuring socket (branch 14 or 15). Aprecondition for coiling control
is that the web speed be set by the driven machine.
Function sequence in the case of downcoiling
It the coil diameter decreases, the speed controller tries at first to maintain the speed since its input signals remain constant. This
increases the web tension. The tension controller or position controller makes the appropriate adjustment and the speed is
increased. This also increases the product n X d (MP 16). At the input to the summator in branch 3a, n X d is greater than the master
reference voltageVLat MP 14 and at this point the integrator runsfrom the set initial diameter (MP 15) downwards until the product
n X d is again equal to VL.
The actual value n X d for branch 5 is therefore smaller and so the drive is "faster". The correction value of the primary controller is
decreased. During the coiling operation, n is therefore greater and d smaller; n X d always remainsequal tc VL! Branch 3a functions
similarly in the case of upcoiling with the difference that, in this operation, the integrator functions upwards from a small initial
diameter.
It is important that the new initial diameter be set at the beginning of a coiling operation (e. g. by the CPU control program). The
level of the master reference voltage (MP 14) at max. production speed depends on the coiling ratio.
Exampte:
Diameterof empty mandrel 200 mm = 22.2%
Diameter of full coil 900mm = 100%
Diameter ratio = 4.5%
Max. master referencevoltage = 22.2%
The master reference voltage can be influenced by means of the constant CON 8.2 in branch 8.
The diameter (MP 15) is only deleted in the STOP mode of the IP 252.
In the case of a warm restart after power failure, the old value is retained if the IP RAM has battery back-up.
Input variables
Acceleration compensation, branch 3b
- CON3.1 The constant determines the influence on the current setpoint
-MP 14 Velocitysetpoint from branch 8
Diameter calculator, branch 3a
MP 12Actual speed from branch 10
-VAR 3.1 The diameter of a newly mounted coil must be entered here. The IP252 calculates the current diameter in the case of up
and down coiling, starting from this diameter.
-REL 3.1 This relay influences the output of the integrator. When the relay is inactive, the currently calculated diameter is at the
integrator output. When active, the output of the integrator is set to the value of variable 3.1. The diameter can be set
again at any time.
-BIT 3.1 ifthe bit is "On, the integrator is disabled.fhe last diameter calcutated remains at the output. If the bit is set to "1 ",the
integrator begins t o work again from the last diameter calculated.
Output variables
Acceleration output, branch 3b:
-MP 7 Magnitude of the current setpoint component
Diameter calculator, branch 3a:
-MP 15 Current diameter of the coil
-MP 16 Velocity value (to the summator in branch 5).
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.16.5.4 Branch 4: Loop gain

Function:
The output of the inner control loop in branch 5 is evaluated and gives the main component of the current setpoint. Depending on
the position of structure switch 54.1 various arithmetic operations can be carried out:
S41 inactive: (division in branch 5)
The signat (fietd current) input through an analog input channel is transmitted to a function generator and multipied with the con-
stant CON4.1. The characteristic cannot be changed on the IP and is described in Section 4.10.6.5.This characteristic gives the ap-
proximate relationship between the field current and the magnetic flux of the D. C. motor. The shape o i the characteristic is selec-
ted to fit a majority of the most commonly used motors (see Section 4.10.6.5).
S41 active: (multiplioation in branch 5)
In the case of velocity control, the actual diameter calculated in branch 3 (MP15) is multiplied with the constant CON 4.1.
The result of this product is multiplied with the output variable oithe control algorithm.
Input variables:
- ADC5 Field current
- CON4.1 The constant determines the influence of the arithmetic operation
- MP15 Actual diameter from branch 3
Output variables:
- MP8 Operation on the controller ourput in branch 5

4.10.5.5 Branch 5: Speed controIler/velocity controller

Branch 5 (and also branch 9) contains a relay (REL 5/9),which is only active in a special application ('Direct tension control"). Sec-
tion 4.10.5.16 is devoted to this application.Therefore in the description below this relay is assumed to be inactive.
Function:
The instantaneous control deviation is determined in thesummation stage. It is calculated from the difference between thesetpoint
and the actual value (see page 2 on branch 5 in Section 8.1).The setpoint consists of the outputs of branches 6,7,8,9 and 11, the
actual value is the output of branch 3 or 10. If the actual value comes from branch 3, then it is a velocity control system otherwise it
is a speed control system.
The setpoint and the actual value are each monitored by a preassigned limit monitor. The function of this monitor is described in
Section 430.6.1.
If the relay REL5.1 is inactive, then the output of the summation stage goes to the PID controller. For commissioning purposes the
relay can be made active. Then the constant CON5.1 goes t o the PID controller input.
The PID controller can be assigned P, PD, PID or PI control action by setting various parameters to zero:
TN = 0 Icomponent not active
TV= 0 D component not active
Both the limits CONS.B+ and CON5.B- limit the manipulated variable in branch 1. If the manipulated variable in branch 1crosses
one of the limit values, then the corresponding bits BlT5.UE+ and BtT5.UE- of branch 5 are set.
The PID controller in branch 5 then disables its integrator. This prevents "wind up" of the integrator.
The output of the PID controller is operated on by the output of branch 4, if branch 4 was selected. If branch 4 was not structured
then no operation is carried out, the controller output is connected to branch 1 without modification.
Evaluation: Multiplication if 54.1 = 1
Division if S4.1 = 0
The output of branch 5 is the main component of the current setpoint.

Input variables:
P ID controller module:
- CONSXP Proportionalvalue influence the behaviour
- CON5.TN Integrating time of the PID controller
- CON5.W Differentiating time
- CON5.B+ The constant determines the upper limit for the limiting in branch 1.
- CON5.B- The constant determines the lower limit for the limiting in branch 1.
- BIT5.RF The bit disables or enables the PIDcontroller.The controlter is enabled, when the bit is active. When disabled, the
controller produces 0% of its output and resets its internal memory.
Setpoint limit monitor:
- CON5.SOG Upper limit
- CON5.SlfG Lower limit
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Actual value limit monitor:

- CON5.OW Upper warning limit
- CON5.UW Lower warning limit
- CON5.OG Upper danger limit
- CON5.UG Lower dangerlimit

Miscellaneous:
- CON5.1 When relay RELS.1 is active, the constant works on the input of the PID controller. (Start-up value).
- REL5.1 When the relay is active, it switches the constant CON53 to the PID controller input.
- REF5/9 With this relay, one can switch over to ,,Direct tension control" (see Section 4.10.5.16).

Output variabtes:

PID controller module:

- BIT5.UE-k This bit is active if the manipulated variable (MP9) in branch 1 crosses the upper limit CONS.B+ (in branch 1).
The integrator in the PID controller is then frozen.
- BIT5.UE- This bit is active if the manipulated variable in branch 1 crosses the iower limit CON5.B- (in branch 1).
The integrator in PID controller is then frozen.

Setpoint limit monitor

- BIT5.SOG The bit is active if the setpoint crosses the upper limit.
- BIT5.SUG The bit is active if the setpoint crosses the lower limit.

Actual value limit monitor

- BIT5.OW The bit is active if the actual value crosses the upper warning limit
- BIT5.UW The bit is active if the actual vatue crosses the Lower warning limit.
- BIfS.OG The bit is active if the actual value crosses the upper danger limit.
- B[f 5.UG The bit is active if the actual value crosses the lower danger limit.

Miscellaneous:
- MP10 Main current setpoint (input of the summation stage in branch 1)
- MP11 Input of the PI0 controller (control deviation)

Note:

-
The bits BIT5.SOG to BIT5.SUG are- evaluated by the standard function block FB:FORCE (Section 5.1).

4.10.5.6 Branch6: Setting-up speed

Function:
When relay REL6.l is active, the constant CON6.1is switched tothe summation stage in branch 5.

lnput variables:
- CON6.1 Constant used as the setting-up speed setpoint
- REL6.1 Relay used to switch the constant CON6.f to the speed controller, branch 5 (control deviation).

Output variabies:
- The result of branch 6 isconnected to the summation stage in branch 5.

4105.7 Branch 7 : Inching speed

Function:
If relay REL7.l is active, then the constant CON7.1 is switched to the summation stage in branch 5.

Input uariables:
- CON7.1 Constant used as the inching speed setpoint.
- REL7.1 Relay used to switch the constant CON7.1 to the speed controller, branch 5 (control deviation).

Output variables:
- The result of branch 7 is connected to the input of the summation stage in branch 5.
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (OR)

4.10.5.8 Branch 8: Speed/velocity setpoint

Function:
The branch generates the main setpoint for the inner loop controller in branch 5.
Relay REL8.3 is used to select whether the setpoint is an analog or a digital input. In the case of an analog input (REL8.3 inactive)
the IP inputs the value via ADC6.
In the case of a digital input (REL8.3 active) relay REL8.1 can be used to decide whether the setpoint comes from the PG (CON8.l)
or from the logic control program of the SS-CPU (VAR8.1).

Further processing of the setpoint is only carried out if relay REL8.2 is active.The setpoint can be enabled or disabledwith the relay.

The setpoint input via ADC or VAR8.l/CON8.1 can be transmitted via a ramp-function generator or a smoothing block or via both
simultaneously. The structure switches S8.1 and S8.2 determine which block is selected.

The processed setpoint (MP17) is multiplied by the constant CON8.2 and then transmitted to branch 5.
If structure switch S8.3 is active, then the processed setpoint (MP17) is output via an anaiog output channel (DACS).

The ramp-function generator block and the smoothing block are described in detail in Section 430.6.

Input variables:

Setpoint input:
- ADC6 For analog setpoint input, the signal is input via ADC6.
- RELB.1 The source for the digital setpoint is selected by the relay. If the relay is inactive, the value comes from the PG
(CON8.1).
The relay determines whether the setpoint input is analog (relay REL8.3 inactive) or digital (relay REL8.3 active).
When active, the relay allows the setpoint to be processed further.
For digital setpoint input (REL8.3 active) and with relay REL8.1 inactive, the PG is the source of the setpoint
(C 0 ~.l8 ).
For digital setpoint input (REL8.3 active) and with relay REL8.1 active, the logic control program of the S5-CPU
is the source of the setpoint.
Multiplication of the processed setpoint by a constant.

. Ramp-function generator:
- CON8.TR Ramp-downtime
- CON8.TH Ramp-up time
- CON8.ZVW Increment
see Section 4.10.6.3
- BIT8HOE Increase bit .
- BIT8.flE Decease bit
- 31T8.LOE Reset

- MP12116 ' Actual speedlveiodty

Smoothing biock:
- CON8.W Delaytime see Section 4.10.6.2

Output variables:
- MP14 Magnitude of the setpoint after optional processing by the ramp-function generator block andlorthe smoothing
module. This value is transmitted t o the summation stage in branch 5.
- MP17 Magnitude of the setpoint directly after being input.
- DAC5 For active structure switch S8.3, the processed setpoint is output to an analog output.
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.5.9 Branch 9: Outer loop (primary) controller

Branch 9 (and also branch 5 ) contains a relay REL 5/9,which is only active in a special application ("Direct tension control").
Section 4.10.5.16 is devoted to this application. Therefore in the description below this relay is assumed to be inactive.

Function:
The control deviation is determined in the summation stage. The actual value is input via ADCI. The setpoint can be input either as
an analog variable (59.2 inactive) or digital variabte (59.2 active). For digital setpoint input, the state of relay REL9.1 determines
whether this value comes from the SS-CPU (VAR9.1) or from the programmer (CON9.1).
The setpoint and the actual value are each monitored by a preassigned and non-optionai limit monitor (see page 2 on branch 9 in
Section 8.1). The operation of both these iimit monitors is described in Section 4.10.6.1.
The control deviation (output of the summation stage) is used as the input by the PID controller.
The PID controller can be assigned, P, PD, PID or P1 control action by setting various parameters to zero:
TN=O I component not active
TV=O D component not active
The controller output is limited by CON 9.Bt and CON 9.8- and then multiplied before it reaches the summation stage of branch
5. The type of this evaluation can vary:
multiplication by a constant is possible via the PG value CON 9.2. However, it is also possible to make the operation proportional
to theinstantaneous speed value (MP 12 from branch 10).
If the signal reaches the limit, the relevant bit, BITS.U+ or Blf9.U-, will be set.The PID controller then disables the integrator. In this
way "wind up" of the integrator is prevented.

fnput variables:

Setpoint input:
- ADC2 Setpoint input if analog setpoint input mode was selected (59.2 inactive) during structuring.
- REL9.1 The source for the digital setpoint is selected by the relay, If the relay is inactive, the value comes from the PG.
- CON9.1 For digital setpoint input and with relay REL9.1 inactive, the PG is the source of the setpoint (CON9.1).
- VAR9.1 For digital setpoint input and with relay REL9.1 active, the SS-CPU is the source of the setpoint (VAR9.1).

Actual value input:

- ADC1 The actual value is always input as an analog variable.

PID controller:
- CON9.KP Proportional gain ,
- COM9.TN Integral-action time
- CON9.TV Derivative-action time
- CON9.B+ The constant determines the upper limit for the limiting.
- CON9.B- The constant determines the lower limit for the limiting.
- BIT9.RF The bit enables or disables the PID cantro1ler.f he controtlerisenabled ifthe bit is active. In the disabled state, the
controller outputs 0% and resets its internal memory.

Setpoint limit monitor:

- CON9.SOGL Upper limit
- CON9.SUGL Lower limit

Actual value limit monitor:

- CON9.OWL Upper warning limit
- CON9,UWL Lower warning limit
- CON9.QGL Upper danger level
- CON9.UGL Lower danger level
Multiplication of the controller output:
- CON9.2 This value is multiplied with the controller output if structure switch S9.3 is active.
- MP12 The controller output is multiplied with the actual speed value input in branch 10 if strticture switch S9.3 is
inactive.

Miscellaneous:
- REL5/9 This relay can be used forswitching over to "Direct tension control"
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Output variables:

PID controller:
- BIT9.UE-I- The bit is set when the output of the PID controller crosses the upper limit CONS.B+.The integrator in the P1D
controller is then frozen.
- BIT9.UE- The bit is activewhen the output of the PID controller crosses the tower limit CON9.B-.The integrator in the PID
controller is then frozen.

Setpoint limit monitors:

- BfT9.SOG The bit is active when the setpoint crosses the upper limjt.
- BIT9.SUG The bit is active when the setpoint crosses the lower limit.

Actual value limit monitors:

- BITS.OW The bit is active when the actual value crosses the upperwarning limit.
- BIT9.UW The bit is active when the actual value crosses the lower warning limit.
- BtT9.OG The bit is active when the actual value crosses the upper danger limit.
- BIT9.UG The bit is active when the actual value crosses lower danger limit.

Miscellaneous:
- MP1 Actual value of the outer loop controller
- MP2 Setpoint of the outer loop controller
- MP3 Control deviation of the outer loop controller
- MP4 Input of the summation stage in branch 5

Note:
The bits BIT9.SOG to BIT9.SUG arenot evaluated by the standard function block FB:FORCE (Section 5).

410.5.10 Branch 10: Actual speed value

Function:
The actual speed vatue can be input via an analog input channel (ADC3) as a tacho voltage or via the pulse detection input as a
pulse sequence. If required, the smoothing block can be used to smooth theactual value.Then thesignal is multiplied by a constant
(CONIO.1). If relay REF10.1 is inactive, the result of the multiplication in the case of a speed control system goes to branch 5 , in the
case of velocity control to branch 3.
For display purposes theactual speed value (MP12) is processed further. it is multiplied by a constant (CON10.3), then transmitted
via the display block and output via the analog output channel DACI.

If relay RELZOI is active, the constant CON10.2 goes to branch 3 or branch 5.

Relay REL10.1 is used during start up.

The display and smoothing blocks are described in Section 4.10.6.4.

Input variables:
The constant is used for normalizingthe actual speed value.
This value can be input for commissioning purposes via relay 10.1.
The constant is used for calibrating the display via DAC1.
Rated speed in revolutions per second.
The number of index lines divided by 100. Both constants CON10.4 and CON10.5 are used for calibrating the
digital actual speed value input. At rated speed the block outputs 100%. (Example: CON10.5;5 B 500 index
lines).
- CONlO.nrZ lnput variable of the smoothing black, see Section 4.10.6.2.
- ADC3 Address of the analog input channel used for sensing the tacho vottage
- DACl Address of the analog output channel used for displaying the actual speed value.
- REL70.1 When active, this relay activates constant CON10.2.

Output variables:
- MP12 This is the processed actual speed value.
It is effective at the input of either branch 3 or branch 5. In addition the value can be output via an analog output
channel.
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10311 Branch 11: Actual armature current value

Function:
The actual valueof the armature current is inputvia ADC4. It should be routed via the input terminals 3 and4 (channel 1) since actual
value filtering is possible in the terminal block. The actual current value is used for thermal monitoring of the machine andlorforin-
jection in the surnmator in branch 5.
If applied to the surnrnator in branch 5, the actual current value is used, for example, for characteristic manipulation or, in the case
of voltage controll, ior(l X R) compensation.Asigned actual current value is required in the caseof a 4-quadrant drive.The influence
of the actuai current value can be influenced by constant CON11.3.
Using the armature current, a thermal monitoring of the motor is possible (511.2 active]. For this purpose the armature current is
substituted in an equation. This equation generates the approximate temperature response of the armature winding. When the
limiting value is reached (CON11.1), bit 11.1 becomes active.
A more detailed description of theequation is given in Section 410.6.6.

Input variables:

Thermal monitoring:
- CONI1.l The constant gives the value fromwhich the thermal monitor sets bit 17.1.
- CON11.2 The constant is a characteristic of the motor. It is a criterion for how quickly the motorwarms up.

Miscellaneous:
- CON11.3 The constant is multiplied by the armature current when 511.1 is active.
- ADC4 Address of the analog input channel used for the actual armature current.

Output variables:
- BITll.1 This bit is set, when the thermal monitor has reached the limit CON1l.l. When the bit is set, the maximum per-
mitted heating of the armature has been reached.
- MP5 The actual armature current value after multiplication by constant CON11.3. Thisvalue is used as the input of the
summation stage in branch 5.
- MP13 Actual armature current value input via ADC4.

4.10.5.12 Branch 12: Limit monitor 1

Function:
The limit monitor monitors the value at any desired measuring point. A maximum of six limits can be used. The no. of the monitored
measuring point can be modified in the RUN mode of the 1P at any time.
The function is described indetail in Section 4.10.6.7.

Input variables:
- MPNO. No. of the measuring point to be monitored (1 ... 17)
- CON12.1
- CON12.2
- C0N12-3 Maximum of 6 limit values
- CON12.4
- CON12.5
- CON12.6
- CON12.7 Number of limiting values

Output variables:
- BlT12.1
- BIT12.2
- BIT12.3 Maximum of 6 output bits
- BIT12.4
- BlT12.5
- BITt2.6
4. Programming instructions

410 Description of the Drive Controller Structure (DR)

410.513 Branch 13: Limit monitor 2

Function:
The limit monitor monitors the value at any desired measuring point. A maximum of six limits can be used. The no. of the monitored
measuring point can be modified in the RUN mode of the IP at any time.
The function is described in detail in Section 4.10.6.7.

lnput variables:
- MPNO No. of the measuring point to be monitored (1 ... 17)
- CON13.1
- CON13.2
- CON13,3 Maximum of 6 limit values
- CON13.4
- CON13.5
- CON13.6
- CON13.7 Number of limiting vatues

Output variables:
- Bif13.1
- BiT13.2
- BIT13.3 Maximum of 6 output bits
- BIT13.4
- BIT13.5
- BIT13.6

4.10.5.14 Branch 14: Measuring socket l

Function:
The value of any desired measuring point can be output via an analog output channel.The no. of the measuring point can be modi-
fied any time during the RUN mode of the IP.

Input variables:
- MPNO No. of the measuring point, which is t o b e recorded (1 ... 17)
- DAC3 Address of the analog output channel at which the value of the measuring point is to be output
Measuring socket 1 is permanently connected t o the DAC channel 5.

4.10.5.15 Branch 15: Measuring socket 2

Function:
The value of any desired measuring point can be output via an analog output channel. The no. of the measuring point can be modi-
fied any time during the RUN mode of the IP.

lnput variables:
- MPNO No. of the measuring point, which is to b e recorded (l ... 17)
- DAC4 Address of the analog output channel atwhich the value of the measuring point is to be output.
Measuring socket 2 is permanently connected t o the DAC channel 6.
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.5.16 Special case: Direct tension control

In the case of a velocity control system (branch 3 active), one can switch over to ,,Direct tension control". Switchover is carried out
by relay REL 5/9 from the control program of the SS-CPU.

When relay REL 5/9 is active the following occurs:

- Measuring point MP10 of thevelocity controller in branch 5 is used by the outer loop controller in branch 9 either as the upper or
lower limit. The state of the structure switch S9.1 determines whether the lower or upper limit is specified by MP10.

- Measuring point MP4 of the outer loop controller in branch 9 becomes the input of branch 1. MP4 is therefore the main compo-
nent of the current setpoint.

This is illustrated by Fig. 4.4. This shows the case where the lower limit of the controller from branch 9 is determined by the con-
troller in branch 5 (S9.1 inactive). The upper limit is then the constant CONQ.B+, which was specified via the PG.
When structure switch S9.1 is active, then the upper limit of the control!erfrcm branch 9 is determined by the controller in branch
5. The lower limit is then CON9.B-, which was specified via the PG.
BRANCH 9 BRANCH 5 BRANCH 1
r -------

upper limit
Fig. 4.4 Directtension control (relay 5/9 active) Example: $9.1 inactive
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.6 Functions of the drive controller

4.10.6.1 Preassigned limit monitors in branches 5 and 9
The results of these limit monitors are used by a CP 526 for display purposes.The output bits cannot be read from the standard F0
used with the logic program (Section 5.1).

Function of the actual value limit monitor:

Four limits can be specified via the PG:
- Upper warning limit
- Lower warning limit
- Upper danger limit
- Lower danger limit

Each of these limits is assigned a bit. If a signal crosses the upperwarning/danger limit, then the "Upperwarning/danger limit cros-
sed" bits are set. In all other cases they are reset. When the signal crosses the lower warning/danger limit, then the "Lower
warning/danger limit crossed" bits are set. In all other cases they are reset.

Function o f t h e setpoint limiting monitor:

Two limits can be specified via the PG:
- Upper limit
- Lower limit

Both limits are assigned two bits. When the upper limit is crossed the "Upper limit crossed" bit is set, otherwise it remains reset.
When the lower limit is crossed, the "Lower limit crossed" bit is set, otherwise it is reset (Fig. 4.5).
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Example: Setpoint limit monitor

Setpoint

0
"Upper limit crossed"
"Lower limit crossed"
< Lower limit

Setpoint

loo% t upper limit n

..
0
crossed"
"Lower limit crossed"
I< Lower limit < Lower limit "

Setpoint

Time

> Upper limit

Y///////////// 0
'Upper limit crossed"
:////////,! #.
'Lower limit crossed"
< Lower limit c Lower limit U
Fig. 4.5 Method o f operabon of rhe pre-assignedlimi?monitor
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.6.2 Filter (seeFig. 4.6)

Function:
The filter srnoothes an analog variable using a first order delay function.

Explanation of function parameters

Typeof variable 1 Symbol Description Number format Setting range

Parameter 1 TV2 Filtertime constant Time 4 rns to 99hrs 59rnin

Explanation of function input/output variables

Type of variable Symbol Description I Numberformat 1 Setting range

Input variable X (t) Submodule input variable to be filtered 1 variable-dependent -100% to +loo%
Output variable Y (t) Filteredsubmodule output variable 1 variable-dependent - 100%to +TOO%

lnput signal

Output signal
X,---- ---

Fig. 4.6 Filter

 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.6.3 Rampfunction generator

Function: (Fig. 4.7)
The ramp-function generator produces a ramp as the output signal y(t) from an input step change x(t).

- The d o p e of the positive ramps is determined by the constants (ZUW, TH) and of the negative ramps by the constants (ZUW,
TR).
positive ramps are where the output value y(t) changes towards increasing speed (?100%). Negative ramps are where y(t)
changes towards decreasing speed (to%).

The constant ZUW(increment) specifies the percentage value which is reached after expiry of the negative (TR) or positive (TH)
ramp times, when a 100% step is connected to the input of the ramp-function generator.

In Fig. 4.7 (diagrams 1 to 4) several examples are included. They iltustrate the influence of the constants ZUW, TR andTH.
- The ramp-function generator takes into account the actual value (MPx). This guarantees the fastest possible tracking of the
setpoint y(t) by the actuaIvalue i(t). When tamping down, the actual value is taken into account, if it is less than the momentary
ramp value calculated by the ramp-function generator. When ramping up, the actual value is taken into account if it is greater
than the momentaryramp value calculated by the ramp-function generator.This procedure is explained in Fig. 4.8 (diagrams 1 to
5).
- Fig. 4.9 shows how the ramp-function generator behaves ifthe input signal is changed before the output signal has reached its
final value.
The actual value is also taken into account here.

Explanation of function parameters and binary variables

ftpe of variable Symbol Description Number format Setting range

Parameter CONTH Ramp-uptime Time 0.1 ms to 99hrs 59min
CONTR Ramp-downtime Eme 0.1 ms to 99hrs 59rnin
CON ZUW Ordinates of the ramp-function generator, i.e. the variable- 0 to -k 100%
ramp value achieved in the timeTH orTR at 100% dependent
"
input step change (thus determining the ramp slope)
Binaryinput BITHOE Higherbit, EH = 1 starts rising ramp Bit 011
signals BITTIE Lower bit, BL = l starts falling ramp Bit O/ 1
BITLOE Detete bit, BD = 1 effects switch from manualto Bit O/ 1
automatic mode i

Explanation of function inputloutput variables

Type of variable Symbol Description Numberformat Value range

Input variables X(t) Current setpoint variable- -100% to +loo%
dependent
i(t) Current actualvalue (MP12 or MP16) variable- - 100% to +loo%
dependent
Output variable Y(t) Output value (ramp value) variable- - 100% to +100%
dependent
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Negative ramp

Positive ramp

IRY% t
Negativeramp
and
Positiveramp

L - - - -- - - - --
-
--L

@ -100%

Negative ramp
and
Positive ramp

=:g 4.7 i(arrp-funct~ongenerator for drive controller

Ass~mption:Actual value referencing not sensiole!
 4. Programming Instructions

4.10 Descriptionof the Drive Controller Structure (DR)

The actual value is larger than the ramp y(t).

==> No actual value referencing

At instant tt the actual value is between x, and X I

--
--> Actual value referencing

At instant tt the actual value is below XI

==>Actual value referencing

At instant t?, the actual value intersects the ramp y(t)

--
--> No actual value referencing

The actual value sinks below the ramp value at t z and be-
gins to increase again at h-
==> No actual value referencing

Fig. 4.8 Ramp-f uncrion generatoractual value referencing

4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Fig. 4.9 Ramp-functiongenerator

Ci-langingtheinput before theoutpm has reached its finalvalue
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

- The ramp-function generator

- has three binary input signals with which the output y(t) can be influenced (independently of the
input x(t)).
- If the HOE bit is active, then the output y(t) ramps to the +TOO% limit. The actual value is not taken into account (MPx).
-
- If theTIE bit is active, then the output ramps to the 100% limit. The actual value is not taken into account.
- If the HOE a n d f If bits are both active s i ~ u t t a n e ~ u sthen
l ~ , the output remains a t the last value;
i. e. no ramp is generated
- If the.LOE bit is active, a change of mode is made from manualto automatic (i.e., the setpoint is approached via the preset
parameters THrTRan ZUW), as long as the HOE and TIE bits are inactive.
The actual value is taken into account in this case.
Resetting of the bit causes the output y(t) to ramp to the input value x(t). The actual value is also taken into account here.
- The HOE and TIE bits have priority over the LOE bit.

The function of the bits is illustrated in Fig. 4.10 (diagrams 1 to 2)

4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

0
\
1
-- +
. ,I

-loo%--
HOE
TIE
1
1
.m
1
LOEO
1

+loo%--,
i(t)
-- -- -- - - - -
x(t1
Y (1)
'. t
I
0
t2 h h t5 f6 t7 t8

-loo%-- P

1
HOE /
///////7A
1
TIEO

LOE A
Actual
A value
I referencing

Bild 4.10 Ramp-functiongenerator

Function of HOE, TIE and LOE bits
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.6.4 Display
Function:
The display function provides a non-flickering display of the actual speed value.
The input signal to the dispiay is output as a rounded signal.

4.10.65 Characteristic curve

Function:
The characteristic curve stage transforms an analog input variable X (field current) into an analog output variable y.
The function y = f(x) used has the following characteristics:

- Linear range
yLO for OSxI100%
y=O for -100% S x S 0%
100
y=3/2x for OdxS-%
3

- Parabolic region
y= - -100)2 + 100 for 'a%
3
S X = S 100%

The curve is shown in Fig. 4.11.

The curve is also called the normalized excitation curve. It represents the relationship between the field current and the fluxof a
d. c. motor. The curve is an approximation which is valid for most d. c. motor types.
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Value table:

Field current Flux

X Y

Y
AFlux

100% - -
0%
10%
20%
30%

40%
O%
15%

30%
45%

59,5%
l Linearapproximation
Y'?X3

-C-
I
-
l
50% 72%
I
60% 82% l
I
80% 95,5% !

90% 99% i
100% 100%
l
I
1
l
I
50%
l
I
1
I
I
l
l
1

-
0
' linear parabolic
I

0 331h% 100%
Field current (ADC5)

Fig. 4.11 Normalized excitation curve

 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

4.10.6.6Thermal monitoring
When current flows through an electric machine, the temperature rise can be described approximately using the e function. This
"thermal image" is used to regulate the temperature rise in the machine in a calculation involving the armature current and the con-
stant CON 71.2 (thermal time constant) according t o the following equation
-t
Temperaturerise = i2 ,, . (1 - e T).
If the permissible temperature limit (temperature rise) is exceeded, bit 11.1 is set. The temperature limit is given with the constant
CON 11.1.A temperature limit i s seiected such that under operation with nominal current the tempe~aturelimit is never quite reached
- e -T
(ortheoretically would be only after an infinite period). Cooling isexpressed by the equation i2

Example:
Nominalthyristorcurrent = 5 0 0 A 4 10V IlSTe 100%

--
Norninai motor current = 400 A a 8 V I, B 80%
Thermal time constant: 30 min (CON11.2)

Temperature rise curve with nominal current:

Temp. rise = i$X (l -exp - -) t -80.80 % (I -exp - 30tmin ) = 64 % (l-exp - 3t
0
rnln )
Temperature rise curve at, e. g., 1.2 IN= 480A (==96%)
Temp. rise = 92.16 % (1-e - &)
It can be seen from Fig. 4.12 that, when operating with 1.2 X IN, bit 11.1 is set after approximately 36 minutes. The temperature rise
value is only reset when the module is in STOP status. If the IP RAM has battery backup, the old value will be retained on "restart
after power failure".
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

"Heating" of the annature winding

- CON 11.2 1

i2.(1 - e-) Heating equation

i Armature current
X Thermal time constant
t Time

Armature current

Fig. 4.12 Thermal monitoring

4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Fig. 4.13 Limit monitor of t h e drive controller structure

 4. Programming instructions

4.10 Descriptionof the Drive Controller Structure (DR)

4.10.7 Data block af the drive controller (DR)

The data block contains all thedata of the DRcontroller structure. If the contents of these data words have to be read or overwritten
by the CPU, access to these internal IP 252 data can be effectedwith the help of data handling blocks (Section 5.2).
Data
Word
address
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 i D I
+ + + + + t - - - + - + + + + t t t + + + y

I Conf lpuration code (DRIVE: 101.) I DU 0

+--.**+*.---+-----+----*+*---*t-*---+----*t-----+-----+-----+-----+----*+-----t*-*-*+-----+----*t

1 Verslon number I DW 1
-*--*---+--.--+-----+-----+----+-----+-----t-----h---*+**---+-----+**-*-+--***+-~---t-----+-----+-----+--""-t

I I Status word I DW 2
I +-----+-----+.----+-----+-----+----+------*-+--.--+
I I Error form word I W
D 3
BESY- t-----t-----+-----+-.---+-----+---.-+----t-----+-----+-.---+----.+-----+--~--+-----+----*+----.+

CODE I Error form word 1 DW 4

+---~-+-----+--~--r-.---+-----+*---*+~-"-*+-----+-----+-----+".-.**~~~~~**~~~*+***..+----*+
1 I I OW S
1 +-----+-----+-----+-----+-----+-----+---**+-----+-----+-----+.----+-----+----*+-----*--*-*+-----+
I I I DW 6
1 +**---+-----+-----+-----+-----*-----+-----+----*+-----+----*+*----+*-*--+-----++----+-----+-----+-----+

I I MII wrd I DU 7
-*-*--**+*----t-----+----I--+-----+-----+-----b----+--~~-+-*---+*--**+---*-+-----t-----+-----+-----+----*+

1 Sa#plIng tlme t 2 . 5 ms (32 BIT-EM) I DW 8

.................................................................................................
I 1 DW 9
--+-----+-*---+-----+-----+-*-*-+-----t-----+-----+-----+-----+-----+-**-*+-*---*--*--t-----t-----+-----+

SampllngI Sampling t l # o f the fastest branch (16 BIT-W) Time value I DU 10

tiw .................................................................................................

I TIme format I DW 11
-------+-----t-----+-----+-----+---.-+-r-.-t-----4--*--+-----+-----+----r+-----+,--"-+-----+---*-+-----+

I Rtnl~umpulseduratlon12.5m5(FPKT) Ttme value I DU 12

+--"cr+----*+-----+-----+-----+-----t*----t-----+-----+-----+-----+----*+--*--t-*-***-*--*+-----+

I Tlme f o m t I DU 13
.................................................................................................

I Mtnlaua pulse duration (16 B I T - m ) T t r value I DU 14

................................................................................................

I Time f o m t Time f o m t I W15

+-----+-----+----r+-----+---Cr---+-----+----*+----*+-----+-----+--*--t.-*-*+-----+-----**----+-----+

I Wultlplicr (16 BIT-OCR) Smpling t i a e t n a l l e s t basic sampling t t m I OH 16

+-r---+,----+-r---+-----+-----+-r---h-*--+-----+*----t-----C----+-----+--rr-+----r+"-*--+-*---+

I I DW 17
+-----+-----+-----*-----+----*-----*--+-----+*--*-+----+-***-+-----+-----+---"-+-----+-----+-*---+
I I W18
+--.-.+----.+.----+----.+.-.-.+.r-r-+-.r--+-----+--*--t--*--k----+-----t---.-+-----+-----+-----+

I I OU 19
...............................................................................

I l OU 20
h---*+-**-*+-----+-----+-----+----d+-----+-----+---*-+--*--+--*--+*---*+-----+~----t-----+-----t

I I DW 21
................................................................................................
I I DW 22
t-----+--r--+-r*--+-----+-----+-----+-*---+~----+-----+-----t-----t-----+-----+-"*--t-----+--*--t
4. Programming Instruction

4.10 Description of the Drive Controller Structure (DR)

Data
word
address
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 I
t - - - - - t ~ ~ ~ ~ ~ + * ~ ~ ~ ~ + * ~ - * - t ~ * ~ * ~ + . - ~ - - + - - - - - t - ~ ~ ~ ~ + ~ ~ * ~ ~ + * V~ ~ ~ ~ t ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ + ~ - - - - + ~ ~ * * ~ +

I I DW 23
+----~+L----+.---~+*--*-t.*--*t-----t-----t--*-*+*~*~~+*~~~~+-~~~~+~-~--+----~+~~~*~~~~*~+*~~

1 I W24
.................................................................................................
I I DW 25
+-----+---."+-----t.i*-*-+-----+-----+-----+---~~+--*--t-----+*----+-----+-----+~-~~-+~*"-"+-**--+

1 I DW 26
+--**-*-----+-----+-----+-----*-----+-"---+--*--+----~+~~~**+-*---+-~~.~+~*-**+-*--*+*---*+~~-~*+
I 1 DU 27
.................................................................................................
I i DW 28
*~----+-*---+.----+~---+-----+--+-----+---~*+*~~~-+-*---+-----+-----+-----+-----+-"~*~*~~*-*+-----+
I I DW 29
......................................................................................................
I I DW 30
.................................................................................................
i I DU 31
................................................................................................

I I DY 32
.................................................................................................
I I DW 33
.................................................................................................
I I DW 34
--------+---r-+---*-+-----+----*+-----+-*---+-----+-----+---"-+-----+-----+-----t-----t-----+-----+-*---+

Conf tgu-I ST(0) I DU 35

.................................................................................................
suttch I ST(1) I DY 36
---rrrr-+-----+-..r--+-----+--*--+-*---+*----+'---*+-*---+-----+-----+-*---+---*-+-----+-----+-----+---~-+
Branch I1 Standardiratb n acceleration value CON 1 .l I DW 37
-------*+----*tr----t-----+-----t-----+~~*-*+-----+---*-t*"---t-----+-~-~-+~-~~~+-----+-**~-+-----+-----+

I I DU 38
+-----+-----+-----+-----+-----+r-r--+*-*--+-----+---r-+-----+-----+-"*-.-+--*--+--"--+-----+-----+
1 1 W39
.........................................................................................................
I 1 Controller gain CON 5.KP I DW 40
I ...................................................................................................
I I I OM 41
I +--*--+-----+-*---+-----+-----+-- -c,,,,+.*-,-+-----+-----+-----+-----+-"---+----*+-----+-----t

I I Integral action t i w CON 5-TN I OU 42

I +-----+-----+-----+----+-----+-----+-*---+--*--+**---+-----+----~+-----+---*-+----*+~--"-+~+---+---*-+

I I D1M 5.TW I OW 43
1 +---*-+-----+-r---+r-----+-----t-----t-----+-----+-----+*---"t-----+--~--+-----+*-**-+-----+----~+

Branch 51 Derivative actlon ttre COW 5.V I W44

1 +-~~--+**---+-----+-----t----t-------t~.-~~+~~~~-+---**t~-~~-t---~-+~~~~~t~~~~~+~~~~~+~*~**+~~--~+

I I orn 5.n I ow 45
1 +-r-*-+-----+-*---+-----+---**t-*---+-----+-----+--*--+---*-+-----t-----+-----+----**----+-----+

I I Upper manipulated variable limlt COW 5.3+ 1 DW 46

I +--.*-+---"~t----~+.-*--t-----+-----+-----+---*-+--*-*+-----+--"--t-----+-----t---*-+--**-+*----+

I I Lower manipulated varlable t l m i t CON 5.B- I DY 47

I +-*.--+--.--+.*..-+----*+-----+-----+-----+----*+-----+-----+-----+-----+---**+----"+-~---+-----+
 4. Programming instructions

4.10 Description of the Drive Controller Structure (DR)

Data
word
Address
1 5 1 4 L 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 I
+ - - - - - + - - - . - + - - - - - + - - - - + - - - - - + - - - - - + - - - - - + - - " + + + + + + + + + + y
I I I DW 48
I .................................................................................................
I I i DW 49
I ......................................................................................................

I I Start-up value BRANCH 5 CON 5.1 I DW 50

--------+--*--+w-*.-+.-.--t-***-+-----t-----+--*--+-----+--~--+-----+-----+-----+-----+-----+-----+-----+

I I F I l t e r time constant COIl 10.fV2 I OW 51

I .................................................................................................
I I D M ~o.rvz I DW 52
I +-----+-*---+-*---+-----+-----+-----+-----+-----*----*+-----+-----+----*+-.+--+-----+--.--+-----+
Branch 101 tlarchlng COW 10.1 I OW 53
I .................................................................................................
I I Start-up value BRANCH 10 C M I 10.2 I DW 54
.........................................................................................................
I I Setpo<nt COW 9.1 I MS55
I .................................................................................................
I I Controllergain CON 9.KP 1 DW 56
I +-----+-----+-----+-----+------+.-+--.-----+-----+-----+-----+-----+-----+*----+-----+-----+
Branch 91 I DW 57
I +-----+-----+.----+----*+--*-"+-*-*-+-.---+-----t-----+-----+-----*-----+-----+**-*++""iii+-----+

1 1 I n t e g r a l action time CON 9.TN I OW 58

1 .................................................................................................
I I DIM 9.TN I DW 59
I .................................................................................................
I I Derlvatlve action t l w CON 9.N 1 DW 60
1 +---r-+.---*+----r+*----+-**--+-----+---"-+-----+-----+-----+-----+.----+--.--+**~~~+~~~~~+-----t

I I OIM9.TV I DW 61
f .................................................................................................
I I Upperllmlt CON 9 - 0 1 I DW 62
1 .................................................................................................
1 1 L W C ~1trnjt CON 9.8- I DW 63
1 ....................................................................................................
I I 3: DW 64
I +-----t.----+-----+r-----,+.-----*---*-+*----+-*---+-.-**+*.--*+-----+-----+----*+--*--+-----+-----+

I I 1 W65
1 ................................................................................................
I I Scaler constant C M I 9.2 I DW 66
--*-r---+-----*-----C---------t-----+-----+----+-----+--*--*-----t--.--+-----+---r-+-----+---.,+**---+

Branch 111 Matching araature c u r r e n t C M 11.3 I W67

-r------+-----+-----+-----+----+-----+-----%----+--*--+-----+-----+----.+-.**-+-----+-----*----+-----*

Branch 21 Frfctlon value COW 2.1 I DW68

*-------+-----C----+-----+-*--*+--+--*+-----+-----+--"--+-*---+-----+----*+-----+---

Branch 3bI Standardization acceleration COW 3.1 I DU 69

--------+-----+rr--r+------t-----+-----+-----+*CCCC+~~~~~+~~~*-+-*---+-----+-----+-----+---~~+~~~~~+~~~*~+

Branch 41 Standardization f l u x CON 4.1 I DW 70

------.* +.-...+-.---+-----+-*---+-----+-----+-----+-----+-----+-----+
Branch 6T Setting-up speed COW 6.1 I DW 7 1
.........................................................................................................
Branch 71 Creep speed CON 7.1 I OU 7 2
--.-----+-.-..+.-.I-++----+-----+-----+-----+-**--+-----+-----+-*--*+-----+-----+-----+-----*-"---*--*--+

I I Setpolnt COW 0.1 I DW 73

I +*--*"*.-.--+-*---+-----+-----+----+-----+-----+-----+-*--"+-----+&----+-----+--~~~*~~~~~+--*--+
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Data
word
Address
15 14 13 12 5 412 3 10 9 B 7 6 2 1 0 I
...................................................... y
I 1 Acceleratton tiote CON 8.TH I DV 74
I .................................................................................................
I I Din ~ . T H I DV 75
Branch 8+-----+.----+-----+-----+-----+-----+---h-+-----+----*+-----+----.+-----+----d+-----+----.+4--.-+
I I Deceleration time CON 8.TR I M76
I +--*--+-----+-----+---*-+----+----*-*+*----+-----+-----+--*--+----"+--*--+---*-+*---*+---..+"*---+
I I DIH 8.TR I DU 77
I .................................................................................................
I I Ordtnates a f t e r t i m e has elapsed COH 8 . ZUW I DW 78
I + - - - - - + - - - - - + - - - - ~ + ~ - - - - + ~ * ~ * * + * I * I * + - ~ - ~ ~ + ~ ~ ~ ~ ~ + * ~ * ~ ~ t ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ + - ~ ~ ~ ~ +

1 I F i l t e r t l w constant CON 8.TYZ I W79

] +-----+-----+-----+.----+*---*+-----+*----+**---*----*+*--*-+*----+--*-*+-----+-----+*----+**---+
1 1 D I H 8.TVZ I DW 80
.........................................................................................................
Branch 101 Cal lbtarlon dtsplay CON 10.3 I DW 81
-.------+---*-+---r-+r-----+*--t--+ttttt+*----+*----+-*-*-+**---+*----+---*-+-----+---**+*---**----+-----+

I I Upper response threshold COW 11.1 I DY 82

1 +-**--+-*---+-----+----*h*---+-----+--*--+----*k-*"-+----*+-----+-*-*-+*----+*----+-.---+-----+

Branch I11 Tjme constant CON 11.2 I DU 83

I + ~ ~ ~ ~ ~ + ~ ~ ~ ~ * + ~ ~ ~ ~ ~ c ~ ~ ~ ~ + ~ ~ ~ ~ ~ + * ~ ~ ~ * + ~ C C ~ C + ~ *
I I DIM 11.2 I DUM
------*-+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+
I I Ul: Humber of limits CON 12.1 I DW 85
I .................................................................................................
I I M1: Limit I CON 12.2 I W86
I ...................................................................................................
Branch 121 Ul: L i m l t 2 Con 12.3 I W87
1 .................................................................................................
I I Ul: Llmtt 3 C01 12.4 I m88
I +-----+-----+--r--+-----+-----+*----+*----+--*-+-----+--*--+---"+--**-+-----+---**+-*--

I I ni:~i.ita CON 12.5 I DW a9

I ..................................................................................................
1 I ni: i i m i t S con 12.6 I DVW
I ...................................................

I I Hl: L l r l t 6 CON 12.7 I W91

-*------+---*-*-----+-----+-----+-----+-----+-----+*----+-----+4----+-4---+-----+-----+-----+-----+-----+----"+

1 I m: Number of l i m i t s CON 13.1 I OU 92

1 +-*-**+--*-*+-*-*-+----*+--*-*+*----+----+-----+-----+-----b---"+--**-+~----+-*-.-+"*---+--

I I W : Ltnlt I con 13.2 I w93

I +---*-$-*-"-+--*--+-*-*-+*-***+---*-+-*-*-~**--+***-*+-----+--*--+---*-+**--*+--*--+--**-+-----+
I 1 M : iimlt 2 CON 13.3 I W94
I +---*-+-----+-----+-----+.--*--*---+--+-----+-----+-----+---*-+-----+*-*--+-----+--*--+*----+-----+
Branch 131 KZ: Limit 3 C01 13.4 I OY 95
I +-.--.+-----+-**-*+*---*+*****+----+-----+--***+-**-*+**--*+----*+-**--*-----+*----+*-*--+-----+
I I M2: Lbtt 4 C M 13.5 1 DW 96
f 4--,--+----*+*-**-+-*---+-**--+*----+-.-.-+-*---+*--*-+-----+--*--+--**-hhhhh+-**-*+-*--h--+

I l W : Limlt 5 CON 13.6 I OM 97

I +-----+--r*-+-----+-----C-----++---*-+~---b----+-""--+--d*-+--+--+--*-~+-----+---*d+---**+---*-+

I I W : Llmtt 6 CON 13.7 I DU 98

----...-+-----+-----+-----+--- "-+-**--+-----cCCCC+*-*--+-*---**----+-----+---*-+-----+**-.-+-----+-*---+

l I Position setpoint upper I h l t CON 9.S06 I DU 99

1 +-----+--*r-+-"-r-h---*+---*-+**--.+--*--+-----+-----+**---+-----+--*--+--*--+-----+-----
 4. Programming Instructions

4-10 Description of the Drive Controller Structure (DR)

Data
word
Address
1 5 1 6 1 3 1 2 l 1 1 0 9 8 7 6 5 4 3 2 1 0 I

I I P o s l t l o n setpolnt lower limit CON 9.5116 I DW 100

1 .................................................................................................
Ftxed I P o s i t i o n setpoint upper warning l i m i t CON 9.OW 1 Dw 101
H in +-----+-----t-----+-----+-----+-----+-----t-----+-----+-----+-----t-----t-----+-----+----dt+---.t-----+

Branch 9 I Actual p o s i t i o n lower uarntng l i m i t CON 9.UW I DW 102

I +-----t---.*+---""+-----+-----+-----+-----+-----t-----t-----+*----+--*--+----~+-----t-----+----.+

I I Upper danger I l m l t CON 9.M; I DW 103

I +--"--+-----t-----+---.-+--*--+-----t-*---+***"-+-----+-----+-----+-----t-----*-"-"-+-----+-----t

I I Lcuer danger I l m l t CON 9.UG I D

W 104
-**-.---+----.t-----+--*-+-----+-----t-----+-----+--*-.+-----+-*---t.----+-----+-----+-~~--+-----t--**-+-"--*+

I I Speed setpoint upper l l m l t CON 5.SOG I DW 105

1 +-----+-----+-----+-----+-.--*+-----+-----+..---t-----+----.+.----+-*--*t---.++-----+---*-t--*--+

I: I Lower 111ait CON 5.SUG I Dw 106

I .................................................................................................

I 1 Actual speed upper warntng l i m i t CON 5.W I O

W 107
Fjxed + - - - - - + - - - - - t - - - - - + - - - - - + - - - - - t - - - - - t + + t t - + + + t + + V
H in I Actual speed l w e r uarnlng 11mlt CON 5.UW I DW 108
Branth 5 .................................................................................................
I I Actual speed upper danger l i m i t COU 5.06 I OH 109

I I Actual speed louer danger l i m i t CON 5.U6 I DW 110

Branch 8 I Setpoint scaler CON 8.2 I DU 111

---*.r--Cr--*-+--*--hh---t*----+----*+--*--t--*--**--.*t-----t-----t-----+-----t-----t----7+-----+-**--+

Branch 101 Rated s p e d In rev/mln CON 10.4 I DU L12

1 +-*---+-----+-----+-----t-----+-----+--*--+-----t-----t**---+-----+---.-+-----t-----***--"+-*---+

I I Sensor numberll00 CON 10.5 I OH 113

----***-+-*---+--*--+--"-~+----"+-----+-----*---*-+----*t*--*-t----~+.----*-----+-~~*-+*----+-----***-.-+

I 1 DM 114
...................................................................................................

I I DW 115
--------t-----+-.--"+-***-+-----+-----+-----t-----+-----+---*+-----+--*.-+-.---t.----+-----+*--*-+-----+

1 I k a s u r l n g socket 1 Measuring p o i n t ambe? I W 116

1 +*--.*+-----+---*-t-----t----+-----+-----+----*+*----+----h+-----*---*-+---*-+*-*-*+-*---+

number I Llmlt mnltor 1 Measuring potnt nu-r I DU 118

1 +-----+--.-r+-r-*.+.r----+-*-----+--**-+*----t.*---+---*-+--*-~t"---*t----*+*--~-+-----+-----+-----+

I I L i m i t monitor 2 Measuriap point number I DW 119

--------C,r.-+-*--m**--+-----+-*-*-+-----+-----+-----+----*+*----+---*-t---~-+-----+-----+-----+-*---t

I I ADC 1 address Actual p o s i t l o n I DY 120

I C--*--+-----+-----+-----+-*---+-**--------+

I I ADC 2 address Posftron setpolnt I W 121

I, h.--.+.-.*-+-*---+-.---+-----+--+*----*r*r*r*r*r+ffff-+*-*-*+*----+"----+-----t~.~*-+*---*+-~-*~+-~-~-t

I I ADC 3 address Actual speed I DV 122

a I ADC 4 address Actual a m t a r e current I OW 123

I I ADC 5 address F i e l d current I DV 124

I I ADC 6 address Speed setpol n t I DW 125

4. Programming Instructions

4.10 ~escri~tioh
of the Drive Controller Structure (DR)

Data
word
address
1 5 1 4 1 3 1 2 1 1 I O 9 8 7 6 5 4 3 2 1 0 I
+.*..+-----+,--,.+.----*+*-*--+-.+ - - + + + + + - - - - - + + + v
I I I DW 126

] .................................................................................................
I I Address of d i g i t a l counter Actual speed I DW 131

r-------+----,+,,---+-----+~~~~+----*+-*---+-----+-----+-----+-----+-*-+-+-----+----*+-*---+-----+-----+
I I 5AC 1 address Actus1 speed display I OW 144
I +-r---+-----+-----C----C~---+**---+-----+-----+-----+*--+-+-----+-----+-----+-----+-----+----*+

I t OAC 2 address Current s e t p i n t I DW 145

Output +-----+-----+-----+-----+-----c-.,,+-.----+"-*--+-----k"---+-----+-----+-*--*+---e*k---*+-----+----4
ad- I DAC 5 address k s t e r setpoint: I M1 146
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Data
word
address
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 I 0 I

1 .................................................................................................
I I DAC 3 address Neasurlng socket 1 I D
W 154
1 .................................................................................................
I I DAC 4 address Measuring socket 2 I D
W 155

----r-*r+---r-+-----+-----+-----+-----+-----+-----+-----t-----+--"--+-----+-----+-----+-----+-----+-----+

I 1 ADC 1 contents I DV 168

j .....................................................................................................

I I ADC 2 contents I OM 169

I I ADC 3 contents 1 DW l70

I +-----+-----+-----+-**-*+-----+*---r+-----+--"--+--*-*+--*--+-*-*-+*--.-+--r--+-.-*r+---*-+-r---+

I I ADC 4 contents I DU 171

I +-----+-----+-----+-----+-----+----+---
I I AOC S contents . I OW 172
1 +-----+-----+-----C----*-----+----*+-----+-----+----*+-<*-"+**-**t-*---+-+--+-+-+&----+-----+----++

I I ADC 6 contents I DU 173

I +-----+-*---+-*---+-----+-----+----+--------+-----+-----+-----+-----+-----+
Contents I I OW l74
07 the +----
inputs I I DW 175
I t---*-+-*--*+--*--+---r-+L----*+-----+---*-+-----+-----+*----+--*-*+-*---+-----+-----+-----+-----+

I I I DW 176
I +-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+
I I l DW 177
1 .................................................................................................
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Data
vord
address
1 5 1 4 1 3 ~ 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 I
+---..+....-+-.---+-----+.---*+- "-d-+-----+-----+---*-+-----+-*-*-+-d---+-----+-----+"-**-+*+ v
I I I DU 178
1 ..................................................................................................

I 1 Value of digital counter I D W 179

-----.-.+--*-.+--r.*+-----+-----+-----+-----**----+-----+-*-*-+-----+f-fff+-----+-*---+--*-*+-----+-----+
Bit I B l t vartable word 1 (Inputs) I DU 180
qariables+-----+-----+-----t-----+-----+-----t-----+-----+----.+-----+-----+-----+-----+-----+-----+---.-+

I I Bit variable word 2 (Inputs) I D W 181

--------+-----+-----+---+--+----+-~---+-----+*----+--*--+----*+-*-*-+-.**-+~~---+----~+*----+-----*
I I D W 182
.................................................................................................
I I DW 183
.................................................................................................
I I DW 184
.................................................................................................
, I I O
W 185
..................................................................................................
I I OW 186
+-----+-----+-----+----*+-----+-----+---+-+**---+---*-+--*--+-----+-----+-"*-*+---"-+-***-+"---~+
I I D W 187
................................................................................................
I I DW 188
r-------+~r~~~+*~~*r*-~~~~-+*~--*+~-*--+~~CCC+CCCCC+-----+-----+~~~~.+~"~*~+~~~~~+~*~~~+CCC~C+~~~~*+~~~*~+

I 1 Speed setpoint VAR 8.1 I DW 189

Varl- +---.-+-----+-----+-.---+----.+-----+-----+-----+---+-+-----+-----+-----+-----+--.-++-----+-----+
ables I Positjon sstpolnt VAR 9.1 I D11 190
f ................................................................................................

I 1 Variable ibltlal value (diameter) VAR 3.1 I OY 191

..-----.+-----+.*---+--*-*+-----+-----+-----+"----+--*--+-----+~----+"--~-+-----+---*-+~-~~*+*~~-~+++---+
X I Controller name: 1st Byte I Controller name: 2nd Byte I O W 192
F i e l d s +-----+-----+-----+-----+----*--+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+
for I Controller name: 3rd Byte I Controller nare: 4th Byte I DW 193
local .................................................................................................
opera- I Controller name: 5th Byte I controller MW: 6 t h Byte I DW 194
tor- +-----+-----+-----+-----+-----+-----+-----+-----+--"--+-----+-----+-----+-----+----"+--.--+-----+
process I Controller name: 7th Byte I Controller name: 8th Byte I W 195
coIwni-+-----+-----+-----+-----+-----+---d-+-----b----+-----+-----+-----+-----h----+-----+-----+-----+----h+
cation I A m name: 1st Byte I Area M-: 2nd Byte I DY 196
and +-----+-----+-----+-----c-l-.+----+-----.~-----+-----+-----+-----+-----+-+-+---+-*---+~~~~.+*----+-----+

visusll-I Area name: 3rd Byte I Area name: 4th Bytt I MJ 197
zatjon +-----+-----+-----+-----+-----+----+-------+
I I Area name: 5 t h Byte I Area naae: 6 t h Byte I DW 198
I +-----+-----+---*-+----*+----*-----+---**---+-----+-----+-----+
1 I Area name: 7th Byre 1 Areanam: 8th Byte I DW 199
............................................................................................................

I I DW 200
+-----+--*--+-----+-----+----*+--*.-+-----+-----+----*+-----+-*-*-+--***+-----+---*-+----*+-----+
I I DW 201
+-----+-----+-----+---*-+----.+---*-+-----+-----+*----+-----+----*+-----*----*+*---.+-----+--.--+
I I OW 202
+-----t-----+-----+-----t----*+-----+-----+7----+--*--*-----+--d--+-----+-----+-*-*-+--**-+-----+

I I DV 203
+-----+-----+-"-*-+"----+---**t-----+-----+-----+----"*-----+---"-+"---*+-----+-----+*----+-----+
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Data
word
address
IS 14 13 12 11 10 9 8 7 6 5 4 3 2 i 0 I
+..--.+----.+...-- t - - - - - t * ~ + - - + ~ ~ ~ ~ - ~ . . + . + . t t . + + + vt * " " +

I I DW 2D4
+-----+-----+----- t-----+r-.---+-...-t-----+-----+-----+-----t-*-.-+-----+-----+-----+-*---+

I I OU 205
+-----+-----+-----+-----+-----+-----t**-.-t-----+----"+-----*-----t.----+-----+*-*--t-----+--*--+

I 1 DW 206
+-----+-----+----*+-----+--*-+-----*--+-----+-"*--+-----+-----+----*+-----+-----+
1 I. DCT 207
~*~-*--*+~----+.----+----*t----+-----+------+

I I DAC t contents Dtsplay 1 DW 208

I +-----+---*-+---"-+--.--+-----+-----i--*----*+---*-+-----+-----+-----,-----+*--*-+-d*--+-----+--*--+
I I OAC 2 contents Mantpulated variable (current setpoint) I DW 209
I +-----+..---+.----,-*---+-*---t-----t--*--+--**-+-*---+-----+-----+-----+---**+-*-*-t-+---+-----t

I I DAC 5 contents Master setpoint 1 DU 210

1 , *-*--*+-----+-----+-----+*----+---*-+ii*i*+---*-+-*---+-----+-----t-----t-----+-----+---*-+----"+

1 1 1 DW 211
I +-----+-----+-,.,,+-".-+----*+--+--"--tiiiii*--~~~+~~**-+-~.-~+~.---+-----+~~~*~t~~~~~+----~+-----t

I I I 011 212
1 .................................................................................................
1 I I DW 213
1 t-----+*----t--*--t-----+---*-t-----+---~-*-*--*+-----+-----t-----+-~*~~+--*--t-*---+-----+---~-+

1 I I OU 214
1 +-----+----r+*----t-----+-r--"*+----*+*"---+-----+-----+-----+*-*-*+**-"-+-----+-----+---*-+--**-t

1 f I DW 215
----r---+-,.-.+---r-+r-----+--+---+--*--t-----t-----+-----+---**+-**--+-----t-----+-----+-**--+---*-+.----+ v
Contents1 I DW 216
of t h e +--.*-+--*--+-----+--*--+~~~--+"*---t-----t--"-*+---*-t---*-+-----t-----*--"~-*---**t*~---t-----+
out- I I DU 217
put* +-----+-----t-----t-----t-----+---+--+-----t**"-*+~~~--+*---*+---*-+*--*-+---~~+*~~~~+**--.+-----+

I I DAC 3 cantents k a s u r l n g socket l I DU 218

1 +--~..+--*-.t.-*-*+-----+.----+-----+----~t*~~~-+---*-+~~-*-+-----+~~"~~+~~*~*+--*-~t-----+-----+-~-~~*

I I DAC 4 contents Measuring socket 2 I DW 219

1 ............................................................................................

I I BtL variable word 1 Outputs I DW 220

1 +-----+-----t-----+-*---+-----t*----t--.rl+-----+**---*-----+-----+-~r--t-----+-----+r----+,,,-r*

I I B i t variable vard 2 Outputs I W 221

I +-**--+-*---+-----+.----+-----+---r+--t-----t--~*-b----t--~~~+~----+*-*-**-----+-----+---~~+~~~*-t

I I I DU 222
1 +*----+-----+.---*+.----+-----+-----+-----+----"+-*---+-----+-----+-----+-----t----*+----*+-----+--"--+

I I I DV 223
1 t
r.
..
.+
-- r--+.-...+-----+-----+-r----t-----+---"*+-----+-----t-----t-----+-----t-----t*--*-+-----+

I I I MJ 224
I ..................................................................................................

I I I DW 225
I .................................................................................................

I I 1 DW 226
I: C--**+-----+-r.--+-----+*----+-----+-----t*--*-b----+-----+-----+***--+----*+-----+-----+-"---+

I I 1 DM 227
I C----+-----+-----+-----+--*--t**--*+-----+-----+*----*----*+.*~*-+-----*rr-*r+---*-+*-*-*+.----+

I I 1 Dw228
1 +---- "+.-.".+.*...+-----+*----t-----+-----+-----t-*---t-----+-----t---~-+*----+"----+"----t-----+
I I I DW 229
1 t*-*--+--*-*+-**-*t--"--+-----t-----+-----+--*-*+*-"-*+-----+-----t---*-+*-*.-+-+---+-----+--*--+
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Data
word
address
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 I
+---.-+--*-*+-----+-----+----+--.++ v
I ! I DW 230
1 ..................................................................................................
I I 1 DY 231
--------+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+*----+-----+---*-+-----+*----+-----+
I I Measuring point l Actual value of the priwry controller I W 232
I .................................................................................................

I I Wasuring point 2 Setpolnt of the primary controller I DW 233

I ..........................................
I I kasuring potnt 3 Control deviation of the primry controller I DW 234
I .................................................................................................
1 I Masuring point 4 Correction value of the primary controller I W 235
I ...............................................................................................
I I basurrng polnt 5 Correction value o f the armature current I W 236
I +-----+-----+-----*-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-*-*-+-----+
I I Lasurinq polnt 6 Deceleratlan current I DV 237
I ................................................................................................
I I Measuring point 7 Acceleration compensation I DU 238
. Contentr+-----+-----t----+-----+--+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+---.*+
of the I Measuring point 8 Flux PHI I OW 239
nea$ur.+-----+-----+----r-----+--+-----+-----+--+--+-----+-----+-----+-----+-----+-----+----.+-----*----*+
Ing 1 Heasurtng point 9 Current setpotnt I DY 240
point .................................................................................................
I I Measuring point 10 Control of output o f the secondary controller I DV 241
1 +-----+---*-+-----+.--*--+*----+--*--+-----+-----+--*--+*----+----+----*+-----+**---+---"-+--*--+
I I easurlng point 11 Control deviation of the secondary controller I DU 242
1 +-----+-----+-----+-----+---*+-----+-*---+*--*-+-----+-----*-----+-----+---*-+---"-+-----+-----+-----+
I f Heasurlng potnr 12 Actual speed I 011 243
1 ............................................................................................
I I Measuring pol'nt 13 Actual a m t u r e current I D01 244
I +-----+**--r+-rr--+----*+*r----*-----+-----+-----+-----+-----+-----+----*+---*-~~~~~+"~~-~+*~-~-+
1 I Measuring point l4 Setpoint after ramp generator 1 DU 245
I +-----+-----+*---*+I----+----~-"+-----+*----+-*---+-----+----*+-*--*+-----+--*--+--&-~*-----+-----+
I I Measuring polnt 15 Diameter I DY 246
I +---.*+-----+--.-.+-.----+.-----+-----+-+-*.+-+*---***---+-*---+---.-b-*--+-*---+-----+-----

I I MeasutSng point 16 VelocIty I Dw 247

1 ...................................................................................................
I I Masurlnp point 17 Setpolnt before ramp penerator I W248
--------+**---*-----+-----+-----+-----+-----+-----+----+-----+-----+-"---+-----+-----+-*---+----*+--*--+
I I DU 249
..................................................................................................
I I DU 250
+-----+**---+-----+.----+-----+-----b----b--*4-----+*----+-----+-----+-----+-*---+**---+---*-+

I I DY 251
--------+-----+-----+-----+-*--*+*---+-*--+*----+-----+-----+-----+---~*+-~---~----&----+-----+
l I Acknowledgement word f o r speed controller I OY 252
1 +-----+-----+--.--C---"C------+-----+-----+-----+-----&----b----+-----+---*-+-----+-----+-----

Status I Status word for speed controller I DH 253

bytes +-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----+
for I Acknowledgement M r d for position controller I DY 254
+----.+-----+--.*.+-----*-----+--"--+-----+-----+-----+-----+-*-*-+-*--*+-*---+-----+-----+-----+
I 1 Status word for posltion controller I DW.255
"---.---+-----+-----t-----+-----+-----+----d+-----+-----+-----+-d---+-----+-----+*----+-----+-----+-----+
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Controller Mangement
15 14 l3 12 11 1D 9 8 7 b 5 C 3 2 f 0

7 - 7 - 7 - - - 7 - 7

Controller management area REV = 0 : Controiler is not processed

= 1 : Controller is processed

Configuring Switches

Abbreviation Branch Meaning

DW 35: S 1.1 01 inversion
S7 2 02 Friction
ST 3 03 Actual velocity
ST 4 04 Loop gain
ST 6 06 Setting-up speed
ST 7 07 Creep speed
ST 8 08 Speed setpoint
S 8.1 08 Ramp-function generator
S 8.2 08 Filter
ST 9 09 Position controller
ST 9.1 09 Limit selection B+/&
S 9.2 09 Positionsetpoint selection
S 9.3 09 Scaler selection
S 10.1 10 Actual speed subswitch
ST I t 11 Armature current
S 11.1 11 Injection

Injection
Setpoint sequence
Filter
Zoom display
Thermal monitoring
Limit monitor l
Limit monitor2
Measuring socket 1
Measuringsocket 2
4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Input bit variables

1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 b 5 4 3 2 1 D
+---t-4--+---+ +- : t
Range I BIT RE; REF EL REF F- EL REL EL REL BIT BIT BIT BIT BIT I DU 1M
S (12) I 3.1 !.l 6.1 7.1 3.1 a.2 8.1 9.1 2.1 5,1 519 9.F 5.RF HOE TIE tM 1
+ ..--- ----
$ +---+-*-+--+---__+___+_+ : --+-----+
Range i REL Et I DU i%1
5(!3) I 10,I 8.3 I
+-.4---3---+---~--~~---+--t-+---+-~~+

Abbreviation Branch Meaning

DW180: REL 1.1 01 Decelerationenable
REL 2.1 02 Friction enable
REL 3.1 3a Initialvalueswitch for integrator
BIT 3.1 3a Integrator enable
REL 5.1 05 Enablestart-upspeed controller
BIT 5.RF 05 Controller enable speed controller
REL 5/9 05,09 Direct tension control (transfer)
REL6.1 06 Setting-up speed
REL 7.1 07 Creep speed
REL 8.1 08 Setpoint switch (speed)
REL 8.2 08 Setpoint enable (speed)
BIT LOE 08 Reset ramp-function generator
BIT TIE 08 Low ramp-function generator
BIT HOE 08 High ramp-function generator
REL 9.1 09 Setpoint switch (position)
REL 9.RF 09 Controller enable position controller

DW181: REL 8.3 8 Setpoint switch: analog/dig. setpoint

REL 10.1 10 Enable start-up value
 4. Programming Instructions

4.10 Description of the Drive Controller Structure (DR)

Output bit variables

1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 b 5 4 3 2 1 0
+ - - - + - - 4 - - - f - - - - C - 4 - ~ - 4 - - - + - - - + ~ - ~

IBIf BIT GM 6m 6!l 6R 6R &!I Pff 1 M1 2M

:SUE-L W+L12.b 12.5 12.4 12.3 12.2 12.1 I 11.1 I
+----+---i--t---t---+--3I_*~-----+-~----+---+

I BIT BIT EIT BIT BIT BIT BIT BIT I I M 221

I5W- 5E+ 13.6 13.5 13.4 13.3 13.2 13.1 I I
*.----+--C----+ .--+---+-4--+-~+--+__tC-.~+_3__-+-+

Abbreviation Branch Meaning

DW220: BIT 12.7 12 Response Limit l Limit monitor l
BIT 12.2 12 Response Limit P Limit monitor l
BIT 12.3 12 Response Limit3 Limit monitor l
BIT 12.4 12 Response Limit4 Limit monitor l
BIT 12.5 12 Response Limit5 Limit monitor l
BIT 12.6 12 Response Limit 6 Limit monitor 1
BIT SUE-L 09 Lower limit position controller
BIT 9UE+L 09 Upper limit position controller
BIT11.1 11 Thermal alarm

DW221: BIT 133 13 Response Limit l Limit monitor 2

BIT 13.2 13 Response Limit 2 Limit monitor 2
BIT 13.3 13 Response Limit 3 Limit monitor 2
BIT 13.4 13 Response Limit4 Limit monitor 2
BIT 13.5 13 Response Limit 5 Limit monitor 2
BIT 13.6 13 Response Limit6 Limit monitor 2
BIT 5UE- 5 Lower limit speed controller
BIT SUE- S Upper limit speed controller
papaasxa Jailorjuoo uo!ysod 40 ~!u!l alqe!JeA paielnd!ueur Jam01 c = = = 1 = : lgn),
papaasxa ~ a l l o ~ ~ uog!sod
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rallortuoo uo~!sodro4 prom snaetg

a n l e ~ ~ a b u Je p
~ M O6u!paaoxa
~ a9nI
paads l e n s v c = = = L = :
anlenlabuep~addnGu!paaaxa paads l e n p v <=== L = : 0901
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anlen Gu!ule~~ a d d n Gu!paasxa paads lenlsv c = = = 1 = : OM01

Jallortuoa paads aqa roj pro^ snteas

 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

The controller structure referred to as the "Standard controller" is designed for simple tasks with single-loop controls. It can be
used, for example, in temperature, pressure, position, flow, and other "standard" control systems.
The result calculated by the controller algorithm can be output in various forms:
-
Continuous signal
- "Onn-"Off" signal
- Pulse signal
. .-.-.-.-.-.-.---.
r l
M.V.
I processing

I fb
2

I PI D
F controller
I
I "On"-
Setpoint +
# "Off" -7 r
output Plant
processing r z r
- ( 5 Actuator)

i Pulse
controller output

I
I
I
I Actual value
processing *

i j

Fig. 4.14 Block diagram ofthe standard controller

As can be seen from the block diagram in Fig. 4.14, the standard controller basically offers an option between two different types
of controllers:
- a continuous PID controller
- a step controller
Both types are based on a PI0 algorithm. The parameters of the controlIer make it possible to assign P, P[, PD or PID control action
toeach controller. The output response is also determined by the parameters assigned.

4.111 Controller and controller output

Thestep cantrollerwith a pulse generator module produces control pulses fordrivingan integral-actionactuator.The PID controller
has an option where thecalculated manipulated variable can be either output directly via an analog output to the process actuator
or alternatively converted to an equivalent "on" -"offw signal when using a switching actuator.
In the case of a continuous controller, the user also has the possibility of selecting a standard or extended controller by providing
additional amplification in the proportional component, a separate D input, disturbancevariable compensation and optional lirni-
ting of the correction rate.
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.2 Setpoint branth

The setpoint can be input from the CPU or from an AID converter. It is also possible to specify a setpoint sequence consisting of a
maximum of ten corner points via the PG. The following functions are available in the setpoint branch:

- Ramp function generator

- Filter stage.

4.11.3 Actual-value branch

The actual value can be input using either an analog or a digital input.The actual value branch can contain thefollowing, depending
on the user requirements:

- Plausibility checking
- Averaging function
- Function generator for signal lineariaation.

The functions are described in detail in Section 4.12.

4.11.4 Additional functions

- Two user-connectedlimit monitors:

Each of the limit monitors can be assigned to any desired signal (measuring point) of the controller structure. The limit monitors
contain 6 stages, which are specified via the programmer. The results of the limit monitors (overshoot or undershoot) are evalu-
ated by the logic control program of the S5 central controller.

- Two pre-assigned limit monitors:

These limit monitors support the operator communication and control concept of the standard controller structure. The results
of the monitors are used for instance by the CP 525/CP 526 communications processors as inputs for the standard disptays on
the VDUs.
The limit monitors monitor setpoints and actual values of the control loop.
The danger and the warning limits are specified via the programmer during the initialization phase.

- Two user-assignedmeasuring sockets:

Two measuring sockets are located on the front panel of the controller module. Any desired signals (measuring points) of the con-
troller can be measured at these measuring sockets-The programmer is used to assign a particular signal t o a particular measur-
ing socket.
 4. Programming Instructions

4.12 Description of the Standard Controller Structure (SR)

411.5 Detailed description of the standard controllerstructure

The following description refers to the configuring sheets (Section 8.2; standard controller structure). The symbols used are
explained in Section 4.9.

All branches of this structure are shown on the cover page of the configuring sheets of the standard controller structure.
In contrast to the drive controller structure, all controller functions and outputs here are included in branch 1.
A detailed block diagram of the standard controtler structure is included in Section 9 (Fig 9.2).

4.11.5.1 Branch 1.1 :Continuous controller (standard)

Function:
The input variable of this branch is the controi difference which is generated in branch 3. This control difference is converted into a
controller result using a PID algorithm. The result is then converted into a manipulated variable in branch 1.3 or 1.4.
The PID controller can be assigned P, PD, PID or P!control action by setting various parameters t o zero:

TN-0 I component not active

TV=O D component not active

By switching relay REL1.1.1 on, the controller can be switched over to manual operation. This relay can be switched either from the
PG or from the SS-CPU. Whether the manual value comes from the PG (CON HA) or from another A/D converter is determined by
switch S1.l.l.
If the controller is switched over from automatic to manual operation (RELl.1.1 active), then the manipulated variable is changed ex-
ponentially from the instantaneousvalue to the specified value, which leads to a bumptess switch-over.
The manipulated variable (MP4) calculated by the algorithm is compared with the control limits B+ and B-. If these limits are
crossed, then an overflow bit is set (bit U€+ or UE-). If the manipuiatedvariable returns to within the specified limits, then the pre-
viously set bit is reset.
These bits can be read by the CPU, as can all bit yaariables.
The setting of the overflow bits also ieads to the freezing of the integral component, so that a "wind up" of the integrator is

Input variables:

- CON KP Proportionatvalue
- CONTN Integral-actiontime influence the behaviour of the PID controller
- CONTV Derivative-actiontime
- CON B+ The constant determines the upper limit of the limiting in branch 1.1.
- CON B- The constant determines the lower limit of the limiting in branch 1.1.
- BITRF This bit disables or enables the controller. The controller is enabled if the bit is active. In the disabled state the
controller outputs 0% and deletes the internal memory.
- CON HA Constant input value for manual input

Output variables:

- BITUE+ The bit becomes active when the controller:output signal (MP4) crosses the upper limit (CON Uf +).
The integrator is frozen as long as the bit is active.
- BITUE- The bit is active when the controller output signat (MP4) crosses the lower limit (CON UE-).
The integrator is frozen as long as the bit is active.
- MP3 Input signal of the controller algorithm
- MP4 Output signal of the controller algorithm
- MP10 Input signal of the manual input
- ADC5 Analog manual input
4. Programming lnsfructions

4.71 Description of the Standard Controller Structure (SR)

4.115.2 Branch Continuous controller (enhanced)

Function:
Theenhanced version of the continuous controller offers several advantages described below in addition to the features described
in Section 4.71.5.1.

- User specifiable additional amplification R in the proportional component

Due to the parallel structure of the PID algorithm, it is possible to disable each component separately.Therefore- in contrast to
-
the standard version it is possible to disable the proportional amplification. In this way the controller can have a P, I, D, PI, PD
or PID response.

- Separate D input
Aseparate D component can be connected to the PID controller via structure switch S1.2.3.This Dcomponent is input via an AID
converter and can be observed at measuring point MP11.
This additional D component allows the userto utilize an auxiliary variable for differentiating changes in the control variable. This
isvery useful for example where long sampling times do not allow satisfactory differentiation of the actual control variable.

- Ideal or real PID controller

The IR bit can be utilized by the userto determine whether thecontrol algorithm should emulate the behaviour of an ideal or a real
PID controller.
An ideal PID controller only contains a P, D, and I componentwhile a real PID controllercontainsan additional delay in the D com-
ponent.The delay time used in this algorithm corresponds to the selected sampling time.

- Disturbance variable input

With structure switch S1.2.2, the user can structureMD converter ADC4 as an input fora disturbance variable compensation. If
this is so structured, then the calculated manipulated variable can be modulated with a known measurable disturbance variable
via relay RELl.2.2.

- Holding the manipulated variable constant

By setting bit ST it is possible t o make the manipulated increment equal t o zero independently of the control difference. This
makes it possible to hold the manipulated variable constant.
This function is essential for instance during the opening up of a cascaded control loop.

- Limiting the rate of change of the manipulated variable

Using constants A+ and A-, it is possible to limit the variation in the control variable between two successive sampling points.
This limiting results in a compulsory limiting of the rate of change of the manipulated variable.
This limiting can be disabled by setting A t and A- to +loo%.

lnput variables:
- CON KP Proportional value
- CONTN Integral-actiontime influence the behaviour of the PtD controller
- CONTV Derivative-action time
- CON B+ The constant determines the upper limit of the limiting in branch 1.2.
- CONB- The constant determines the fower limit of the limiting in branch 1.2.
- CONHA Constant input value for manual input.
- BlTRF This bit disables or enables the controller.
The controlter is enabled if the bit is active. In the disabled state the controller outputs0% and deletesthe internal
memory.
- CONAi The constant determines the upper limit of the change in the manipulated variable.
- CONA- The constant determines the lower limit of the change in manipulated variable.
- CONR With this variable the user can specify an amplification which only influences the P component of the controller.
- BITIF! This bit allows the userto choose between a real and an ideal PID controller.
- BlTST Bit for disabling manipulated variable changes.
If the bit is active, then the manipulated variable increment is set t o 0 and the manipulatedvariable therefore held
constant.
lnput for separate D component
lnput for the disturbancevariable
lnput for the manual control variable
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Output variables:
- BITUE+ The bit becomes active, when the controller output signal (MP4) crosses the upper limit (CON U€+).
The integrator is frozen as long as the bit is active.
- BITUE- The bit is active, when the controller output signal (MP4) crosses the lower limit (CON UE-).
The integrator is frozen as long as the bit is active.
- MP4 Controller output signal
- MP3 tnput signal to the control algorithm
- MP10 Input signal to the manual input
- MP11 Input signal to the separate D input
- MP12 Input signal to the disturbance variable input

411.53 Branch 13: Continuous output

Function:
This output branch is selected via structure switch ST3 (= 0). It outputs the controller output signal calculated in branch t.1 or 1.2
continuously. Matching t o the actuator is possible. This matching allows both the slope and the offset to be corrected. The specifi-
cation of the matching values is carried out by selecting parameters of the linear equation:

where
a is the slope (CONVER)
b is the offset (CON OFF)
X is the controller output signal
Y is the manipulated variable.
Whether the actuator matching is carried out or not is determined by switch 51.3.1. If this switch is in the 1 position, then the match-
ing is carried out.
The control (manipulated variable) signal can be observed at measuring point MP5 and is output via D/A converter DAC1.

lnput variables:
- Controller output signals from branch 1.1 or 1.2
- CONVER The slope of the actuator matching can be set with this signal
- CON OFF This constant is used for selecting the offset

Output variables:
- MP5 Continuous control (manipulated) signal
- DAC1 Output for the control (manipulated) signal

4.11.5.4 Branch 1.4: "On" - "Off" output

Function:
The second output branch, the "on" -"offu output branch, is used forthe implementation of two and three-step controllerswithin
this controller structure.
For this purpose the controiler output signal from branch 1.1 or 1.2 is transformed into an "on" - "off" signal with a minimum putse
length of 4 ms. The sampling time for this controller is a multiple of the minimum pulse length.
TA = n -Tmin with n = 2.2, ....
An analog output is required for a two-step controller. The three-step controller requires two analog outputs. The analog outputs
are used in this application as digital outputs.
The positive pulse of the two-step controller corresponds t o a + 10V signal at the corresponding analog output.
If the analog outputs DAC1 and DAC2 ate selected for the three-step controller, then the following signals are generated
DAC1 = OV and DAC2 = OV ==> manipulated signal 0%
DAC1 = 1OV and DAC2 = OV ==> manipulated signal + l 00%
DACI = OV and DACZ = lOV = => manipulated signal -1 00%
The second output of the three-step controller is connected via switch S1.4.1, i. e. when this switch is inactive, the output branch
has a two-step response.
The constant CON ASW is used for assigning the hysteresis parameterwhich makes it possible to prevent high frequency switch-
ing of the actuator during small oscjllations of the manipulated variable around the steady state position. The threshold can be as-
signed a value between 0% and 50%.
A second influencing factor affecting the controller behaviour (only for three-step controllers) is the matching factor. This value
which can be assigned a parameter, allows the controller intervention for positive and negative ranges to be different. With this it
is possible for example t o implement a heatinglcooling control loop with different control interventionsfor the heating and cooling
cycles. This matching factor (APF) can be entered in the range between 0 t o 99.99, where the value APF = 1 corresponds to a
weightingof 1 : l .
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Input variables:
Controller output signal from branch 1.1 or 1.2
CONTMIN -
Minimum pulse duration of the "on" "off" output, adjustable between 4 ms and 32 sec.
CONASW -
Threshold value of the "on" "off" function, adjustable in the range between 0% to 5O%.This value determines
the hysteresis range of the stage.
- CON APF Matching factor for weighting the control interventions in positive and negative control ranges, where the value
1 corresponds to intervention without weighting.
This factor is adjustable in the range between 0 to 99.99.

Output variables:
- BITPP This bit is always set during the time a positive pulse is output.
- BITNP This bit is always set during the time a negative pulse is output.
- MP6 Output signal of the "on" -"off" function.
- MP7 Output signal of the "on" -"off" function, only active in case this output is selected for the three-step controller.
- DAC? Output of this function for both the two and three-step controller
- DAC2 Output of this function used forthe three-step controller, if this was structured with switch 51.4.1

4.11.5.5 Branch 1.5: Step controIler with pulse output

Function:
The step controllerwith pulse output implemented here is a digital three-step controller. It is used for controlling actuatorswith inte-
gral response (e. g.: valves, dampersand ftaps). In order to prevent high frequency oscillations of the actuators due to small control
deviations, a dead band with hysteresis is connected before the PID algorithm-Thisdead band can be made separately inactive tor
the I component, which leads t o optimum protection of the actuator and prevents a continuous control deviation.
In contrast to the "on" -"offM output, here the change in the manipulated variable is output to the pulse generator instead of the
manipulated variable. The pulse generator converts the manipulated variable change (dYk) to a pulse duration Vk).
Tk=TM.dYk
The input range for the actuator travel time (TM) is between 0.1 rns and 59.59 h.rnin.
In order to limit the switching frequency, a minimum pulse duration m(l ni) must be specified. From this viewpoint, the pulse Length
can also be represented as a multiple of the minimum pulse duration Tmin.
Tk = X .Tmin
The output signal from the pulse generator stage is output as in branch 1.4 via two D/A converters.

It is also possible to structure a manual input for this controller branch using switch S1.5.1. The manual branch can be activated via
relay RELI.S.1 if required.The manualvalue can be specified in two ways, eithervia anA/D converter or by entering thisvaluevia the
programmer. In this step controller, the manual value has a different meaning t o the normal case due to the way it is processed. Here
the manual value does not operate as a manipulated variable change but instead as a rate of change.
Note: A further method of operating the step controller in manual mode (two switches'actuatoropen/closed') is demonstrated in
Sections4.11.6.12 and 5.2.3.1.
Input variables:
- MP3 Control difference from branch 3
- CON KP Proportional value
- CONTN
- CONTV
- CONTMIN
- CONTM
Integral-action time
Derivative-action time 1 influence the behaviour of the PtD controller

Minimum pulse duration, must be specified in order to limit the switching frequency
Actuator travel time; it can be adjusted in the range between 0.1 ms to 59.59 h. min.
- CON AN Triggering threshold for the input hysteresis
- CONAB Release threshold forthe input hysteresis
- CON HA Constant input value for manual input
- BrrRF This disables or enables the controller.
The controller isenabled if the bit isactive. In the disabled state thecontroller outputs 0% and deletesthe internal
memory.
- BITHAI This "manual input inactive" bit, when inactive (bit = 0).causes the manipulated variable to becomezero.
- BIT TOT "BITTOT" determines whetherthe dead band is active for the integral component or not. When the bit is active
(BITTOT = I ) the dead band is inactive.
- BITBA Both these bits provide information t o the pulse generator as to whether the actuator is in one of its end
- BlTBZ positions. If "BIT BA" = 1, then the actuator has reached its final OPEN position, whereas "BIT BZ" = 1 signals
that the actuator has reached its final CLOSED position. This information can be communicated to the pulse ge-
nerator stage either from the PG or from the CPU.
- MP10 Input signal of the manual input
- ADC5 Input for manual control variable
 4. Programming Instructions

4.11 Description of the Standard Controller Structure

Output variables:
- MP6 Output signal of the pulse generator
- MP7 Output signal of the pulse generator
- DACI Pulse generator output for "positive" pulses
- DAC2 Pulse generator output for "negative" pulses
- BITAUF These bits signal the direction of motion of the actuator. If "BITAUF" is set, this indicates for instance that the
- BITZU valve is just opening, whereas if "BITZU" is set it is just closing. If both these bits are not set, then the actuator is
in a steady state.

4.11.5.6 Branch2: Actual-value branch

Function:
This branch provides several other options of processing the actual value signal apart from just sensing.
The actual value can be input in analog form or as a pulse signal.The type of input signal is specified by the uservia switch S2.1.The
signal can be observed at the measuring point MP8.
Using the plausibility check, the input value can be checked to ascertain whether it matches the three previous measured values.
For this purpose switch S2.2 must be set to ? and the constant CON ZUL must be selected, which specifies by how much the actual
current value can deviate from the calculated value during this tirne.The current actual value is calculated as an extrapolation of the
three previous vaiues.
The user can connect an averaging stage in theactual value branch using switch S2.3.This stage can be used as protection against
interference voltages. However the user should take into account that the exact actual value can also be falsified (averaged) by
considering the previous values.
The averaging is carried out according t o the equation:
Xa= (Xe-t 7 - X v ) / 8
In this equation
Xe is the actual value
Xv is the previous average value
Xa is the current average value

Apart from the functions described above it is possible in theactual value branch to Iinearize the actual value usingan optional func-
tion generator. This linearizationfunction is enabled via switch 52.4. When specifying the curve for the function generator up to ten
equi-distant extrapolation nodes car; be specified.
The values t o be specified are
Number of extrapolation nodes
The first abscissa value X (l)
Distance to the next extrapolation nodes (DX)
N ordinate values

At the output of the actual value branch, switchover to a start up actual value is possible via relay REL2.3. This value can be input
via the programmer.
The actual value output from this actual value branch, which is used for calculating the control difference, can be observed at
measuring point MP9.

Input variables:
- ADC2 The actual value to be controlled, which can also be input as an incremental input (S2.1 = 1). In the case of incre-
mental actual value sensors, standardization is carried out to 100% for rated signal in the following steps:
- configure and initialize SR structure with polygon in the actual value branch. The polygon first implements the
function y = X.
- After manual acceleration of the actual value to, for example, 10% of the nominal value, the actual value
measured by the IP 252 can be read in the controller test at MP 8. If this is, for example, 4%, the polygon must
implement a straight-lineequation according t o y = % . X = 2.5 X.
- CON ZUL Permissible deviation ofthe actual value from the calculated expected value
- CONN Number of extrapolation nodes in the function generator
- C O N STA Starting value of the extrapolation nodes (abscissa value)
- CON SCH Interval between neighbouring extrapolation nodes
- CON 01..10 Ordinate values of the extrapolation nodes 1...10
- CON IN3 Commissioning actual value

Output variables:
- MP9 Processed actual value used for catculating the control deviation
- MP8 Actual value as input
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.5.7 Branch 3: Setpoint branch

Function:
This setpoint branch provides various options for specifying the setpoint and processing the setpoint after being input.
The usercan use switch S3.1 to decide whether the setpoint is entered as an analog value via theA/D converter ADC 1 or digitally.
The digital value can be input from the CPU or from the PG! For input from the PG it is possible to specify a setpoint sequence of
up to ten points, where the number ofextrapolation nodes (N),a maximum of ten setpoints (SW(i)) and the interval time (7)must
be specified. Bit 3.1 determine whetherthe extrapolation nodes describe a staircase or linear curve.
The selected setpoint which can be observed at measuring pointMP1, can now be processed using a ramp-function generator and/
or a smoothing stage. Switch S3.2 shorts out the ramp-function generator when it is inactive (O), and switch 53.3 shorts out the
smoothing stage when it is inactive.
The ramp-function generator transforms step setpoint changes into ramping signals, which then can be smoothed by the smoath-
ing stage. Apart from the already known ramp-functions parameters such as positive and negative ramping times, an additional
constant must be specified for the ramp-function generator.This constant is known as the increment and corresponds to the ampli-
tude which the ramp-function generator generates at its output after the positive or negative ramping time has expired when a step
signal of 100% is connected t o its input.
In addition the higher, lower and reset bits are provided as is already known in analog ramp-function generator pushbuttons.
The smoothing time is the only parameter of the smoothing stage.
Via relay REL3.2 it is possible to disable the complete setpoint branch.
The control difference is generated at the output of the setpoint branch, which subtracts the actual value processed in branch 2
from the setpoint processed in branch 3 and outputs this to the controller. The processed setpoint is available at measuring point
MP2, and the calculated control difference at measuring point MP3.

Input variables:
- ADC1 lnput for the analog setpoint
- VAR3.l Setpoint from the CPU
- CONN Number of extrapolation nodes for the setpoint sequence
- CON71 Distance between neighbouring extrapolation nodes
- CONSOF(i) Setpoints 1...10
- CONTH Ramp-up time of the ramp-function generator
- CONTR Ramp-down time of the ramp-function generator
- CONZUW tncrement constant: measure of the amplitude, which the ramp-function generator output reaches for a 100%
step at the input within the ramp-up or ramp-down times.
- CONTVZ Delay time constant of the smoothing stage
- BIT3.1 This bit determines whether the extrapolation nodes are treated as a staircase function of interpolated linearly.
Bit 3.1 = 1: linear; = 0:staircase function
- BITHOE With this bit the setpoint can be shifted to the +100% limit, regardless of the current setpoint.
- BITTIE With this bit the setpoint can be shifted to the -100% limit, regardless of the current setpoint.
- BITLOE When this bit is set, automatic mode is resumed. The HOE and TIE bits have priority over the LOE bit.

Output variables:
- MP1 Input signal of the setpoint branch
- MP2 Output signal of the setpoint branch
- MP3 Calculated control difference
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.5.8 Branch 4: Limit monitor 1

Function:
The limit monitor monitors the value of any desired measuring point of this control loop. A maximum of six limiting values can be
specified. The no. of the monitored measuring point can be changed any time during the RUN mode ofthe IP.
The function is described in Section 4.16.6 in more detail.
Input variables:
- MP-No. No. of the measuring point to be monitored 1...12)
- CON 4.1
- CON 4.2
- CON 4.3
- CON 4.4
- CON 4.5
- CON4.6
- CON 4.7
l
Output variables:
max. 6 limiting values
(see Section 4.11.6.6)

Number of limiting values

- BlT4.1
- BIT 4.2
- BIT4.3 maximum 6 output bits for signalling
"limit value reached"
- BIT4.5
- 31T4.6

4.11.5.9 Branch 5: Limit monitor 2

Function:
The limit monitor monitors the value of any desired measuring point of this controt loop. A maximum of six limiting values can be
specified. The no. of the monitored measuring point can be changed any time during the RUN mode of the IP.
The function is described in Section 4.16.6 in more detail.
lnput variables:
- MP-No. No. of the measuring point to be monitored (1...12)

I
- CON 5.1
- CON 5.2
- CON 5.3 max. 6 limiting values
- CON 5.4 (see Section 4.11.6.6)
- CON 5.5
- CON 5.6
- CON 5.7 Number of limiting values
Output variables:

I
- BtT5.1
- BlT5.2
- BIT5.3 maximum 6 output bits for signalling
- BIT5.4 "Emit value reached"
- B1T5.5
- BIT5.6

4.11.5.10 Branch6: Measuring socket 1

Function:
Thevalue of any measuring point of the control loop can be connected via an output channel t o measuring socket 1.The no. of the
measuring socket can be changed at any time during the RUN mode of the IP.

Input variables:
- MPNo. No. of the measuring point which is connected to measuring socket 1 (1. . X ) .
Output variables:
- DAC3 Address of the analog output channel to which the measuring point value is output.
Measuring socket 1 is wired to output channel 5. Measuring socket 1 is used for the output of a random measur-
ing point to analog output channels 0 to 7.
4. Programming Instructions

411 Description of the Standard Controller Structure (SR)

4.11.5.11 Branch 7 : Measuring socket 2

Function:
The value of any measuring point of the control loop can beconnected via an analog output channel tomeasuring socket 2. The no.
of the measuring socket can be changed at any time during the RUN mode of the IF.

Input variables:
- MPNo. No.of the measuring point which is connected to measuring socket 1 (1...12).
Output variables:
- DAC4 Address of the analog output channel to which the measuring point value is output.
Measuring socket 2 is wired to output channel 6 in the case of the DRlSR submodule. Measuring socket 2 (and
also measuring socket 1) of the DRSlSR subrnodute are used to outputa random measuring point to analog out-
put channels 0 to 7, since global assignment of the measuring sockets takes place in the case of this submodule,
(see Section 4.1).
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.1i6 Functions o f the standard controller

4.11.6.1 Preassigned limit monitors in branches 2 a n d 3

The results of these limit monitors are used by a CP 526 for display purposes.The output bits cannot be read from the standard FB
used with the logic program (Section 4.14).

function of the actual value limit monitor:

Four limits can be specified via the PG:

- Upper warning limit
- Lower warning limit
- Upper danger limit
- Lower danger limit
Each of these limits is assigned a bit. If a signal crosses the upper warningldanger limits, then the "upper warning/danger limits
crossed" bits are set. In all other cases they are reset. When the signal crosses the lower warningidanger limits, then the "lower
warningidanger limits crossed" bits are set. In all other cases they are reset.

Function of the setpoint limiting monitor:

Two limits can be specified via the PG:

- Upper limit
- Lower limit

Both the limits are assigned two bits. When the upper limit is crossed the "upper limit crossed" bit is set, otherwise it remains reset.
When the tower limit is crossed, the "lower limit crossed" bit is set, otherwise it is reset (Fig. 4.t5).
4. Programming lnstructions

4.11 Descriptionof the Standard Controller Structure (SR)

Example: setpoint limit monitor

t Setpoint

Lower limit

"Upper limit crossed"

"Lower limit crossed"

loo%--
1 Setpoint

Time

"Uppet limit crossed"

"Lower limit crossed"

"Upper limit crossed"

"Lower limit crossed"

Fig. 4.15 Method of operation of he pre-asslgned limit monitor

 4. Programming Instructions

4.11 Descriptionof the Standard Controller Structure (SR)

i 2 Setpoint sequence

:liondescription:

mpling time (TA) driven setpoint sequence Xa(t) is generated from i = 1,...,l0 setpoint interpolation nodes CON SOL (1) ,...,
4SOt (i).
options are available:

aircase waveform:
t 3.1= 0 is set, the output variable Xa is equal to the last setpoint CON SOL (I) until the period between 2 successive setpoints
N Ti (>TA) has expired.Then, for the duration CON TI of the next period, Xa = CON SOL (I+1) is output (Fig. 4.16).

near interpolatedwaveform:

it 3.1 = 2, then linear interpolation i s carried out between successive setpoints (Fig. 4.77).

etpoint generated in this way is continued cyclically after the expiry of the period TPER = N - CON.
:onstant setpoint Xa = CON SOL (l) is output in case N = 1, regardless of the values of CON TI and bit 3.1

:strictions:

7it 3.1 = 1 (case "linear interpolation") the following additional assumptions are made:

+ CONTI = P ,TA, P = positive integer.

*i P <= 32767.

stween the setpoints CON SOL (I) and CON SOL (I+ l], a linear approximation given by the straight lineequation isalways used:

Xa {M.TA) = [CON SOL (l+2) - CON SOL (l)]- MIP + CON SOL (l), M <= P,

{here MaeTA is the time since the last setpoint CON SOL (I).

;ONSOL3

>ONSOL2
=Xa
--- - -
I
I -..
I
1
1
1
CONSOLl . I
1 I
I

1
I L I l l

0 TA KON T1 TPER T
Fig. 416 Staircasewaveform setpoint sequence (barnpie N=3)
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

xa j,

CONSOL3..

CONSOL2

I l l
0 TA Tl TPER I T
1 =2.TA 1 I
l l i
M=O M=O M=O
Fig. 4.17 Linearly interpolated waveform setpoint sequence (Example N=3)

Symbol:
CON
CON TI TA SOL N Bit 3.1

T ------m--
>I SETPOINT SEQUENCE I ---------> Xa
1 l

Fig. 4.18 Symbol of me setpoint sequencestage

Description of function parameters and binary variables:

Type of variable Symbol Description Number format Numerical range

Parameter N Number of setpoints undimen. 1 ... 10
CON SOL (1) Setpoint l variable- -100% ...+loo%
dependent

CON SOL(10) setpoint l 0 variable- -100% ...+loo%

dependent
CONTl Intervaltime Time 4ms ...99h59min
TA Samplingtime Erne 4ms ...99h 59min
Binary Bit 3.1 = 0 :Staircasewaveform Bit O/ 1
input variable = 1 :Linearly interpolated waveform

Description of function input and output variables:

Typeof variable Symbol Description Number format Value range

Input variable T Time Time 0.1 ms ...99 h 59min
Output variable Xa Setpoint sequence varjable- -100% ...+loo%
- dependent
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.6.3 Functiongenerator

Function description:

Afunction described in a table is used to generate a function valueXa = F(Xe) from a given abscissa valueXe within the interval X(l)
5 Xe 5 X (N)using iinear interpolation.

The function can be defined by N = 1, ...,l0 pairs of values [(X)], F(I)], where the N abscissa valuesX(I), ....,X(N) define a strictly rno-
notonous curve starting with the abscissa value of the first interpolation node CON STA and with a period of CON SCH between
the interpolation nodes, i. e.:

X(1) s X(2) S ... 5 X (N).

Therefore the abscissa values are equidistant.

The corresponding ordinate values should be specified in the sequence CON (l), CON (2),..., CON (N).

v
Definition period of the function
Fig. 4.19 Linear interpolation

Procedure:

A given value Xe is compared successively with the selected abscissa values, until the abscissa values X(L) and X(R) of the
neighbouring table interpolation nodes are found. Then the function value is calculated according to the straight line equation:

-
Fee) = F(R) F(L) O(e -X (L) ) + F(L)
X(R) X(L)-

Note:
Due to its use as a setpoint, the function value outside the defined interval is defined as fotlows:
* Xa = F(1) for Xe t X(1),
* Xa=F(N) for Xe>X(N).
4. Programming lnstructions

4.11 Description of the Standard Controller Structure (SR)

Symbol:
N CON STA CON SCH CON(l), ...,CON(N)
I I I I
I l 1 I
I l I l
+---+----+----+----+---+
I I
I 1
I I
Xe ----m---- >I FUNCTION GENERATOR 1- --------> Xa
I I
l I
l I
+----------------------+
Fig. 4.20 Symbol of the function generator

Description of the function parameters:

".
Typeof variable Symbol Description Number format Numerical range
Parameter N Number of equi-distant nodes no unit 1 ... 10
CON STA Abscissa valueof thefirst nodes variable- -100% ... +loo%
dependent
CON SCH Distance between neighbouring nodes variable- -100% ... +loo%
dependent
CON(1) Ordinatevalue of the first node ' variable- -100% ...+loo%
dependent

CON (10) ordinate value of the tenth corner point variabie- -100% ... +loo.%
dependent

Description of the function input and output variables:

Typeof variable Symbol Description Numberformat Value range

Input variable Xe Abscissa value variabfe- -100% ... +loo%
dependent
Outputvariable Xa Linearly interpolated function value variable- -100% ... + 100%
dependent

411.6.4 Averaging

Function description:

The new averaged output value Xa is generated from the input value Xe (i.e, actual value), which may be falsified (due to
"ripple"), using the old (averaged) output value X,, as follows:

Note:The averaging may falsify correct values!

 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

t
1
_.
(k-1) - TA k . TA

Fig. 4.21 Suppression of measurement ripple by averaging

Block symbol:

l i
I
I I
XP ---------> I AVERAGING I--------- > Xa
1 1
I 1
I I
+----------c-------- +
fig. 4.22 Symbol of the averaging function

The block has no parameters.

Description of the block input and output varia bles:

Type of variable Symbol Description Number format Numerical range

Inputvariable Xe Input value (with ripple) variable- -100% ...+ 100%
dependent
Output variable Xa Averaged output value variable- -100% ...+lOI)%
dependent

In addition the previous value Xv is stored in the block. However this value is not accessible to the user.

4.11.6.5 Plausibil*kycheck
Function description:
Any interference which causes a difference between two consecutive sampled values Xekl, Xek to be greater than a specified
(physically meaningful) value CON ZUL is suppressed.
The current output vafue Xak is calculated as follows:
(1) Xak = Xek for [ Xek-Xakl l 5 CON ZUL,
(Xakl-Xa k2) + (Xa k2-Xa k3) -
(2) X a k = X a k l + 2
3 l
-
-- Xakl --Xak3 for IXek-Xakll > CONZUL.
2 2
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Xek notsensible;
1s d~scarded

Fig. 4.23 Method of operation of the plausibility check

If the difference is > CON ZUL for longer than 2 sampling periods, then the input value is interpreted as being permissible and the
output value is changed to the input value according to an expotential function.
--;z Permissiblevalues are not falsified by the plausibility checking (different t o averaging action)!
Symbol:
KON ZUL
l
I
1
+---------+--------- i-

l l
1 1
l
PLAUSIBILITY I--------- > Xak
CHECK
l

fig. 4.24 Syrnbol of the plausibitity checking stage

Description of the function parameter:

Type of variable I Symbol Description Number format Numerical range

Parameter CON Z UL Magnituaeof the maximum permissible difference variable- 0 ...+ 100%
between two successive sampling values dependent

Description of the function input and output variables:

7
Type of variable Symbol Description Number format Numericai range
Input variable Xek Inputvalue variable- -100% ... +100%
dependent
Output variable Xak Output value variable- -100% ... + 100%
dependent

Note:
The minimum pulse durationT,i, can only be changed in the "Input" and "Output" modes, but not In the,controllertest.
 4. Programming instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.6.6 Limit monitor

Function description:

An input value MP NR is checked against up to 6 limit vatues

CON 4.1 (or 5.1) to C O N 4.6 (or 5.6). (No hysteresis!)
No given sequence of limiting values is assumed.
If limiting values are crossed, then N bits are set, i. e. bits 4.1,..., 4.6 (or 5.1,..., 5.6):
CaseO: N=O(trivial case, should be discarded a t the PG)
No checking of Xe is necessary. For safety reasons all bits Bit(i) are reset.
Casel: 1 1 N 5 6
The bits of the specified limit values are set, if a positive value or a negative value is crossed:
CON4.isO: XesCON4.i ==> Bit4.i : = 0,
Xe>CON4.i ==>Bit4.i : = 1,
CON4.itO: XerCON4.i ==> Bit4.i : =0,
XecCON4.i ==>Bit4.i : = 1,
i = l, ..., N.
==> For N 6 due to safetyreasons, the 6-N not required bits are set to 0:
Bit4. (N+1) = . . . = Bit 4. (6) = 0.
N is specified by the constant CON 4.7 (or CON 5.7).

Xe
CON 4.6

CON 4.5

CON 4.4

CON 4.3
0"'

CON 4.2
CON 4.1

Fig. 4.25 Method of operation of the limit monitor for the maximum case N = 6 (with ascending sequenceof limit values)
CON 4.7
Symbol: (or 5 7 ) CON 4 ' CON 4.6 (or CON 5.1... CON 5.6)

1
I
I---------
I
' Bit 4.1
(or 5.1)
l I
MP NR ---------3 1 LIMIT MONtTOR I

+----------------h-- +
fig 4.26 Symbolof the lim~tmonitor
4. Programming Instructions

411 Description of the Standard Controller Structure (SR)

Description of the function parameters:

Type of variable Symbol Description Number format Numerical range 2

Parameter CON 4.7 (or 5.7) Number of specified limit values no unit 1 ...6
CON 4.1 (or5.1) Limit l variable- -100% ... +loo%
dependent
(or %)

CQN4.6 (or 5.6) ~ i m i6't

Description of the function input and output variables:

Type of variable 1 Symbol Description Number format Value range 1

Input variable Xe Monitored input value variable- - 100% ...t- 100%
dependent
(or %)
Binary Bit4.1 (or5.1) Limitvalue bit 1 Bit 0/1
output signals

- Bit4.6 (or 5.6) ~imitveluebit 6 Bit 0/1

4.11.6.7 Ramp-function generator

Function description:

The ramp-function generator produces an output signal Xa which ramps up to the required setpoint W after a setpoint jump at its
input.

* The ramp begins e. g. at the current actua! value XS of the controller (see "Actuai value referencing") and ramps with the speci-
fied slope to the upper or lower setpoint W.

o If the setpoint is changed after it has been reached (ramp value is equal to setpoint), then the ramp is continued with the current
valid slope from the current rampvalue, exceptwhen the actual value is between the ramp value and the setpoint. In this case the
ramp starts from the actual value.

a If the setpoint changes before it is reached, then the ramp is started again from the current actual value or from the last ramp
value.

* In addition it is possibte by pressing the "higher" pushbutton, i.e. by setting input bit BIT HOE = 1, to ramp past the setpoint W
up to the maximum 100% setpoint, or correspondingly by pressing the "lower" pushbutton," i,e.by setting input bit BITTIE =
1, to ramp t o the minimum -100% setpoint.
As long as the "higher" or "lower" pushbutton is pressed, then the ramp-function generator ramps with the specified slope.
When the pushbutton is no longer pressed then the current momentary ramp value is frozen till a pushbutton is pressed again.

* The "higher" pushbutton always causes the ramp to go to more positive values, that is in the positive range with the "higher"
slope and in the negative range with the "lower" slope.
Similarly the "lower" pushbutton always causes the ramp t o go to more negative values, that is in the positiverange with the "lo-
wer" slope and in the negative range with the "higher" slope.

When both pushbuttons are pressed at the same time the ramp value remains constant.

n When the reset switch is activated (input bit BITLOE)thefollowing occurs: When the LOE bit isset, the ramp-function generator
is switched from setpoint manual mode toautomatic (i. e., the setpoint is approached via the preset parametersTn,TR andZUW),
provided the HOE and TIE bits are set.

The "higher"/"lower" pushbuttons have priority over the LOE bit.

* If the setpoint W changes when the "higher" or "lower" pushbutton is pressed, then the new setpoint is targeted only after the
pushbutton has been released and the reset switch has been pressed.
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Actual value referencing:

The main function of the ramp-function generator is to smoothen setpoint jumps and to travel to setpoint at a predefined rate of
change.

With the aim of reaching the setpoint as quickly as possible, the actual value can only be used sensibly in certain cases as a
ramp starting point after any switch-aver ("reset", setpoint change):

* The switch-over causes a positive ramp:

==> Actual value referencing sensible in cases where XS > Xa.
* The switch-over causes a negative ramp:
==>Actual value referencing sensible in cases where XS Xa.

Otherwise starting the ramp at the current actual value leads to an unnecessary jump in the ramp value which is the effective set-
point and causes the ramp value to target the setpoint after a delay, see Fig. 4.27.

unde'sirable Actual value referencing desirable

(not implemented) (implemented)
tl : "Higher" pushbutton pressed
t2 :"Lower" pushbutton pressed
t3 :Bits active (HOE bit =TIE = LOE = 0)
t4 :Reset pushbutton

Fig. 4.27 Actual value referencing in the ramp-function generator during "switch-over"

In practice another operating state can occur, which makes actual value referencing necessary: i. e. power failure. If, for example,
during a very slow heating process which must be ramped up during one hour, the power supply fails after half an hour for a long
period of time, then the actual vaiue sinks far below the last ramp value.
On power restoration, the ramp should be continued at the current actual value and not at the last ramp value. Otherwise the sud-
den large control deviation causes excessive heating ("overshoot").

For this purpose the ramp-function generator must be able to detect a power failure, since none of the "switch-overs" mentioned
occurs. A central power fault bit does not solve the problem, as in this case a controller with a sampling time of '10minutes may only
be executed 70 minutes after power restoration, i. e. it could only then determine that a power failure has occurred. For other con-
trollers with shorter sampling times, however, this bit must be reset much sooner, otherwise they would always react t o that bit.

For this purpose the actual value referencingis implemented in the following way: After power return the previous values of the set-
point and the ramp-function generator are reset. Since W 0Wow= 0, actual value referencing takes place compulsorily for the
next execution of the iunction. Therefore, after a power failure, the ramp starts at zero or, if valid, at the current actual value.
4. Programming Instructions

4.11 Description ofthe Standard Controller Structure (SR)

1 I
Power failure Power restoration
- Ramp start at actual value
Fig. 4.28 Actual value referencing in the ramp-function generator after power failure

Symbol:

CON CON CON

TH TR ZUW
I I i
I 1 l
I 1 I
+----+-----+-----+----+
BJTHOE ----------> I l
BITTIE ----------> l l
BIT LOE ----------> I l
1 RAMP-FUNCTION GENERATOR 1 ---------> Xa
W ----------> I l

xs ----------> I I . 1
1

Fig. 4.29 Symbol otrhe ramp-functiongenerator

Description of the f unction parameters and binary variables:

Type of variable Symbol Description Number format Numerical range

Parameter CONTH Positive wmp time Time OJ ms ...99h 59min
COMTR Negative ramp time Erne 0.1 ms ...99h 59min
CON ZUW Ordinateof the ramp-function generator value, i.e. variable- 0 ... + 100%
the rampvaluetraversed during the tirneTH or TR dependent
(therefore determines the ramp slope)

Binary BIT HOE "Higher" bit, BH = 1 causes positive ramp Bit 0/1
input BITTIE "Lower" bit, BT= 1 causes negative ramp Bit 0/1
signals BITLOE Reset bit, BL = 1 causes matching of the ramp value Bit 0/1
to the setpoint ifthe HOEand TIE bitsare set.
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Description of the parameters:

"H" = "Higher" pushbutton active

i "T" = "Lower" pushbutton active
"L" = Reset pushbutton active

Fig. 4.30 Relationship between the ramp-function generator user parameters TH,TR. ZUW and theeffect of thed'higher" and "lower" pushbuttons.

Description of the function input and output variables:

Type of variable Symbol lDescription Number format Value range

Input variables W Current setpoint variable- -100% ...+loo%
dependent
XS Current actual value variable- -100% ... +loo%
I dependent
Output variable Xa Outputvalue (ramp value) variable- -100% ... +loo%
dependent
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.7.8 Filter

Function description:
For filtering an analog variable Xe, a first-order delay stage (V21 stage) is available with the transfer function:

Procedure:
tn order to implement a discrete filter, the time domain representation is transferred into integral notation
Xa (t) + TVZ . Xa (t) = Xe (t)

If the trapezoidal approximation is used for both integrals t = k-TAandt = (k-I)TA and the resulting two equations are subtracted
from one another, then the solution for output variable Xak gives the following equation a t the sampling time t = L-TA:
2-TVZ-TA TA
Xak= Xak 1 + (Xek + Xek 1).
2-TVZ+ TA 2 - N Z + TA
One arrives at the same result, when S = (2flA) (z-1)/(~+1) is substituted into the complex transfer function and the inverse
z-transformation is carried out.
If one uses the less accurate rectangle approximation for integrating Xe, then one obtains the same basic iterative equation used
in FB 97 in Catalog ST 56.
2-TVZ - TA
Xak= (Xakl - Xekl) + Xekl.
2 . W + TA

This form which only requires one block parameter is also used here in order to prevent the dead time in the Xe sampling, with the
following modification:

Xak = KG (Xakl-Xek) + Xek

Symbol:
Tvz
1
l
i
l
+---------+---------+
I f
I I
1 I
xSk >! FILTER , I -------m- > Xak
I I
1 I
L I

Fig. 4.37 Symbol ofthe smoothing

Description of the function parameters:

Type of variable Symbol Description 1 Number format Numerical range

Parameter TVZ Filter time constant I Time 4 rns ...99h 59min
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

- -. .. P

)escription of the function input and output variables:

Type of variable Symbol Description Number format Numerical range

Inputvariable Xek Function inputvariable to be filtered variable- -100% ... 1100%
dependent
Output variable Xak Filtered function output variable variable- -100% ... +loo%
dependent

in addition the following variables are present in the block, which however cannot be accessed by the user:

X Parameter: KG = (2'TVZ-TA) / (2*TVf+TA)

=smoothing factor,
TVZ = filter time constant,
TA = sampling time

Previous values: Xakl Previous output value

( (k- l ) th sampling value)

4.11.6.9 PID controller

Function description:
The equation for the relationship between the control deviation x, (t)and the manipulated variable y(t) of the continuous PID con-
troller in the time domain is given by:

This equation is emulated by a quasi-continuous PID controller where a manipulated variable increment dYk is calculated from the
control deviation XWk using the PID velocity algorithm. The manipulated variable Yk is output as the sum of the previously gener-
ated increments.
-
The switch-over between various operating modes is carried out via binary signals B1 87.

Procedure:
A parallel structure is implemented (see Fig. 4.32)where the factor R, the integral-action timeTN and the derivative-action timeTV
can be adjusted separately. In addition the proportional factor of Kp can be entered as a parameter which influences all 3 parallel
branches.

PID v e l o c * algorithm
~ (with traperoidal integration):

where
Dk=0.5-[TVnA. (XWk-XWk1)-(XWk1-XWk2) +Dk7].

Here Kp, TN, TV are the actual PID controller parameters. The trapezoidal integration was selected since it gives a more exact re-
presentation of the continuous integration when used in a PI controller.
To switch off one of the controller branches the corresponding parameter (R, TN, TV) is set to zero. Setting TN =O causesthe Icorn-
ponent t o be switched off which is not explicit in the quotient T N N .
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

B7
V_/ 1
C)-

n 0
XWK
- Yak

>
i -B-
PID controller
(HA) B1 : 1 = Automatic, 0 = manual operation
(S 1.2.3) B2 : 7 = Separate D input. 0 = XWk as D input
(BIT IR) B3 : 1 = Ideal, 0 = real PID controller
(BITST) B4 : 1 = Hold m. v. constant, 0 = not constant
(S 1.2.2) B5 : 1 = Disturbancevariable modulation, 0 = none
(ST2) B6 :1 = Standard version, 0 = extendedversion (not markedhere)
(BITRF) B7 : 1 = Controllerdisabled, 0 = enabled
B8 : 1 = Switch for prevention of integral wind up (only used by program)

XWk :Control deviation

XZk :Separate D input
fk :Disturbancevariable
dYk :Calculated m. v. increment
Yk :Output m. v.
YHk : Manual input
TA :Sampling time
Fig. 4.32 Structure of the PtD controller

Fig. 4.32 shows the structure of the PID controller with the switch-over options for the operating modes which are described in de-
tail below.
Basically one can choose between a standard version (ST2 = 1) and an extendedversion (ST2 = 0)of the controller.The simpler
standard version has the following differences over the more general extended version:

* R = 1 (not a parameter, i.e. the P component cannot be switched off)

* A+ and A- not parameters, i . e. rate of change of manipulated variable limiting is not possible
* S 1.2.3 = 0,i. e. no separate D input Xfk
x BlTlR = 0,i.e. D component is always delayed
+ BITST = 0,i. e. the rnanipulatedvariable cannot be held constant
* S 1.2.2 = 0,i. e. no disturbance variable compensation is possible
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

The upgraded version of the controller has the following functions:

* One can switch over to manual operation (signal HA). The manipulatedvariable is then matched to the adjusted manual value
YHk according to an exponential function.
+ The input for the D component can be selected from eitherthe control deviation XWk or a separate input variable XZk (signal
51.2.3).
+ The D component can be calculated with or without delay (signal BIT IR) corresponding t o a reat or ideal PID controller.
* The m. v. increment can be set to zeroindependently of the control difference so that themanipulated variable is held constant.
This is used e. g. forthe opening up of a cascaded control loop (signal BIT ST).
* In order t o compensate for a measurable interference signal Zk as early as possible, the interference signal can be added as an
increment df K to the calcuiated manipulated variable increment for disturbance variable compensation (signal S1.2.2). The
measured interference signal musl be inverted before being input to the controller, otherwise, without inversion, it would be
added to the manipulated variable.
* During operating mode switch-overs no unpredictable manipulated variable jumps can occur due to the precautions which
have been taken in the program and the internal velocity algorithm used, especially in the case of manual/automatic switch-
overs. A control difference set during manual operation will only be controlled to zero by the I component after switching overto
automatic.
In a controller without an I component, however, a control deviation set during manual operation is retained after switching over
to automatic operation.
* The rate of change of the manipulated variable, i. e. the manipulatedvariable increment, can be limited with A+ and A- which is
useful f o r a slow actuator. The portion cut off by the limiting is stored and to prevent any information from being lost is added t o
the value at the nextsampling period.The resulting increment is then again subject to limiting.
The manipulated variable can aiso be limited using the parameters B+ and B-.
* When the manipulated variable limit is reached, the t component is switched off to prevent integrator wind up.
* If the manipulated variable crosses the limit, the overflow b i t UE+ or UE- is set.
t BIT RF represents a controller enable signal. If this signal is 0,then the manipulated variable is output as zero, regardless of the
state of the controller inputs. If the signal becomes 1, then the controller reacts with a manipulated variable jump at the output
(caused mainly by the D and P components) corresponding t o the instantaneous control difference, as if a setpoint jump had oc-
curred at the input.
This allows the controller t o be enabled and disabled on-line.

Symbol:

Parameter and control bits

XWk ---------> 1 I--------- > Yk

I I
YHk ---------> l l
I PID controller I--------- > UE+
Xtk > I -'---
---- I
I I
Zk ---------> I I---_--_-- > UE-

Fig. 4.33 Symbol of the PlD controller

4. Programming instructions

4.11 Descriptionof the Standard Controller Structure (SR)

Description of the function parameters and binary variables:

Typeof variable Symbol Description Number f ormat Numericalrange

Parameter KP Proportional constant, the sign determines the no unit -99.99 ... +99.99
direction of control action:
+ same direction of change in setpoint and m. v.
- opposite direction ofchange
R Separate Rfactor (usually l), the Pcomponent no unit -99.99... +99.99
can be disabled by R=O
TN Integral-action time, the t componentcan be Time O.1ms ...99h59m
dikabled by TN=O
TV Derivative-action time, the D component can be Time 0.1ms ... 99h 59m
disabled by TV-0
B+ Upper limit of outputYk % -100% ... +loo%
B- Lower limit of outputYk(B-<B+) % -100% ... + 100%
A+ Upper m. v. rate limit (A+ > 0) % 0% ... +loo%
A- , L0werrn.v. rate limit (A- < 0) % -100% ... 0%
Binary S.1.2.1 1 = Manualoperation Bit O/ 1
control signals 0 = Automatic operation
S 1.2.3 1 = Separate D input Bit 0/1
0 = XWk as D input
(can only be modified in STOP)
BlTlR 1 = Ideal PID controller, D comp. without Bit D/ 1
delay
0 = Real PID controller, D cornp. with delay
BlTST ' 1 = Hold m. v. constant independently of the outputs Bit O/ 1
0 = Do not hold constant
S. 1.2.2 1 = Disturbancevariableconnected to controller Bit O/ 1
0 = No disturbance variable
SIT2 1 = Standard version Bit O/ 1
O = Upgraded version
(can only be modified during STOP)
BITRF 1 = Controller enabled Bit O/ 1
0 = Controller disabled
The parametersPN andTV are converted into the parametersTI = TA /TN and f D = TV/TA; these variables are stored in specific
data areas for that block.

Description of the function input and output variables:

Typeof variable Symbol Description Number format Value range

.Inputvariables XWk = Wk-Xk= setpoint-actualvalue = control deviation variable -200% ... +ZOO%
YHk Manualinput. During switch-over from automatic dependent -100% ...+loo%
to manual, the m. v. is matched according to an %
exponentialfunction.This prevents step changes
in the m. v.
XZk Separate D variableinput variabledependent -100% ... +loo%
Zk Disturbancevariable input % -100% ...+loo%
Outputvariables Yk M.v.output % -100% ... +loo%
Binaryout- UE+ 1 = Indication positivelimit reached Bit 0/ 1
put variables UE- 1 = Indication negative limit reached Bit o/ 1
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

4.11.6.10 "On" -"Off" output

Function description:
A pulse generator stage with "on" - "off" characteristic for converting a calculated quasi-continuous control signal Yk into binary
output signals for 2 or b s t e p controllers is implemented.
The manipulated variable is set to + 100% (for 2-step output) or + 100% or - 700% (for 3-step output) only for the part of the samp-
ling time corresponding to the calculated manipulated variable l Yk I r 100%. As for the pulse generator stage of thestep controller
the pulse duration cannot be less than the minimum duration Tmin. Therefore the following equation also appties here:
TA=n.Tmin,n=1,2,3 ,....

Procedure:
The function input variable is the value calculated by the PID algorithm and limited t o 2 100% i. e. the maniputated variableyk.
-
During the first call of the "on" "off" output function when the manipulated variableyk is calculated, it is first compared with the
threshold value ASW = 0%, ..., 50%:
If lYkl < ASW, no pulse is generated.
If lYkl> 100% -ASW, a pulse of the maximum length TA is generated, i. e. the number of individual pulses isTA/Tmin.
+ If the range ASW 5 lYkt 5 -
100% ASW, a total pulse duration (proportional to the m. v. Yk) or number of individual pulses of
minimum pulse durationTmin is given by:
ANZ = Yk-TAKmin
as in the "Step controller" (TA instead of TM) function.
A negative value of ANZ always means negative pulses, which however can only be output with a three-step output stage.

0% ASW 100%-ASW ASW Yk

Fig. 4.34 Influence of the threshold value ASW on the number ofpulses ANZ for a manipulated variable Yk

If only a two-step output is configured this means that only one analog output (DAC) is used, which is assigned to the positive
pulse. In this case the heating can only be switched on (DACI = 10V) or off (DAC1 = OVJ.
With a three-step output however, again in the case of ternperature control, 3 control states cat1 be implemented:
- D A C l = OV, DAC2 = OV==>OFF
-DACl=?OV, DAC2= OV==>HEAT
- D A C l = OV, DAC2= 10V==>COOL
In order to prevent possible stronger control interventions on the cooling side as compared to the heating, a heat/cool factor or
general matching factor APF = 0, ..., 99.99 can be used in the three-step controller.
Consideranexample where 10 seconds of heating increasesthe ternperature by 2 degrees whereas 10 seconds of cooling reduces
the temperature by 4 degrees. Therefore the heating effect is only half as powerful as the cooling. Due to the matching factor APF
= 0.5, theanalog output assigned to the cooling is only set to 1 for a period half as long as originally determined by the value ANZ.
Please note the threshold value forthe cooling output must be reduced by the same factor!
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Generalization:

By definition, the matching factor refers to the analog output DAC2. If the value range of APF is extended to values >l, in order to
include the possibility of larger control interventions for heating as compared to cooling for example, then the effect of the
matching factor APF > 0 is defined as follows:
a APF < 1: The total pulse duration determined by ANZ a t the output DAC2 is shortened by the factor APF.
* APF > 1: The total pulse duration determined by ANZ at the binary output DAC1 is shortened by the factor l/APF.
ANZ

TA/Trnin
t

Fig. 4.35 Method af operation ofthe matching factor APF < 1

l
Example:
APF = 2.0

l
4
-100%
m
-ASW I -
Yk
I 100%
1
1
1
I
t
l
I
I -fA/Tmin
Fig. 4.36 Method of operation of the matching factor APF > 1
 4. Programming Instructions

4.11 Descriptionof the Standard Controller Structure (SR)

After the value ANZ is calculated during the first execution of the block, it is then only evaluated and, if required, updated during
subsequent executions of the block till the nextexecution of the controller. The analog outputs DACI and DAC2 are set according
to the current value of ANZ.

Notes:
- Avalue (e. g. remainder after updating) I ANZ I < 1 is lost.
- In contrast to the step controller, a controller with "on"- "off" output generates pulses during the steady state of the manipu-
lated variable Yk.

Symbol:

S 1.4.1 ASW APF

1 1 I
I 1 i
I I I

l I
1 I
I I--------- > DAC f
'fk ---------> I "ON" - "OFF"OUTPUT l
I 1-----___- > DAC 2
! I
I I
+------------------- +

Fig. 4.37 Symbol of the "on" - "off" ourput

Description of the function parameters:

Type of variable I Symbol Description Number format Numerical range

Parameter ASW Threshold value (0%, ...,50%) % 0% ... 50%
* Nocontrol pulsefor lYkl< ASW
* Control pulse of a maximum duration TA
forlYkl> 100% -ASW
APf Matching factor: takes into account different no unit 0 ...99.99
intewention of the two binary outputs

Description of the function input and output variables:

Type of varia ble Symbol Description Numberformat Valuerange

Input variable Yk M. v. output of PID controller module % -200% ... +200%
Output variable DAC 1 Positive pulse % 0%/ 700%
DAC 2 Negative pulse % 0% / 100%
Binary input S 1.4.1 = 0 :two-stepoutput Bit 011
variable = 1 : three-step output

In addition, the following variable is present in the function, but not accessible t o the user:

AN2 At function start: the number of pulses to be output with duration Tmin is calculated during the first execution. Atthe end
of the function: number of pulses not yet output.

Note:
The minimum pulse duration T,, can only be changed in the "Input" and "Output'' operating modes, not i n the controllertest.
4. Programming Instructions

4-11 Description of the Standard Controller Structure (SR)

4.11.6.11 Step controller

Function description:
The step controller is a digital controller with three-step action, which only operates in the plants with motorized integral
actuators (e. g. vanes, flaps and other positioning equipment).
The step controtler constructed using analog components such as a three-step stage with hysteresis and delayed feedback is im-
plemented here as a series circuit of three function blocks:
a Dead band with hysteresis,
* PID velocity algorithm step controller
a Pulse generator stage

Procedure:
The control difference XWek goes first through a dead band stage with hysteresis, in order to filter out small control deviations
and to protect the actuator.A positive or negative analog value XWek can be suppressed in a symmetrica[ predefined range around
the zero point.

/h Dead band

Fig.4.38 Dead band with hysteresis

The limits at which the output valueXWk isset to O or equal t o the input valueXWek (hysteresis) can beselected with the parameters
AN and AB.
AmanipulatedvalueincrementdYk is calculated from the output variable XWk of the dead band stage using the PID velocity algo-
rithm:

G- K p k I)
+O(VVk + XWk l) -W(2 T N ) + Dk] 1
where
 4. Programming instructions

4.11 Description of the Standard Controller Structure (SR)

Manual input
dYH

L Xold

TA X Pulse
DB generator
i A
I
j --
S-N 1 D \
TA 7 + s.TA 1
L I J

iTEP CONTROLLER
P; = Propohonal constant, TN integrai-actiontime, TV = derivative time
rA = Controller sampling time, Tmin = minimum pulse duration
FM = Actuator positioning time
Nk = Setpoint, Xk = actual value
Wk
X
S 1.5.1
-
= Control deviation after dead band, XWek: before dead band
Numberof single pulses of dui-ationTmin to be output
= Automatic operation (= O), manual operation (= 1)
BITRF = Controller enabled (= l), disabled (= 0)
B[TTOT = Dead band active for I cornp. (= 0), inactive (= 1)
BIT HA1 = Manuaf input active (= l), inactive (= 0)
Fig. 4.39 Structure oithe step wMroller

Here Kp, TN,TV are thecontrol parameters of the PID algorithm. Normally TV = 0 is selected as a parameter, i. e. only a PI algorithm
is selected, since a step controEler is normally only used in slow plants with slow acting actuators.
In the pulse generator, the pulse duration proportional to the size ofthe manipulated variable increment dYk is calculated and
transformed into a correspondingnumber of binary control signals + 1 (clockwise rotation), - 1 (anticlockwiserotation) or 0 (stand-
still) for controlling the actuator drive.
The relationshipbetween the pulse duration Tk and the manipulatedvariable increment dYk is given in Fig. 4.40:

M. V. increment
t

Actuator positioning time

Fig. 4.40 Response oi an actuator drive ro a pulse ot amplitude 1 and dura:ionTk or T M
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SRI

fhe pulse duration Tk assigned to a manipuiatedvariable increment dYk is therefore given by

Tk=TM-dYk.
In order to limit the switching frequency, a minimum pulse durationTmin must be specified. In this way the pulse length Tk can be
represented as a multiple of the minimum pulse durationTmin:
Tk = X.Trnin.
The number of individual pulses of iengrh Tmin to be output as a result of a calculated manipulated variable increment dYk is there-
fare
t 1

Since there is a possibility that all X pulses cannot be cutput during the time TA (sampling time of the PID algorithm), the value X
calculated at the time k-TA must be added to the remaining value X.
The new value X is then transmitted to the pulse generator stage.
For 1x1c 1 the minimum pulse duration Tmin is not reached, therefore no pulses are output.
For IXI 2 1 the pulse generator stage outputs a pulse of length Tmin each time it is calied and decrementsthe magnitude of X by 1
until IXI < 1.
After switching over from automatic to manual (switch 51.5.11, a manualvalue dYH can be entered via a manual input A number of
control pulses corresponding to this manual value is calculated per sampling period, which is then processed further during auto-
matic operation of the pulse generator.The manual valueis actually only operational if HA1is set (manual input active). With the help
ofthis bit however it is possible to bring an actuator under rnanuaI operation to a predefined position (without the bit HA1the actua-
torwould travel into the limits without stopping for a fixed manual value o 0).
Precautions have been taken which prevent longer pulses being generated when switching over to automatic operation. A control
deviation set under manual operation is therefore only controlled to zero via the I component.
In automatic operation it is also possibie to make the dead-band inactive for the l component using the software switch TOT, i.e. to
calculate the I component with the actual control deviation XWek.
Bit RF represents the controller enable signal. If this signal is 0,then no pulses are output regardless of the state of the controller
input. If the signal is set t o 1 then the controller reacts with a number of pulses which corresponds to the current control deviation.
In this way the controller can be enabled and disabeld on-line.

Symboi:

ihV AB
I I X(old) l I I 1 1 ! I l . .
..... .I,. ,l.. . . . . . . . . . . . I . . ... . l . l. 1. I . I *I. I . I . . ..
1 1 I I I l t l l l l
1
1
: t
I
1
->l
+ : : : : : : : E +
I
.
.
l I M I I .
XUek )I DEADBAND 1 >i STEP CONTROLLER I ) X
l I ! 1 .
I I >- 1 1 .
+ b I + + I

1
....................+.I.....................*
I
Fig.4.41 Symbol ofthe step comrolber YHk

Note:
The minimum pulse durationT,i, can onty be changed in the "Input" and "Output" modes, not in the tontrollertest.
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

- .-

Description of the function parameters and binary input variables:

Type of variable Symbol Description Number format 1 Numericalrange

Parameter Kp Proportional constant; the sign determines the no unit -99.99 ...+99.99
direction of control action:
-+ same direction of change in setpoint and m. v.
- opposite direction of change in setpoint and
m.v.
fN Integral-action time; the I component can be Time 0.1 ms ...99h 59m
disabled byTN = 0
lV Derivative-action time; the 1 component can be Time 0.1 rns ...99h 59rn
disabled byTV = 0
TM Positioningtime of integrating final control element Ti me 0.1 ms ... 99h 59m
e. g. actuator
AN Triggerthreshold of dead band variable- -100% ... +loo%
dependent
AB Release threshold ofdead band variable- -100% ... +loo%
dependent
Binary input S.1.5.1 1 = Manual operation, 0 = automaticoperation Bit 011
signals BITTOT 1 = Dead-band inactive for integral component Bit O/ 1
0 = Dead-band active for integral component
BITRF 1 = Controllerdisabled Bit 011
0 = Controllerenabted
BITHAI 1 = Manual value active, 0 = inactive Bit O/ 1
The sampling timeTA and the minimum pulse duration Tmin are also required for the step controller.These values however cannot
be considered as btock parameters, but as global variabies of the control loop specified onceonly which may also be evaluated by
the system program.
The user parametersTN andmare converted into the internal parametersT1= TA/fN andTD = lVj7A.
Similarly Kp is convertedinto the parametersK = Kp -TM/Tmin.fhese converted variables are in the data area specific to the block.

Descrintion of the funetion input and output variables:

1 f

Type of variable Symbol Description Number format Value range

input variable XWek = Wk-Xk = control deviation isgeneratedfromthe variable- -200% ... +ZOO%
setpoint and actual value beforecallingup the module dependent
XHk Manual input '30 - 100% ...+loo%
X Initially containsnumberof pulses of duration no unit
Tmin not yet output
Output variable X At program end contains number of pulsesstill no unit
to be output
In addition the following variables are present, which are not accessible to the user:
XWekl previous control deviation before the dead,band
XWk control deviation aiter the dead band
XWkl previouscontrol deviation after the dead band ( (k-l) th sampling period)
Dkl previous D component

4.ll.6.12 Pulse generatar for the step eontrolier

Function description:
The pulse generator function converts the manipulated variable pulse duration (or to be more exact: the number X of pulses of
minimum duration Tmin with sign corresponding t o the pulse direction) calculated by the step controller function in the k-th samp-
ling period into 2 analog signais for RAC 1and DAC 2for controlling an integral-action actuator:
xlXl< 1 ==>DACI = 0 , DAC2==O ("standstitt")
*X 2 1 ==>DACI = IOV, DAC2= 0 ("open")
*. X <-l ==>DAC1= 0 , D A C Z = l O V ("close").
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

When these signals are output the analog outputs remain set forthe time specified by the total pulse duration IXI ~Tmin.
One should consider the following:
- The minimum pulse duration Tmin should be smallerthan the sampling period TA of the control loop in order to achieve
maximum control accuracy, where
TA = n .Trnin, n = 1,2,3, ... and thus alsofmin <TA < TM.
Within the sampling period TA, up ton pulses with the minimum duration Tmin can be output consecutively.This means that the
pulse generator program is processed within the timeTA exactly n times.
- For IXI C 1 the minimum pulse durationTrnin is not yet reached, therefore no pulsesare output.Thevalue X however is not lost, it
is added in the next sampling period to the new value X.
-'For 1x12 1the pulse generator produces a pulse of duration Tmin at the corresponding output each time it is called and decre-
'

ments the magnitude of X by l.

- If thecontroller program has calculated a total pulse duration IXI - Tmin >TA, then not all X pulses can be output during thesam-
pling periodTA.Therefore the number of remaining pulses is stored and is added in the next sampling period to the new valueX.
- For active acknowledgement BA = 1 ("final OPEN position reached") the DAC1 output is disabled; similarly for active
acknowledgement BZ = 1 ("final CLOSED position reached"), the DAC Zoutput is disabled inorderto preventthe actuator from
being damaged by overdriving.The acknowledgement signal from the PC is transferred to the IP252 via a standard F6 (Section
5).
Example: n = T u r n i n = 4, X = 3.7

1
I Tmin I
I I 1
1 -. I
I 1
I I I
X = 3.7
I X = 2.7 l X = 1.7 X = 0.7
II X: = 0.7+ X
I
I I 1 t
0-J
k.TA (k+ l )=TA
Fig. 4.42 Example of puise geneation

Symbol:

+-------------------a
I 1
I 1
t I----- > DAC 1
X --------- >l PULSE GENERATOR I
I I----- > DAC 2
BA --------- >I I
BZ -------W-
>1 I

Fig. 4.43 Symbol of the pulse generator stage

Description ofthe function parameters and binary input variables:

Type of va riable Symbol Description Number fwrnat Numerical range I

Binary input BA Acknowiedgernentbit: Endposition OPENreached Bit 0/1
variables B2 Acknowledgementbit: End positionCLOSED reached Bit 0/1
 4. Programming Instructions

4.11 Description of the Standard Controtler Structure (SRI

Description af the function input and output variabies:

Type of variable Symbol Description Number format Value range

Input variable X Initially contains number of pulses of duration no unit
Tmin not yet output
Output variables X At program end: containsnumber no unit
of pulses still to be output
DAC 1 Positive pulse % 0% / 100%
DAC 2 Negative pulse % 0% / 100% "

Note: The following, additional method of operating the step controller manually is not illustrated in Figure 4.43:
The puts generator has two additional binary inputs, the "Actuator open" and "Actuator closed" keys.The functionsof both
keys are transferredvia the SS CPU t o the 1P252. Neither of these keys i s accessible in the COM REG programmersoftware
or in the standard function block FB:STEU:STD in Section 5.1.2.
In contrast to manual mode with constant manuai value (CON HA), the output of the step controller is controlled direct
here:
BIT 1.5.HA.Z = 1 -->Manual mode "Actuator closed"
BIT 1.5.HAA = 1 -->Manual mode "Actuator open"
For this type of manual mode, the following bits must be set:
BIT 1.5.RF = 1 (to controller enable)
BIT 1.5.1 = l (to manual mode)
B[TI.S.HAI = 0 (to manual value "CON HA" non-active).
In section 5.2.3.1 there is a description of the transfer of both "HAZ" and "HAA" keys from the STEP 5 program in the CPU
to the lP 252.
4. Programming Instructions
4.11 Description of the Standard Controller Structure (SR)

4.11.7 Data block of the standard controller (SR)

The data block contains all the data of the SR controllerstructure.If the contents of these datawords haveto be read orovetwritten
by the CPU, these internal IP 252 data can be accessed with the help of data handling blocks (Section 5.2).
Data
ward
address
I
1 5 1 4 1 3 1 2 1 1 ~ a q a 7 6 S 4 3 z 1 0 V
+rl---+----*+-----+--*--*-----+-----+-----+-r--*C----+-----+*--**+*r--.+----r+-----+..,~,+,----+

I Addltlona? code (for P6 and XP 252) (STAUDARO 102) I DV 0

1 Verslon number I W 1
..............................................................................................

- 1 status flag word I OW 2

BESY- I Error wrd I IUF I DU 3

CNES ...............................................................................................

1 I Error fora word ]MP1 LM 4

'1 C---**r---+-*---+-*---+-----+-----+-----+.-**-+-----+-*-*-+-*---+-----+-----+-----+~****+.~*--+

I I ( s t 5 l l free ) I m 5
\ C.r---+r----f-----C----C----2--+----d-----+----&----+-----L---*-----.-----+-----+-*---+**--

I 1 ( ~ $ 1 f1r e e ) I
I +---*-+-*--*+-----+----C-----+-----+---*-+-----+----+---*-+----.+-----+-----+-----+*-*--++----+-----+

V .I B I B flag dtqlay word I OU 7

-------+-----+-----+-----+----*+-----+*----~----+-----L*---+-----+----*L*---L--*-+---

I Saqllng ttme TA I n 2.5 us u n t t s (for W ) (W I DU 8

+-----C----+---*-+-----C~---+-----+----*+*-+---*-+----+-----+------+-r-rr*---.

I ( 32 btts f l e d - p o l n t ) cur) 1 W 9
+-----++----h----+-----+-----+-----*----+"+-----+r-r--+--,,,+.----+-----+-----C.---+-----+

! Sampling time TA (16 b i t s fixed-polnt) 1 OU l0

+---*-L----+-----C----C----+---------+--*---+

1 T l u f o r v t code for TA i DH 11

C"-rC*---C----C--rrC--------C-----------*+

i Hlnimm pulse durat4on Tnin (16 b i t s f lad-polar) 1 Du 14

+----h----+-----+-----C----C----C---*+-----+-----+---*-C----C--~*----k----&-~~~~~---+-

1 T1.e f o m t code for Tmin I C44 15

+---*-+-----h-r---C----C-----+-----+-----+-*--+----b---+-----+----+----A----*----*----+

I Wltipltcr for IP 252 (l6 b t t Itxed-point) I W 16

------*----+*----+----+---+-----+*----+~*-~~~---~----*--~+~~~*~+-~~~~+~~~~~+-~--+-----*----~~~~~~~~~
" 1 b bytes m11 string 1 M1 17
D k----c-,,,+----+---+----+-------+---*-h----+----+----A---*+-----k----+---**----+-*---+

1 I for the selectable pllys. u n i t DU 18

+----C---~----~~----+-----+-~~-.~----C--L---A---++++---~+----+

E ! of t h e ftdnQard colltrollcr I Du 19

S 1 M l n m r a w (0%value) (wttb unit) l

I c - - - - C - - - c - - - - c - - - s , 1 - + - - - l * - - - 4 - - - - 4 + - - - - - +

0 f Hnximn r a w (- 10W value) (ultll unlz] I W 21

V I k l ~ potnt
1 CO& (- number of d e c l e a ~places) I OU 22
-------+----"+-----+----~+-~---+-----+-----+-----*-----*-~~~-*-----+~~~~~+~~~~~+~~~*~+-~~-~+-----+~~--~+~~~~~*~*~
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Data
mrd
address
I
l
15 14 13 12 11 10 9 B 7 6 5 4 3 2 1 0 Y
.......................................................................................................
c0nfig-l I l l I 1 1 I I I l I I t l I ! W 2 3
# r i n g +-----+-----+-----+.-----+--.---+-----+-----L--.-+----+-----+-----+-----&-.--+-----+-----+-----+
switchesl I I I t I I I I I O u 2 4
...............................................................................................................

a I N m e r N (. 1-10) of t h e equidtstanr i n t e r p o l a r l o n p o l n t s of t h e palyeon (wfo u n l t ) j OW 25

l I AbSCiSSa value XI of Che 1 s t Interpolation p o i n t (W. u n i t ) I ou 26

I ................................................................................................

I 1 I n t e r v a l OX between neighbouring i n t e r p o l a t i o n polnts (U. u n i t ) I OH 27

I .............................................................................................

I l OTdiftate value FI of t h e 1 s t l n t c r p o l a t f o n p o l n t (v. u n i t ) I DU 28

I .....................................................................................

p 1 Ordinate value F2 or t h e 2nd l n t e r p o l a t l o n p o t n t (W. untt) 1 DW 29

0 +--"--+*----+-..--+***--+--*--+~---*+-*-*~+-**-~+--~*~+-----*-----+-~---+-----+-*---+-*--**-----+
L I Ordinate value F3 of the 3rd i n t e r p o l a t i o n p o i n t (W. u n r t ) I DU 30
y +-----+-----*--* "*+--**-+-*---+*--*-+*.---+*----+-----+-----+-----*-----+--...+*--**+*----+-----+
6 1 Oreinate value F4 of the 4th i n t e r p o l a t i o n p o j n t (W. u n i t ) I W 31
0 +--,.*+-*--.+~*---c----+--*--+---.-+~c~~-+~~~~~+~~~~~+--***+----~+-----C-~~~~+---"-+---*-+----~+

N l Ordinate value F5 of the 5 t h j n t e r p o l a t f o n p o i n t (W. u n i t ) DU 32

U 1 Ordinate value F6 o l t h c 6th i n t e r p o l a t i o n p o i n t (U. untt) I DU 33

6 +-----h-.--*...-.+--.--+---+-+-*---+****-
CCCC+-*~~-CC~~C+--~--+-----C~---+*~~~~+-~~*~+~**~

I I brdinatc value F7 07 t h e 7th i n t e r p c l a t l o a pfut (W. unlt) I W 34

I +--*--+r----C----C----+-----+---+r-------+-*---+-*-*k-*-*+--*-+-----+-----+-----*----*-"--+

I I Ordinate vlaue FB of t h e 8th i n t e r p o l a t t o n p o i n t (W. u n i t ) I W 35

I +-----C..--C----+"----+*r-l-+--+--L----+-----+--+-rr+*-.--*-*-*-C.---C-r--L-.--+--

I I Ordinate value F9 of the *h ieterpolation point (W. u n i t ) 1 W 36

t +---*-+-----+-----+-----+-----+----+-----*----h----+-----+-----+----*C----+-----+-----+-----+

" 1 Ordinate value F10 of t h e 10th i a t e r p o l a t I o n point (U. unit) I Ou 37

--*r-~-+--**-,*~~~.+.*-*-+----*+----r+-**--C----+-----+-----+-----+-----***--*C---*+---r*+*----+-----+--rrr---

- I ~lnaberMW (-1-10) of tbe s c t p o i s t s of t h e subaoaule 'set polnt sequence' (wla u n l t ) I Mi 38

1 +r.*l-+l.-*-C----+-----+-----+~*--J--r-+-----+-----+----*-----+-----+-----C----4-*--+--~*-+

1 I I n t m a l tlse TINT [ DU 39
I +*--*-+---*C--*-+-*---+-----+-----+-----b----+-----*----+-----C-**-+--*--+---.+--~--+--~--+

I 1 Tiae f0-t code for TlKT l m a

I +-----*---*-C----+-----+----*-----C--L----&----A-*-~---~--""+---*-~*-**C----+**"--+---*-+

I 1 1. SctpO(rlt W1 (W. u n l t ) I W QI
[ +-*---c.-.-c----+-----c-----*----CC~C-C~~-C"C~~~~*-~*-~*-+-+-+-+-~+~+

I I 2. s e t p o i n t S112 (W. untcl [ W 42

5 + - * * - - c - - . - c - - - - c - - - - + - * - * - + - - - - c - - ~ - + ~ ~ - - - +

E I 3. s e t p o i n t S33 (W. unit] 1 Dir 43

1 +-----*.---r+.----+.-----h----+-----+-----+----+-----+---*-+-----&----h---h----&----+-----+

P I U. Sttpofnt SW (U. u n f t ) l w @
0 +-----+----"c--*-+*--*-c-*--+--*--+-----+-----+-----+-----c--.,+~~~~~C~~.-c--,*c,,.,

I 1 5. Setpolnt S6 (W. u n t t ) ] DU h5
Y +-----+~----+-----c----+--~~~+.~,--+*--~----C--*~*~~+-----+-r--C----*-----c-C-C+-~*-*C*---+

7 I 6. s e t p o i n t SW6 (W. unlt) IOU&

1 +-----+-----+-----+-----+-----+-----+**++****+***+r---+-----+-----+--*~-C--*-*-**--+

I I 7. Setpoint SV7 (U. unit] I DU 47

 4. Programming Instructions

4.11 Description of the Standard Controlier Structure (SR)

Data
word
address
1
l5 14 13 12 l1 10 9 8 7 6 5 4 3 2 1 0 V
1 +-----C----+-----+-----+-r---+-----~-----+-----hhh--**+++*-+----*+----*+--r--+

i I 8. Setpoint SUB (W. unit) [ DY 48

I +-----+-----+---r-+-.-r-+-----+----"+--*--+-----+*----+-----+--*-*+----*+-*-""+-+---+-----+----*+

1 1 9. Setpatnt Ri9 (W. unlt) I DW 49

I t-*---+-----+-----+-----C----C--.-+-----+-----+-----+r----+---------+-----+---~-+---*-+~----+

V I 10. Setpoint SUlO (W. unit) I DW 50

...............................................................................................................
I amp-up time TH of the ramp generators i ow 51

1 Tine format code for TH I OW 52

GEI(ER.. ................................................................................................
A m I Ramp-dwn time TR 01 t h e ramp generator I DW 53
I ................................................................................................

1 1 T i w f o m t code for tR 1 DW 54
- - - - - + - - - [- - +
V l CON ZW ( ~ r d l n a t e safter rampup tire +s out. with unit) I i
w 55
-------+-----h----+*----+-----+-----+----r+-----C---*C----+-----+-----+-----+-----+--*"*+-----hhhhh+-------*

FIL- I F i l t e r t1.c constant NZ I MJ 56

m +-----c-,.-+--,--+-----+----,c.--4-----c----c----+-----+-~-*-+*.---+--.-.c----C---.+-

1 I Time f o m t codt Tor TV2 I W 57

-----*+-*-r+-----+-----C----+--+-----+-----+-*---*---*-d-----+---*-+-----+-----+-----+--*--+----+-----**.**-w-

I W. permlsslble difference dXZul of the validlty cbcck (U. unlt)) I OW 58

a I Nmber H1 of Itnit values of Z h e 1 s t limit aonltor (w/o unit) 1 W S9

I +-----*-----c----c----+-----+*-----+--+

I I 1st ltmlt value of the 1st limit m n i t o r (W. unit or O) I Dw 60

1. l 2nd limit value of t h e 1 s t l i a i t monitor (U, anit or I) 1 OW 61

LMIT +-----+-----+-----&----+-----+-----+-----+-----+-----+-----+-----+-----+-----+-----&----+-----+
Wl- I 3rd llmlt value of the 1st limit m o l t o r (W. untt w k) I OW 62
TCR +-----h---+----4----.~-~-+-----+++---+-----c----~----+.----c,,--+l----+--,,.+

I 6th llmlt vahre of t b t 1st limtt a n i t o r (W. unit W t) I Dw 63

1 +-----+-----+---+----b.--.+---+-*---+

1 1 5th l w t t value of the 1st ]hit monitor (U. unit or r) i m @

1 *---h ----+ ---m- C---A--+----+***A---b---b-****---h +--***h+-*--A ---- ---- +
V I 6tb l h l t value of the 1st I l d t mnltor (U. u n l t or %) I OU 65
- ~ - - - - - + - - - - - + - - - - ~ C - ~ - - - - ~ - - - - ~ ~ ~ ~ ~ ~ C C C C C ~ C ~ C ~ ~ ~

I Number W2 of l i a i t v a l w s of tbe 2nd limlt weitor (x/o unlt] I DW 66

I I 1st l l a l t value of t b t PM Iimlt m n i t o r (U. unit or %) . I W 67

] +*----+-----h-.-rC----CC*--+----*-C*++-+-----+~-*--+-----+-----+

I 2nd I t s i t value of tk 2nd llmtt m s l t o r (W. un4t or a ) I W M

2. +-*--+----cl~--h*--+---*-c**--+--+--~~-+

L I M ~I 3rd t b i t value of tbe 2nd Hmft ~ n l t o r(U. p n l t or %) 1 OU 69

m* C----+----+-----+---+----A----*+--*--+-----*--*--+--c--C--*-+----+r--"+--*~*C--*+
fa 1 4th I f i t value of tbe 2nd l l m l t m n l t o t (W. unlt w 8 ) I Old 70
I C---h----h----+--*--+---C------C-r----+-----+-----+-*-*+--"-+----C--*-+*----+--~--+-----+
I I 5 t h 11ait value of the 2nd ltmtt .onitor (W. o n t t m t ) 1 ou 71
I *-----+-*-*C--*+----*------C--C----*--C+---C----+-----C~---+----C----~-,--+

V I 6th Ilmlt value of the 2nd I l s l t m n l t c r (W. untt o r S) I DU 72

A I Proprtional coeff iclent KP of t h e PID control lcr ("10 unit) I DY 73

 4, Programming Instructions

411 Description of the Standard Controller Structure (SRI

Data
ward
address
I
15 1 4 1 3 1 2 1 1 1 0 9 B 7 6 5 4 3 2 1 0 V
] +-----+-----*--r--+--***+*----+--*--+-----*---*+-----+---*+**---+-----+-----+-----*--.-+*.---+

I I Separate selectable galn R of the P component (for extended version) (without unlt) I DV 74

I 1 Integral actjon clme TN or the PID controller I DW 75

D +--*--+*-*--c----*-.---+--*.-+-l-.-+----+-----+----d----*+-.---+-----+-----+-***-+-----+----.+

1 Time forpat code f o r TH 1 DY 76

C +-----+-----+--.--+"-*--+---*-+----+---"-+--*--+-.---+~~*.*+--~--*--*--+-----+~-*-~+--.~*+-~-.-+
0 I Derivative actton time TV of the PI0 controller I DU 77
+-----+-----+-----+-----c----+-----+-.---+-----+-.---+----+-----~----+-----+
z ! Tiw f o m t code for N l OH 78
R +*----+-----+-----+-----+-----+-----+----*+-----+****-*-----+-.---+-----+-*--*+-----+**-*-+.--*-+
0 I Upper munipulated vartable ltmlt 8+ ('4 I DU 79
L +--*--+-*-*-+*---*+-*---+**..*c----+-----+-----+-~-~-+--*~~+---*+*-*~~+~~~

L 1 Lovcr mnlpulated variable limit B- (%l I DU 80

R I Upper ~lanipulated speed liatlt A+ (*l I W 81

I +-*---+----rC----C----+**---+----+..******+**+*++*+*--*C----+-----+

V 1 Loner wnipulated varjable limit A- L%) 1 DU 82

I Proportions l coefTlclent KP of the step conrral ler (wlthout unit) I DU 83

S +-----+-----+-*---+-----+-----C--"*+***--+-----+-"---b----+--*-b****C----+*--*-+,----+-----+

T I Integral action rime TW of the step controller l w u

E +-.*-.+*.,-.+--**,c.----&--~.+-.*-*c--**+---*,+,----+-----+-.-*-+-*****----~+i*i-i*~--~~+----+

p I T I l c f o m t code for T11 1 W 83

+-----+-"--.+-----+-----+-----C----+-----+-----+-----C--*-b----*----+-----*----+-"*--+-*--*+

c 1 Dnlvarive action time N of r h t step controller I DU 86

0 +-----+*---.+-----+**.--+-----+--*--+-----+~----+--.*~*+-*-+-----*--**-+-----*----*----+~--*-+~*---+
H I Time fomat code f o r TV I W 87
i +-----+-----+----c----c*~,-c----*,---c--.-c----c-*~-*C-----c-----~-"-*+~~*~*+**

P I Final control elncnt operating tine M \ ou 88

0 +r--r-*----C----+-----+-----+--*--C.----+**C****+---*-+-*-----C--*-+---*l+----r+

L 1 T h e f o m t code f o r TH I W 89
L c--*-~----c----+-----+--**-+-----+-----+-----+---.-c--~-+.-~-.+--.-~*--~--*~---+.--.~+
E 1 Upper nspoasc tivreshol8 AN of the step controller dtad zone (U. unlt) ~w~
R +-----+,,---c----+-*---h------+-----+----+-----+--*-&----+--~--~--*-+--~--+-----c-~

1 L m r response threshold AB of the step control\er dead z O e (W. unlt) 1 W 91'

- - - - - - r + ~ ~ * * - + * ~ ~ ~ * C ~ ~ . * - C - - - - ~ C ~ ~ C C C ~ ~ ~ ~ + ~ ~ ~ ~ * + ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ + ~ * ~ * . C C C

PULSE f Upper response e b r ~ s h o l dASU of the pulse-pnsc output (a) I Du 92

PAUSE +-----+-----*.----c----+-----+-----+----+----+-----b----+----+*---+--~-+---~
OUTPUT l Interface f a c t o r APF of the pllre-pause output (rlo unit) I D# 93
~ r ~ - - - - + - - - - ~ + ~ ~ ~ ~ ~ C ~ ~ - r h - ~ - ~ h ~ ~ ~ - + ~ ~ ~ + ~ ~ ~ ~ C

-1 I Start-up value ,of the actual value branch (W. onit)

+ - - - - - * - - - - + - - - - - + - - - - r C - - - - - - - - C - - - - C -
) W %

I P6 value o f the a m a l Input f o r P10 o r step c o m m l l a (*) I m s

~ t ~ r * ~ ~ - ~ ~ c ~ * * * c ~ ~ ~ - + - ~ ~ + - ~ h ~ ~ h + ~ * ~ * ~ + ~ ~ ~ - - C ~ ~ ~ ~ C * ~ ~ - C C b . ~ + - - , ~ + - - - - ~ + - - - -
1 Factor for flml w u t r o l element interface W MI (wlo unlt] ( W 96
Con- c---,+--.--c----+-----+---+-+-----+-----+-----+-----+-----h----+-----+-----~----+-----+---.-v
stant s f External constant for find? control c l e r n t taterface Km Vat ( 4 ) I OU 97
1 I*----+-*---+..---*-"--%**--*-----+-----+-----+---*+.-*--+---*-+-----+-----+-----hh-h-+-----

I I Setpoint uppet limlt (w/o unlt) I UU 98

I +-----*-----+-----+-----+-----+-----tiii-i+-----+-----+**---*-"---+-----+-----+-----+---~~+-~~--*

I 1 Setpoint loner Itmit (wla u n t t ) / W 99

4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Data
word
address
I
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 V

1 1 Upper w r n l n p l l m l r of t h e actual value (wtth u n l t ) 1 O

W l00
I .................................................................................................
I 1 Lower warnlng unlt o f the actual value (wtth unit) [ OM l01

I I Upper danger 1 B l t of the actual value ( w l t h untt) 1 Du 102

I + - ~ ~ ~ ~ + ~ * ~ ~ - + ~ ~ ~ ~ ~ + ~ * ~ ~ ~ * ~ ~ ~ ~ ~ + - ~ * - - + . ~ . ~ ~ + ~ ~ ~ ~ - + ~ - - - - + - - - - -

1 I Lower danger limit o f the actual value (wlth s a l t ) I OW 103

I *----+-----*---*-+.----+--*--+------
1 l 1 O
W 104
+-----+-----+-----+-----+-----+-----+*-.-.+-----+----*+-----+-*--*+-----*-----++----+--*--+-**-*+
I I OW l05
+---r-+*-.-r+L--*7+.----*-----+-----+-----+-----+.----+-----+-----+-----+-----+-----+-----+---.*+

I I O
W 106
+-r--+---+---+---+--.---+---+---+---+--"+*--+

I I W 107
+*----+----.+-----+-----*--.-.+-----+-----+-*---+-----+--"*-~-*--L----+-----*-*---+----~+-~---+

I i ov loa
...............................................................................................
1 I DU 109
+-----+-----C---*+*---+-----+--+--+-+

I I Du l10
+r----+-----C----+-----+-----+-----+-----h----C----+-----+-rr--+-----C----+----r+------+.**-*+

I I W l11
+*---*+*--*&+-----+-----*---r-+-----C---r+l----~----+-*---+--*-+-----+"-+-*--+

I j OUl12
( +-----C----C---r+*----+--*-.h-h----------*---"+

1 ! 1 W 113
I h~---C----Lr---*.----+-----+-----+----+-----C~~~~+~-~~~+~-~--CCCC&~--~-+--

I I 1 U4 l l b
I +--r--+rr---C----+----r*r-r.-+-.---+----rC----+-----+--+--+-----*-----+--*--+~---~+-~-*-+

V I ! DV l l S
-----.-C---*C----+---*-~--*~CI---~+-----t-----+-----+-----+---~*+--*~+~---~+*----+-----C----C----C--C~CC~C~C

f m s l l r l n g polnt b. f o r medsurtng sackct 1 I W 116

C----+----+-----+--I+-----C----+--+-----+*---&----+-----b----+-----*-----+-~---*-A-----+

1 n t l s o r t n g point b. f o r aasurtag socket 2 I DV 117

1 Weascrrinp point b. f o r llrlt monitor 1 I W 118

+-----+-----*-----+-----C------+-*---+

f kasurtng polnt WO. f o r 15.R m n l t o r 2 I Ml 11s

I A a d r e S s o f the P I 1 of the setpotnt input (MC 1) DV120

I +--*--+----+----2------C---+-----+---*-*---4-----b----+----+-----**---+-----C----+-----+

1 A d d r t S S of the P I 1 of t h e actual value input (10C 2) I Ou 121

Ad. .........................................................................................

Qnssts! A d d r e s s o f the P I 1 of the sparare D input (W 3) 1 DW 122

of Pt + - - - - - + * * + - * * - - - - - + - - - - - * r * * * r ~ C I - - c - - - - - h - - - - + - - - - . C - . * - c - ~ - - - - - + - - * + - - - - - - * - - - - +
PI1 1 A d d r c s s of tbt PfI of the d5stmbance Input (PSK: 4) I Du l 2 3
of
In- I A 4 d r e s S 07 t l ~ ePI: of the ~ n u a Input
l (ADU 5 ) W 124
puts +***--*-*---*-*---+-----*-----+----+----~+~~---+-----+----"+-----*-----+-----+"~~~~+~~~~~+~~~*-+
i i OU 125
I *----*+---*-+-----****--**-*----*r---+-----+-----+-----+-----+-----*-----+---*~+-----+-----+-----+
 4. Programming instructions

4.11 Description of the Standard Controller Structure (SR)

Data
nore

v 1 A d d r e S S of the counter fnput 1 OW 131

rr--*--+rr*-.+r-rr.+--.--+-----+-.---+-----+-----+-----+-*---+-----+----.+--*--+-----+-----*-----+--**-+--------

! A d d r c s S of t h e P I 1 of fhe tnput b i t varlable word 1 Wl 132

+-----+----r*-----+-----+-----+-~--C-~.C-.k~~-+-----+--~~r+rr+r.r+rr+rC~~~CC-*-C+--~~~+~~~~~~-~~~-t

1 I W143
-------+....-..-...L ~-~~*~~~*~..~.~..~..~~--.+-~.-C-C..~~~~.~-C-~~C~.C.CCC...-C~~

* l A d d r e s s of the PIP of the control output DAC 1 I W144

1 I & d dr c S s o f the PIP of t h e control outpat OAC 2 I DU 145

j L - - - - * - - - - - C - - - - + - " - * * + - - - - - b - - - - h -

I I 1 W146
+-----h---*----+-----*,----C----~--h*---+-----+----+-----+-**-+----*-----k----*----+-*---+

Ad- I I DW 147
qnsgesc*---+* --A- ----- *.---&---*---+
c*---+ +----c---c---k----+----+---C----k*---*----h
o f the I I W148
PIP C - - - - + - - - - - + - - - . r C - - - - b - - * - c - - - - - C -

of t h e I I W 149
4. Programming Instructions

411 Description of the Standard Controller Structure (SR)

Data
mrd
address
i
1 5 1 4 1 3 1 2 1 1 1 0 9 B 7 6 5 4 3 2 1 0 V
..............................................................................................

I I 1 DU I52
I +---r-+--*--+-----C---~+~.---+----r+.----+-----+**---+-----+----*-----C---r+-----+-**~~+-----+

I I I OW 153
I +-----+--r--+--.*-*-----+--*--+****-+----.+-----+-----*-----+--*--+-----+--**-+*----+-----+-----+
I I A d d r e S S of the PIP of the 1st wasuring socket (OK 3) I DU 154
1 .................................................................................................
V I A d 3 r e s s of the PIP of the 2nd wasurlng sacker ( O K 4) 1 OM 155
-.-----+.---~+rr---+--~11-1-+-----+-----+--~-.+----~+~~~~.+~-~~~m-.-.+--.-l+l--.--+-----+-----+-m--.+-m~.-+.-_-----

1 h d 6 r c s s of t h e PIP of the output b i t vartab3e rord 1 DW l56

+---*-+-----+-----+-----+-----+-----+-----+-----+-**--+-*---+-----+-----+-----+---.-*+-----+-----+
1 1 nw 159
--l-*-r-+-----+-----+-----+r-r"*+***--+---*-+-----+-----+~-*-+-----C----+r*-*r**-~--+-----+*-r--+.*r-.+

I I Controller ME: 1st byte I Controller name: 2nd byte ] OW 160

Fields +-----+----d-----i----+-----+,,,-,+-----c--,.+-----h--hh~~~~~+-~---+-----+-----+--
for [ Contmlier n w : 3rd byte I tontrotler n e : 4 t h byte I DW 161
local +-----+-----+-----c----k---+-----*-----+-----+-----+-"-*-+----4---+*+++*--L--*-b**

operator-] Controller rame: 5th b n e [ Canttoller W : 6th byte 1 W 162

process +-----C---~-~--+-----+-----*-----+-----+-----+-----C----+-----+-----C--~-+-----C----+----~+

-1- 1 Controller oar: 7 t h byte 1 Controller W: 8 t h byte 1 W I63

attgn + - ~ ~ ~ ~ + . ~ ~ ~ ~ ~ ~ ~ ~ . ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ C C C ~ ~ C ~ C C C + ~ ~ ~ ~ ~

and 1 Range ME: 1st byte ] Range mm: 2nd byte I DM 164
visual+ +-----+-----+-----+---.-+----.+,,,.,+-----+--,,,+-----+-----+--*--hhhhh+-*---+-----+---.+-----+

satqon I Range oar: 3rd byte I Range name: 4th byte I DM 165
for m + - - - - - + - - - - - + - - - - - c - - - - + - - - - - + - - - - + + - - - - - + - - - - - + - - - - ~ . + - - - - - + - , , - - c - - ~ - + - - - - - + ~ ~ - - - ~ +
MLIP 1 - Range me: - - 5th byte I Range name: 6th byte 1 W 166
sub- + - - - - - + - - - - - h - - - - + - - . - - - c ~ * - - P - + - - - - - + - - - - - b - - - - + - - - - - +

wdule ] Ran* ~ o t : 7 t h DyTe ] Range name: 8th b s e I DW 167

-------+-r---+-----+r+r+r+r+rh*-h11-1G--h-------*+-*---+-----+-----+----.+

1 Y a l U t of the P I 1 of the setpolnt Input (AM 1) I W 168

1 +~--+---s---d---^-C-*-----C----+-----h~---+----C----+----b---&---*+--*--+-*-+---~-+

I I V a 1 U e of tbe PII o f r h e actual value ~ q u (WC

t 2) I EU l69
p11 +~~-~"+-~"~+-~~*-h**--C~**c~*--+-~+-+-~+~~~-~~~~+~C--.c****+,.~

or tk f V a 1 U c of the P I 1 of tbe seperate D f ~ p s l t(MC 3) 1 DW 170

3.prts + - - - c - - * - c - - d - - - - + - * - - - c - . - - - - C - - - - - c

I I Y a f U e of t h e PI1 of at dlsturblrnce lapat (APC 4) 1 W 171

+----C----h---4-----+---*I----&---+---4----4-----h----+-----L----+-----b----6----+

L V a l U e of the P I 1 of t h e mnual iaput (MC 5) [ W 172

c---c----c----+-*---*-----+------+---*---+

I 1 W 173
*r---+-----C----+-----C--*--h----+---c---4---*4*--d-----+--*--C-*--+-----+-----C---r+

1 I W 174
+ - - - - - C - - - - C - - - - + - - - * - c - - - - - + - - - - - C -

f I W l75
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Oata
word

I +--*~~+~~*~~+*****+*--**+**~.~+~-*~~+~~~~~+--~--+-----+-----b----+~-r-~+-r

1 I I OW l78
I +-----+-*---C----+**---+-----+--*--+-----+-----+-----t-----+-----+-----+-----+---*-L----+----+

V I V a 1 U e of the counter 4nput I DW 179

-------+..-m ~+~.~~~.~..~+.....+"*...+"~.~~*~~~~*.~~.+~.~~~+.~~~I~*I~*~.I~*~C...~...~C+.~..~+.-+~..~~CCC*~~~~~~~-

1 P I 1 of t h e input b.lt variable word (relays and b t t s ) se below for meaning I OW l80

I V a 1 u e of the 'VC setpoint variable' I W 191

+ - - . . - - "..+.--*..-rr+~....+....*....I+r....~...-...~.~~-+~~.~~+"*~.~+

I I Controller name: 1 s t byte I Controller name: 2nd byte I OY 192

Fields +-----+-----c----+-----c----c----+-----+-,+,,+----~+-----+-++++-,.-+.,,,,+

for 1 Coutmller a9le: 3rd byte I Contraller ~ . e : 4th byte [ OU 193

1-7 c~~*,*.~,~~c~**~+----.c~*~+-*~-~+~*~~~+~"~~~+----~c.--*.+----.+---
0pe~atotl Coatroller nmte: 5 t h byte 1 Conmller wm?: 6th byte 1 W 194
prc,ceSS C----,-----+-----+-----+-----*---++-----b----+

c~lrmni-l Comroller W : 7 t h byte I Controller mrt: 8 t h byte I W195

c a t i o n c----c----+-----+-----+-----c------+-----+----+-----+---+----+----d-----+----+-----+r-
and I Range n-: 1st b y t e I Ranee mm: 2nd byte 1 DUI%
V~S~~~-+----+-----+-----+-----C--~-C----~----C----+-----C------+----+-.+~-~~+.----+---~.+-~-.-+

satlon I Range naot: 3rd byte I Rangemme: 4th byte I W 197

for t h e +-----c----c----+-----t----+-----+-----+-----+-----+-----&----+-----+-----t-----~----+-----+

OR/= I Range naa: 5 t h byte 1 Ranee name: 6th 1 WISS

mdule I Rangc name: 7th byte I Range nsr: 8th byte I W19Q
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

t I WMO
*-----+-r.--+----rC----+-----+-----------+-----*----b----*----+

I 1 W201
..............................................................................................

I 1 W 202
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

Data
word
aDdresS
i
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 V

................................................................................................

I 1 DW 206
.................................................................................................
I 1 DU 207
-
*
C
I
.
-
+
.
C
.
+I
.
-
+
.
~
*
L
+
I
.
-
C
~
-+
.
~
.
C
~
+
.
U

t V a 1 u e of t h e PI0 of the control output DAC 1 I ON 208

I +----r+*----+-----C----+-----+----r+--*-*+-----+*----+-----+-r---+---*-+-----+-----+*r-rr+-----*

I I V a 1 U e of t h e PIP of the control output DAC 2 I DU2W

I +-----+---*-C----C----+---*-+*-*-*+**---+-----+-----+-.---+--*--+----*+---*-*---*-+-----+-----+

I I [ DU 210
I + ~ - r - - + - - - - - C - - - - + - - - - + - - - - - + - - - - - + ~ ~ ~ * ~ + ~ ~ ~ ~ - + - - - * * + ~ * - - ~ * - c - ~ - + - ~ ~ ~ ~ + * . - ~ + ~ ~ ~ ~ ~ + ~ ~ + - ~ ~ + - - - - - + - - - ~ ~ +

.I I I m211
I *-----+--r*-+-----+-----C--.-+---*+*-+*-*--*-----+-----+*-*-~+-----+,"~~-+---~-+--~--+-----+

PIQ 1 1 OW 212
of the c----+-----+-----c----+-----+-----+-----+---.-+-----+-----+-----b----+-----+----&----+-----++----+

ourputs 1 I ow 213
] +-----+-***-+-----+-----+-----+-----&----+--*--+----*+**---+~~~~&**--+--~~~+.~---+-*--*~.*~.+
I I I DW 214
+-e-t-h----+-----+---r-+--+---r-h--+---*-C----C----+----*+---4----*----&---.+-----+-----b----+

! 1 OU 215
+-r---+-----+----rh----C--+--+**---+-----+--*-*+*---A--*--+--*--+----+.*~*-+-~*~+-----**-*-**

I GU 216
+-----,-----C----h----+----d-----+----+-----+-----+-----+-----+-----+-----+-----+-----+-*---+

1 1 DW217
+-r---+----b---C----+-**--C----+--+-----+-----+-***-+----r+~~*r+r+C~CC~+-----C--C~CCC~+~~---+

1 V a 1 U e of tbe PIP of measuring socket 1 (W 3) I DW 218

V I V a 1 u e of the PIQ of r a s n r t n g sacket 2 (MC 4) l OH 219

----rr--+-n--+..r-~r..r-+----+---.-hhhh~.~.-CI.-rC--+---h-h--~-.*r+.-.-U.I---+I~--U~--+~----~--

I PIP of the otttput b i t varlabte 1 ( l i m i t s etc.) See k l o n for o r m i a p I GWZZO

 4. Programming Instructions

4.11 Descriptionof the Standard Controller Structure (SR)

Data
ward
address
I
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 V
................................................................................................

1 I DY 2%
+*----+--*.*+-----+---r-+-----+-----h----+-*--~+-----+-----+----*+----r+-r.*-+-r*-r+l--*-+-----+

I [ DW 231
-------+m ...r+..r..+....-+m...+....+.--..+-.---*----+..---+.----+----+....*..*~..--~.---w-**-~--------

I V a 1 U e of mearurln~ pernt W l (wtth unlt) I DW U2

1 V a 1 U e o f measuring polnt MP 2 (wlth unit) I DU 233

+*****+--*--+-**--+*-***+**--**~*-*-+-----*.~---+-----+---+---~-+~---.+-**--*--**-+*----+*-.-*+
I Y a l U e of measuring point HP 3 (with untt) i DW 234
................................................................................................

I V a l u e oTmeasuring point HP4 (5) I DU 235

I V a l u e of measuring polnt RP5 (3) 1 DW 236

1 Va lu e of masurlngpolnt MP6 ('4 I DY 237

+-----t-----+-----+-----+-----+----+-----+-----+*---*+-.---+-----+.-.**+*--**+-.---t---**k---*+

1 Y a l U e of easuring point R 7 c*) OWZM

+*--r*+-*-.-+--^-*+-----+---+--+-----+-----+-----+--**-+-----+--*"-+*-*--+---*-+-..--+-----+-----+

I Va l U e o f measuring point MP 8 (with unlt) I DW 239

I V a l U e of measuring point MP 9 (uirh unlt) I DW 240

........................

I V a l U e o f ~ t a s u r t n gpoint HP l 0 (4) I DW 241

I V a l U e of measartng polnt W l1 (w15h unft) I DY 242

+~**r*h---r+----*+**--*+-*--+-----+*-*--+----*+----.+-*---+---*+*--~.+***~~+~-*-d*----+*---+

I V a t U e of measurlag point UP 12 (c) 1 DU 243

status 1 I W l rue l sm l s u ~l ou l uw l OG 1 us i ou 25s

+-----+-----+-----+-----+-----+-----+-----+-----*--*--+-*---+-----+"*---+-----*-----+-----.."---+
4. Programming Instructions

4.11 Descriptionof the Standard Controller Structure (SR)

Oata
WD?Q

Controller management: sdUress

I
I
Y
l 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0
+-----+----r+---.-+----+--*----b--*-**---+-.---+-----h----+----+-----+-----+*----+

1 I I 1 1 I I i I I I 1 I I l IRBVIDW7
.............................................................................................

Controllermanagement bit RBV = 0 :Controller not being processed

RBV = l : Controller being processed

+---> o n l y for R processor of the PC 135U +---D 52.4

I I
] +---S S 1.4.1 I +---• 52.3

I I 1 I
I j +---D S1-3.1 1 I +---S SP.2
I l l lSl.1.1 1 1 1
I I I +--->-51.2.1 I [ ] +---,S2-1
I I I I is1.s.r 1 1 1 1
1 5 1 4 1 3 1 2 l i 1 0 9 8 7 6 5 4 3 2 1 0
+-----+-----C----+----.+.---+-*-*-C---*+--r---*-+*----+-----+r----+---,-+

I I I I I I I I I I I I I S ~ ~ ~ S T ~ I S T I I ~ Z ~
+----"+--~--+-----*-----+-----+*"-~-CCCC-+-----+-+-+-+-+-+.~~~~*---~~+*~~--+--

I I I I
I I +---a 53.1

I l l
I i +--->u.z
I I
1 +---a 51.2.3

l
51.2.2
c-->

I
+---> B l t 3.1
 4. Programming f nstructians

4.11 Descriptionof the Standard Controller Structure (SR)

Data
B
i
t variables of the PII: word
address

'Pulse amp-up
converter' gencrrror '

+.-.-~+-----t----~+-*---+----*+--*--+-----+-----+-----+----**--~~~+-----+.~*--+-----+-----+--*--+

I RF ISTOER1 IlKl [IDRE IAH/AH.HITOff I SRF I &I JINBET]SZFR {SOLL I BA 1 82 1 K

M I TIE 1 LOE i OH 180
................................................................................................
I RL5 I I lRL4\ ! I j 'Step
1 I I I I +--d.---- + - - V - - controller'
I I I [ I submduie
+V----+-----+-----+---+---, 'PI0 confrollcr'
submodule

Bii variables in the PIQ:

'PID controller' 'Limtt w n l t o r 1'

tubmdule su~dule

I I I 'Llmit m n l t o r 2' sutmdtlle

l l I 1
I +--I--+--->'Pulse c o a v t r t t r ' submbole
I I
+-----.L,-> 'Pulse-pause output, surn&Jle

S t a t u s word of t h e controller

A rSd created for the compact controller signalling sysr-

The ~ W ~ m cdntlins
b l t I n T o m t I o n on t h e 'hard-wired' ltmlr mnlrors.
4. Programming lnstrucfions

411 Description of the Standard Controller Structure (SR)

--

Meaning of the bit variables in the process input/output image:

Bit variables in the PI1 area can be changed by the user at any time during operation (via STEP 5, PG).

They can be divided into

*Structure relays, which enable certain structure changes during operation
* Internal control bits.

Bit or binary variables in the PIQ area indicate specific signal statuses of the controller.They can only be changed from the struc-
ture program.

HOE : "Higher" bit of the "ramp-function generator":

0 = No effect
1 = Ramp with positive slope.

flE : "Lower" bit of the "ramp-function generator"

0 = No effect
1 = Ramp with negative slope.

LOE : "Delete" bit of the "ramp-function generator":

0 ===> 1 :Return from manual mode to automatic mode if HOE = 0 =TIE
1 = = = B 0 : No effect

BA : "Acknowledge" bit of the "Pulse generator":

0 = Finat position OPEN not reached
1 = Final position OPEN reached.

52 : "Acknowledge" bit of the "Pulse generator":

0 = Final position CLOSED not reached
1 = Final position CLOSED reached.

RLI -R13 : Structure relay (cf. standard controller structure!)

SETPOINT(RL1) : Setpoint selection bit:

0 = PC setpoint effective
1 = "Setpoint sequence" effective.

SZFR ( R E ) : Setpoint branch enable bit:

0 = Setpoint branch on
1 = Setpoint branch off.
 4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

lNBET(RL3) : Actual value branch startup bit:

0 = Actual value branch on
1 =Actual value branch off
Startup value effective.

HA1 : "Manual value activefinactive" bit of the step controller

0 = Manual value inactive, i. e. no pulse output
(final control element standstill)
1 = Manual value active, i. e. pulse output with a frequency corresponding to the manual value
(final control element run).

SRF : Enable bit of the "Step controller":

0 = Controller disabled, i. e. zero output.
1 Controller enabled, i. e. output of the calculated value.

TOT1 : Switch for selecting the input variable for the I component of the "Step controller":
0 = Dead zone forthe 1 component effective.
1 = Dead zone for the 1 component ineffective.

AH (RL4) : Automatic/manual transfer in the ease of the "PID controller" or "Step controller":
0 = Automatic mode
1 = Manual mode.

IDRE : Change from ideal to real *PID controller":

0 = Real
1 = Ideal PID.

IN0
-
: Bit for setting the control increment t o zero in the case of the
0 No effect
1
"PID controller":

Control increment is set to zero or manipulatedvariable is kept constant.

STOER(RL5) : Disturbance variable injection in the case of the "PID controller":

0 = Ignored
1 = Effective, i. e. disturbance variabte increment is added to calculated control increment.

RF : Enable bit of the "PID controller":

0 3 Controller disabled, i. e. zero output
(past values ere set to zero, no manipulatedvalue calculation).
1 = Controller enabled, i.e. output of the calculated value.
4. Programming Instructions

4.11 Description of the Standard Controller Structure (SR)

GW1 1 - GW1-6 : L i m i t bits of the 'Limit monitor 1' submodule:

m211 - GW2-6 : L i m i t bits of the 'Limit monitor 2' submodule:
0 = Relevant limit not exceeded
I = Relevant limit exceeded.
NUE : Bit for lower limit of the manipulated variable i n th
of the 'PID controller' submodule:
O = not exceeded
1 = exceeded.

PUE : B i t for the upper limit of the control variable i n th

of the 'PID controllerr submodule:
0 = not exceeded
1 = exceeded.
: Binary output "Open" of the 'Pulse converter' submodu
O/l

: Binary output "Close" of the 'Pulse converter' submod

0/1
: Binary output "Positive pulse" i n the case of the
'Pulse-pause outputr submodule: 0/1
: Binary output "Negative pulsew in the case of the
'Pulse-pause output' submodule: 0/1

YOG := PUE in the PID controller with continuous control out

= BA i n the s t e p controller
:= NUE in the PID controller with continuous control out
= BZ in the step controller

SOG := l ---> Setpoint exceeded upper limit (otherwise 0 ) .

SUG := 1 ---> Setpoint exceeded lower limit (m]-
:= I ---> Actual value exceeded upper warning limit ( "
:= 1 ---P Actual value exceeded lower warning limit ( "
:= 1 ---7 Actual value exceeded upper danger limit ( " )
.
,--1 ---> Actual value exceeded lower danger limit ( " )
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

The structure contains ail functions required for controlling a drive, except for the current controller and the power stage. This
means that depending on the requirements of the user, a speed contmi system (e. g. for mills, turbines) or a velocity control
system (e. g. for paper machines, foil machines) can be implemented.

The drive controller structure (Fig. 9.1) consists basically of two cascaded closed-loop controllers. Parameters can be as-
signed to each ofthe controllers of P, PI, PD or PID response.fheouter loop controller (9) is used e. g. for position control, tension
control or pressure control. One shoutd mention at this stage that the numbers in brackets correspond to the branch no. ((5) P
branch 5). A velocity control loop or a speed control loop can be implemented using the inner loop controller (5).

The "DRS"structure on memory submodule 6ES5 374-0A311 is a further development of the drive controller structure ("DR")des-
cribed in Section 4.10. The Self-setting of drive controllers function (16) and the facitity far performing mathematical operations
(17) are both new developments. In addition, the eight possible control loops of the IP 252 are user-configurabie(Section 4.12.2).

4.321Outer loop controller (S)

The setpoint (e. g. position setpoint) is input either via an AID converter, or via the programmer or the CPU of the programmable
controller. The actual value (e. g. actual position value) is sensed by an A/D converter. The controller output can be reduced in
proportionto the actual speed value-Thisis used for speed-dependent adaptive control in foil machines.

4.122 Inner loop controller (5)

The foliowing setpoint sources can be programmed:

- lst channel: Output of the outer loop controller (9)

- 2nd channel: Setting-up speed (6)
- 3rd channel: Inching speed (7)
- 4th channel: Armature current dependent component (11)
This component is used e. g. in conveyor belts and continuous casting processes (load regulation).
- 5th channel: Main setpoint (speed or velocity setpoint (8)).
This setpoint is input either via an A/D converter, via the programmer or via the programmablecontroller CPU. The
acquired setpoints can be processed by a rampfunction generator andfor a smoothing module.
The ramp-function generator module produces a ramp output from a step function at its input-Thisis requiredfor
instance during start up processes.
The smoothing module is used for "smoothing" the setpoint.
The control loop can be tuned to optimum disturbance response. Selection of a suitable smoothing time constant
produces an optimum response to setpoint changes.

The actual value (10) (actual speed value) can be input either as a tacho voltage via the AID converter or via a counter input. A
smoothing module is used for suppressing any resonances. in addition, the high frequency disturbances to which the controller
cannot respond are kept away from the PID module (10).
The display function (10) permits amplification and display of the akernating component of the actual speed value via a measuring
instrument connected to the D/A converter.

In the case of the speed control loop, the actual speed value (10) is used directly in the inner loop (speed) controller (5). If a velocity
control is required, the current velocity is calculatedfrom the actual speed value (3) and transmitted to the inner loop (velocity) con-
troller as an actual velocity value.

The controller output, optionatly evaluated with a factor (4). forms the main component of the current setpoint.This evaluation of
the controller output produces a loop gain, as required e. g. during the field weakening operation of motors.
 4. Programming Instructions

4.12 Description of the Drive Controlter Structure with SeH-Optimization (DRS)

4.123 Current setpoint

The current setpoint which is generated by the IP 252 as a k 10Vvoltage at the D/A converter consists of the fol!owing:
- Ist channel: Main current setpoint (5)
- 2nd channel: Friction compensation (2)
- 3rd channel: Acceleration compensation (12); is used in vetocity controllers (e. g. reeling and unwinding operations)
- 4th channel: Braking current modulation (l b]
Instead of the summed output (l a), an actual speed dependent braking current can be output as the manipulated
variable.
Before the current setpoint is output as the manipulatedvariable, it can be converted and limited (1 b).

4.12.4Additional functions
- Two user connected limit monitors (12), (13):
Each of the limit monitors can be assigned to any desired signal (measuring point) of the controller structure.The limit monitors
contain 6 stages, which are specified via the programmers. The results of the limit monitors (overshoot or undershoot) are evalu-
ated by the logic control program of the S5 central controller.
- Four pre-assigned Iimit monitors:
These limit monitors support the operator communication and control concept of the compact controller structures.fhe results
of the monitors areusedforinstance by the CP 526comrnunicationsprocessorsas inputsforthestandard displays on theVDus.
The limit monitors monitor setpaints and actual values of the outer loop (9) and the inner loop (5) controllers.
The danger and the warning limits are specified via the programmerin the planning stage.
- Thermal monitoring of the motor (11):
Using the actual armature current a thermal monitoring of the motor is possible. If one of the switching limits specified by the pro-
grammer is reached this is communicated to the logic control program.
- Free assignment of the measuring sockets']
- User configurability of the control l o o p 8
- Internal branch function expansions in the branches
-- 3: Peripheralvelocity
4: Loop gain (field current monitoring)
- 8: Setpoint branch (ramp-function generator and actual value referencing)
- 9: Primary controller (actual value processing and controller output)
- 10: Actual value branch (digital actualvalue capture with IP 240)
- 11:Actual armature current (temperature display)
- 12: Acceleration compensation (decoupled from branch 3)
- New branches in the " DRS" structure
- Branch 15: Analog measuring point output
- Branch 16: Arithmetic
- Branch 17: Self-optimization of the speed controller
. The functions listed under "1)" and "2)" apply to both structures of the "DRS/SRU block and, therefore, also to the standard eon-
' trdler structure:
1) Free assignment of the measuring sockets
Both measuring sockets on the frontplate of the IP 252 module are used for disptaying two measured vatues. Which measuredvalues
(e. g. control deviation, manipulatedvariable, etc.) are t o be displayedwithin which control loops (1 to 8) is to be defined at the confi-
guration stage in the memorysubrnodule with the DWSI?structures.
Later changes can only be undertaken with the module in the STOP mode.
Wrth the DRS/SR memory submodule, on the other hand, the measuring sockets must be assigned t o the desired measuring points
during controller test, i. e. while the process is nmning:
For this purpose, the operator interface of the COM REG packagesoffers the "Measuring sockets" function as well asthe "Controller
test" function. With the "Measuring sockets" function you can assign MBf (DAC channel No. 5) and MB2 (DAC channel No. 6) menu-
driven t o any measuring point of the controller structure from controller Nos. 1 to 8. These assignments can be changed at any time.
The measuring sockets may only be activated if analog output channels Nos. 5 and 6 are not otherwise assigned!
2) Configurability of the control ioops
The memory submodule with the "DRS/SRUstructures supports the configuring of control loops 1 t o 8 t o master and slave control-
lers. Wherever an ADCn is indicated in Sections 8.2 and 8.3 of the configuration documentation, the following parameters can be
entered:
e.g.ADC6= Oto 7 IP 252- internal ADC channels
128to 254 Backplane bus addresses of the S5 analog I/O modules: only possible with the S5 115U.
R No. MP No. The R No. is the controller No. 1 to 8, and the MP No. is the No. of the measuring point oi this
controller structure.
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

it is thus possible to transfer, for example, the processed actual value of controller no. 2 to controller no. 3 as the setpoint. If both
controllers have the "DRS" structure, the following inputs are required:
The following value is entered, using the programmer, in the entryfield of ADC 6 (of branch 8 in controller no. 3):
ADC 6 2.12
If controller no. 2 is a drive controller (DRS)and controller no. 3 is a standard controller (SR),
the following value is entered, using the programmer, in the entv field of ADC 1 (of branch 3 in controller no. 3):
ADC l 2.12

4.125 Detailed description of the drive controller structure [DRS)

The following description refers t o the configuring sheets (Section 8.3) for the drive controller structure. The symbols used here
are explained in Section 4.9.

The overview pages of Section 8 show all the branches of the drive controller structure.The shading in branches ?,S,and 10 of the
drive controller structure means that these branches cannot be switched off. These branches are always active! Exact represen-
tation of the structures can be found in the Appendix in Section 9 {Fig. 9.3).

4.125.1 Branch 1: Controller output/current setpoint

Function:
The current setpoint (manipulated variable) is generated and output via an ana[og output channel. The current setpoint can be
inverted with structure switch S1.1.
The limiting stage limits the current setpoint to values, which are specified by the user via the PG. The upper and lower limiting
values are detected in branch5 (Section 4.12.5.5) by the PG. tf thecurrent setpoint crosses the limits, then thisis takeninto account
in the inner loop controller (PID module) in braneh 5; i.e, the corresponding overflow bits are set and the I component of the PID
controller is disabled as long as an overflow bit is set.

Relay REL 1.1 is availablefor braking action. If the relay isactive,then DACZoutputs the current setpoint, which is linearly dependent
on the instantaneousactual speed value.This means that 0% is output as the current setpoint when 0 speed is reached.

Inputvariables:
- Current setpoint component from braneh 2
- Current setpoint component from branch 3
- Main current setpoint from branch5

Baking compensation:
- CON11 The constant influences the magnitude of the braking current
- MP12 Actual speed from branch 10
- RELI.1 When active, the motor is braked to standstill.

Output variables:
- DAC2 Current setpoint (manipulated variable) after limiting
- MP6 Magnitude of the braking current :
The actual speed value, multiplied by the constant C0Nl.l and (-100) is the braking current.
- MP9 Current setpoint before limiting

4.1252 Banch 2: kiction

This branch can be activated with retay RE12.1 for compensatingfriction (stiction) forces. In order that the correct polarity of these
current setpoint components is maintainedeven when the direction of rotation changes, the constant 23 is multiplied with the sign
of the speed setpoint (MP14from branch 8).

Input variables:
- CON2.1 The constant specifies the magnitude of the current setpoint component
- REt2.1 When active, the current setpoint component is enabled
- MP20 Summated setpoint from branch 5

Output variables:
- The output from branch 2 is connected to the summation point of branch 1.
4. Programming Instructions

4.12 Descriptionof the Driver Controller Structure with SelfUptimization (DRS)

4.125.3 Branch 3: Peripheral velocity (diameter calculator)

This branch is requiredfor operating axle-driven upcoilers and dawncoilers.
Function:
A velocity control system operates with a velocity setpoint. Accordingly, the actual value must also be available as a velocity. In
branch 3, therefore, the actual speed (MP12) measured in branch 10 is used for calculating the velocity of the web material.
The actual value of MP12 of banch 10 is measured in branch 3 while the setpoint is being read in via ADC7. Under normal condi-
tions, ADC7 will be switched to measuring socket 14 of its own controller number. It is also possible to obtain the primary setpoint
from an analog web tachometer.
The difference between actual velocir/ and velocity setpoint is calculated and the resultant signal routed to the deadband filter.
Only signals greater than the preset value CON 3.1 pass the deadband filter. The resulting signal is multiplied with the sign of the
rotationalspeed value and intergratedovertime if the integrator has been enabled (bit 3.1 active).The integrationperiod is set with
CON3.TID according to requirements. Avalue for CON3.TID of approximately 10 S for thin sheeting and paper, and approximately
60 s for stip metal roughly 1 mm thick, can be used as a rule of thumb when working with normal web velocities.
The result is the calculated diameter of the reet. If this calculated value fails below a minimum diameter (CON3.DUG), the preset
lower diameter limit CON3.DUG is used. The diameter calculated in this way (MP15) is multipliedwith the actual rotational speed
(MP12)to give the web velocity (MP16).
The control program of the SSCPU provides the desired initial diameter atVAR3.1, which is accepted by the integrator of branch 3
if relay 3.2 is active.
The diameter calculator has four operating modes:
I) The master reference voltage from the tacho is positive
1. Downcoiling with positive revs (clockwise)
The calculated diameter (MP15)is within the range
0% < d S 700%
Meaningful entries forthe constants CON3.DUG and VAR3.1 lie within the positivevatue range
0% c x r IOO%
2. ~bwncoiling&h negative revs (anti-clockwise)
The calculated diameter (MP15) is within the range
-100% S d < 0%
Meaningful entries forthe constants CON3.DUG and VAR3.1 lie within the positive value range
-100% 5 ~ ~ 0 %
[I) The master referencevoltagefrom the tacho is negative
3. Upcoiling with positive revs (ctockwiie). This correspondsto "1) 2." above.
4. UpcoiIing with negative revs (anti-clockwise). This correspondsto " 1) 1" above.
A primary requirement in upcoiling and downcoiling is that the web material be kept at a suitable tension throughout the whole
coiiing operation. The IP does this by means of velocity control (speed control) with primary ("direct") tension control. Tension is
controlled with branch 9 (actual tension measurementvia tension load cell or dancer roll).
If there is a dancer roll available, the primary controller functions as a position controlIer.Tension is determined by the weight of the
dancer roll or the weight applied to it.
The actual rotational speed is matched to the coil diameter in branch 3. Excitation during the coiling operation c a n be influenced
via measuring point MP'15, whose signal is then routed to a DAC via the rneasuring socket (branch 15). A presonditionfor coiling
control is that web velocity be determined by the driven machine.
Function sequence duringdomeoiling
If the coil diameter decreases, the speed controler will at first attempt to maintain the speed sinceits input signals remain constant.
This leads t o an increase in web tension. The tension controller or position controller makes the appropriate adjustment and the
speed is increased. This also increasesthe product n x d (MPI6).At the input to the summator in branch3a. n X d is greaterthanthe
master reference voltage V, at MP14 and at this point the integrator runs from the set initial diameter (MP15)downwards until the
product n X d is again equal to VL-
The actual value n X d for banch 5 is therefore smaller and so the driver is "faster". The correction value of the primary controller is
decreased. During the coiling operation, n is therefore greater and d smaller; with the differencethat, in this operation, the integra-
tor functions upwards from a small initial diameter.
It is important that the new initial diameter be set at the beginning of a coiling operation (e. g. by the CPU control program). The
level of the master referencevottage (MP14) at rnax. productionspeed depends on the coiling ratio.

~iambterof empty mandrel 200 mm = 22.2%

Diameteroff ull reel 900 mm = 100%
Diameterratio = 4.5%
Max.masterreferencevoltage = 22.2%
The master reference voltage can be influenced by means of the constant CON 8.2 in branch 8.
The diameter (MP 15) is only reset in the STOP mode of the IP 252.In the case of a warm restart after power failure, the old valueis
retained ifthe IP RAM has battery back-up.
Input variables:
Acceleration compensation, branch 3b
-ADC7 Channel for feeding in the veiocity setpoint (primary setpoint).
-MP12 Actual speed from branch 10.
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with SeIf-Optimization (DRS)

- CON3.l Constant for setting a threshold value for the difference between velocity setpoint and actual velocity
- CON3.TID Integration time constant of the diameter calculator
- CON3.DUG Lower limit of rolt diameter
- VAR3.1 The variable gives the diameter of a newly inserted reel. The 1P uses this diameter to calculate the current actual
diameter during upcoiling and downcoiling.
- REL3.2 This relay influences the output of the integrator. When the relay is inactive, the current diameter is always available
at the integrator output. When the relay is active, the integrator is set t o the value of variable 3.1.The diameter can
be reset at any time.
- Bm.1 If this bit is "O", the integrator is disabled.The output retains the last calculated diameter. If the bit is set t o " 1 ",the
integrator starts to work again from the last calculated diameter.
Output variables:
- MP15 Actual diameter of the reel.
- MP16 Velocity (to summator in branch S).
4.125.4 Branch 4: Loop gain
Function:
The output of the inner control loop in branch 5 is evaluated and gives the main component of the current setpoint. Depending on
the position of structure switch S4.1 various arithmetic operations can be carried out:
54.1 inactive: (division in branch 5)
The signal (field current) input through an analog input channel is multiplied with the constant CON 4.1 for standardization and dis-
played with limit indicators at measuring point MP18 for possible further processing. tf S4.2 is inactive, the signal is transmitted via
a characteristic. The characterisitic cannot be changed and is described in Section 4.12.6.5. This characteristic gives the approx-
imate relationship between the field current and the magnetic flux of the d. c. motor.The shape of the characteristic is selected to
fit a majority of the most commonly used motors (see Section 4.12.6.5)
54.1 active: (multiplicationin branch 5)
tn the case of velocity control, the actual diameter calculated in branch 3 (MP15) is entered. In both cases (S4.1 active/inactive),
the signal entered can be matched t o offset and gain via a straight-line equation (S4.3 active). Only if relay 4.1 is inactive will the
value calculated in this way reach branch 5. If REL4.1 is active, a constant loop gain can be given for start-up purposes using
CON4.2 (format: -100% to + 100%). Depending on the position of the structure switch S4.1, either an increase (S4.1 inactive) or a
decrease (S4.1 active] in loop gain is produced.
Input variables:
- ADC5 Field current
- CON4.1 The constant is used for standardizing the field current (format -99.99 t o +99.99)
- CON4.2 The constant determines the influence of the evaluation
- CON4.VER Gain factor of the interface (format: -99.99 to 99.99)
- CON4.0FFOffset of the interface (straight-lineequation y = X* CON9.VER i- CON9.OFF)
- MP15 Actual diameter from branch 3
Output variables:
- MP8 Operation on the controller output in branch 5
- MP18 Measured and standardizedfield current

4325.5 Branch S Speed contrdler/velocity controller

Function:
The instantaneous control deviation is determinedin the summation stage. It is calculated from the difference between the setpoint
and the actual value (see page 2 of branch 5 in Section B.f).The setpoint consistsof the outputs of branches 5,6,7,8,9 and 11, the
actual value is the output of branch 3 or 10. If the actual value comes from branch 3, then it is a velocity control system, otherwise
it is a speed control system.
The setpoint and the actual value are each monitored by a preassigned limit monitor. The function of this monitor is described in
Section 4126.1.
Relay 52 can be made active for start-up purposes. Then the constant CON5.1 acts on the ?ID controller input as an additional set-
point component.
The PID controller can be assigned P, PD, PID or PI control action by setting various parameters t o zero:
TN = 0 l component not active
TV = 0 D component not active
Both the limits CONS.B+ and CON5.B- limit the manipulatedvariablein branch 1. If the manipulated variable in branch Icrosses
one of the limit values, then thecorresponding bits BIf5.UEt and BIT5.UE- of branch 5 are set.
The PID controller in branch 5 then disables its integrator. This prevents "wind up" of the integrator.
The output of the PID controller is operated on by the output of branch 4, if branch 4 was selected. If branch 4 was not structured
then no operation is carried out, the controller output is connected to branch 1 without modification.
'
Evaluation: Multiplication if S4.1 = I
Division if S4.1 = 0
The output of branch S is the main component of the current setpoint.
4. Programming Instructions

4.12 Descriptionof the Drive Controller Structure with Self-Optimization (DRS)

lnput variables:

P1D controfler module:

- CON5.KP Proportionalvalue influence the behaviour
- CON5.TN Integral-actiontirne of the PID controller
- CON5.W Derivative-actiontime
- CONS.B+ The constant determines the upper limit for the limiting in branch 1.
- CON5.B- The constant determines the lower limit for the limiting in branch 1.
- BlT5.RF the bit disables or enables the PID controller. The controller is enabled, when the bit isactive. When disabled, the
controller produces 0% of its output and resets its internal memory.

Setpoint limit monitor:

- CON5.SOG Upper limit
- CON5.SUG Lower limit

Actual value limit monitor:

- CON5.OW Upper warning limit
- CON5.UW Lower warning limit
- CON5.0G Upper danger limit
- CON5.UG Lower danger limit

Miscellaneous:
- CON5.1 When retay REL5.1 is active, the constant CON5.1 works on the input of the PID controller as an additional set-
point component (start-up value).
- REL5.1 When the relay is active, it switches the constant CON5.1 to the summator.
- REL5/9 With this relay, one can switch over to ,,Direct tension control" (see Section 4.10.5.16).

Output variables:

PtD controller module:

- BITS.UE+ This bit is active if the manipulated variable (MP9) in branch 1 crosses the upper limit CON5.B+ (in branch 1).
The integrator in the PID controller isthen frozen.
- BITS-UE- This bit is active if the manipulated variable in branch 1 crosses the lower limit CON5.B- (in branch 1).
The integrator in PID controller is then frozen.

Setpoint limit monitor

- Bm.SOG The bit is active if the setpoint crosses the upper limit.
- BIT5.SUG The bit is active if the setpoint crosses the lower limit.

Actual value limit manitor

- BTT5.OW The bit is active ifthe actual value crosses the upper warning limit.
- BlT5.UW The bit is active if the actual value crosses the lower warning limit.
- BlT5.OG The bit is active if the actual value crossesthe upper danger limit.
- BlT5.UG The bit is active ifthe actual vatue crosses the lower danger limit.

Miscellaneous:
- MP10 Main current setpoint (input of the summation stage in branch 1)
- MP11 Input of the PID controller (control deviation)
- MP16/12 Actual velocity or actual speed summated setpoint
- MP20 Surnrnated setpoint

Note: The bits BlT5.SOG to 0tTS.SUG a r e s evaluated by the standard function blocks FB:STEU (Section 5).

4.125.6 Branch 6: Setting-up speed

Function:
When relay REL6.1 is active, the constant CON6.1 is switched to the summation stage in branch 5.

Input variables:
- CON6.1 Constant used as the setting-up speed setpoint
- REL6.1 Relay used to switch the constant CON6.1to the speed controller, branch 5 (control deviation).

Output variables:
- The result of branch 6 is connected to the summation stage in branch 5.
 4. Programming Instructions

4-12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4125.7 Branch 7: Inching speed

Function:
If relay REL7.1 is active, then the constant CON7.1 is switched to the summator stage in branch 5.
Input variables:
- CON7.1 Constant used as the inching speed setpoint.
- REL7.1 Relay used t o switch the constant CON7.1 to the speed controller, branch 5 (control deviation).
Output variables:
- The result of branch 7 is connected t o the input of the summator stage in branch 5.

4325.8 Branch 8: Speed/velocity setpoint

Function:
The branch generates the main setpoint for the inner loop controller in branch 5.
Relay REL8.3 is used to select whethertbe setpoint is an analog or a digital input. in the case oi an analog input (REL8.3 inactive)
the IP inputs the value via ADCG.
In the case of a digital input (REL8.3 active) relay REL8.1 can be used to decide whether the setpoint comes from the PG (CON8.1)
or from the logic control program of the S5-CPU (VAR8.1).
Further processing of the setpoint isonly carried out ifreloy REL8.2 is active-Thesetpoint can be enabled or disabled with the relay.
The setpoint input via ADC or VAR8.1ICON8.1can be transmitted via a ramp-function generator or a smoothing block or via both
simultaneously.Theconfiguring switches S8.1 and S8.2 determine which block is selected.
The setpoint (MP17) is previously mukiplied with the constant CON8.2.
Whether the ramp-function generator block is to reference the actual value from branch 10 or 3 can be decided using configuring
switch S8.3.
The ramp-function generator block and the filter block are described in detail in Section 4.15.
Input variables:
Setpoint input:
- ADC6 For analog setpoint input, the signal is input via ADC6.
- REL8.1 The source for the digital setpoint is selected by the relay. Ifthe relay is inactive, the value comes from the PG
(CON8.1).
- REL8.2 When active, the relay allows the setpoint to be processed further.
- REL8.3 The relay determines whether the setpoint input is analog (relay REL8.3 inactive) or digital (retay REL8.3 active).
- REL8.4 If relay 8.4 is active, branch 8 operates in isolated mode.Thesetpoint at MP14 is then not transmitted t o branch5.
- CON8.1 For digital setpoint input (REL8.3 active) and with relay REL8.1 inactive, the PG is the source of the setpoint
(CON8.1).
- VAR8.1 For digital setpoint input (REL8.3 active) and with relay REL8.1 active, the logic control program of the S5-CPU
is the source of the setpoint.
- CON8.2 Multiplication of the processed setpoint by a constant.
Rampfunction generator:
- CON8.TR Ramp-down time
-- CON8.TH
CONSLUW
Ramp-up time
Increment
see Section 412.6.3
- BlT8.HQE "Higher" bit
- BTT8.TIE "Lower" bit
- BIT8.AUT Automatic mode bit
- BfT8.NUL Move setpoint slowty to zero percent
- MPlU16 Actual speed or actual velocity
Filter blook:
- CON8.m Delaytime see Section 4.12.6.2
Output variables:
- MP14 Magnitude of the setpoint alter optional processing by the ramp-function generator block and/or the filter
module.This value is transmitted to the summation stage in branch 5.
- MP17 Magnitude of the setpoint directly after being input.
4. Programming Instructions

4.12 Description of the Drive Controller Structurewith Self-Optimization (DRS)

4.1256 Branch 9: Outer loop controller

Function:
The control deviation is determined in the summator. The actual value is input viaADC1. If required, the a c t r r a l ~ l u e
can be matched
to offset and gain via a straightdine equation (S9.1 active) and/ortransmitted via a filter function (S9.4 active). The setpoint can be
input either as an analog variable (59.2 inactive) or digital variable (S9.2 active). For digital setpoint input, the state of relay REL9.2
determines whether this value comes from the SS-CPU fVAR9.1) or from the programmer (COM9.1).
The setpoint and the actual value are each monitored by a preassigned and non-optionaflimit monitor (see page 2 ofbranch 9 in
Section 8.3). The operation of both these limit monitors is described in Section 4.12.6.1.
The control deviation (output of the summation stage) is used as the input by the PID controller.
The PID controller can be assigned, P, PD, PID or PI control action by setting various parameters tozero:
TN = 0 1 component not active
7V=O D component not active
The controller output is limited by CONS.B+ and CON9.B- a"d then multiplied before it arrives at the summation stage of branch
5. Various types of multiplication are available:
Multiplication by a constant is possible via the PG value CON9.2.However it is also possible to make the operation proportional
to the instantaneousactual speed value (MP 12 from branch 10) multiplied by CON9.2.
In case the signal crossesthe limit, the corresponding bit BfT9.Ui or BIT9.U- is set.The PID controlterthen disables the integrator.
In this way "wind up" of the integrator is prevented,

Input variables:

Setpoint input:
- ADC2 Setpoint input if analog setpoint input mode was selected (S9.2 inactive) during structuring.
- REL9.1 The source for the digital setpoint is selected by the relay. If the relay is inactive, the value comes from the PG.
- CON9.1 For digital setpoint input and with relay REL9.l inactive, the PG is the source of the setpoint (CON9.1).
- VAR9.1 For digital setpoint input and with relay REL9.1 active, the SS-CPU is the source of the setpoint WARS.1).

Actual value input:

- ADC1 The actual value is always input as an analog variable.
- CON9.VER Gain factor of the interface (format: -99.99 to 99.99)
- CON9.OFF Offset of the interface (even equation y = X * CON9.VER + CONS-OFF)
- CON9.W Input variable of the filter block, see Section 4.12.6.2

PID eontroller:
- CON9.KP Proportional gain
- CON9.TN Integral-action time
- CON9.TV Derivative-action time
- CONS.B+ The constant determines the upper limit for the limiting.
- CON9.5- The constant determines the lower Iimit forthe limiting.
- BIT9.RF The bit enables or disables the PID controller.f he controller is enabled if the bit is active. In the disabled state, the
controller outputs 0% and resets its internal memory.

Setpoint limit monitor:

- CON9.SOG L Upper limit
- CONS-SUGL Lower limit

Aetual vaius limit monitot:

- CON9.IOWL Upper warning limit
- CON9.IUWL Lower warning limit
- CON9.IOGL Upper danger level
- CON9.IUGL Lower danger level

Weighting of the controller output:

- CON9.2 This value is multiplied with the controtleroutput if structure switch 59.3is active. (CON9.2 = -99.99 t o +99.99)
- MP12 The controller output is multiplied with the actual speed value input in branch 10, and with CON9.2,if structure
switch 59.3 is inactive.
 4. Programming lnstructions

4.12 Descriptionof the Drive Controller Structure with Selfdptimization (DRS)

Output variables:
PID controller:
- BITS.UE+ The bit is set when the output of the PID controkler crosses the upper limit CONS.B+. The integrator in the PID
controller is then frozen.
- BlT9.UE- The bit is active when the output of the PID controller crosses the lower limit CON9.B-. The integrator in the PID
controller is then frozen.
Setpoint Iimit monitors:
- BIT9.SOG The bit is active when the setpoint crosses the upper limit.
- BIT9.SUG The bit is active when the setpoint crosses the lower limit.
Actual value limit monitors:
- Blf9.OW The bit is active when the actual value crosses the upper warning limit.
- BIT9.UW The bit is active when the actual value crosses the lower warning limit.
- BIT9.0G The bit is active when the actual value crosses the upper danger limit.
- BlT9.UG The bit is active when the actual value crosses lower danger limit.
Miscellaneous:
- MP1 Actual value o i the outer loop controller
- MW Setpoint of the outer loop controller
- MP3 Control deviation of the outer loop controller
- MP4 tnput of the summator in branch 5
Note: The bits BIT9.SOG to BIT9.SUG a r e a evaluated by the standard function block (Section 4.13).

4.12.5.10 Branch 10: Actual speed value

Function:
The actual speed value can be input via an analog input channel (ADC31as a tacho voltage or via the pulse detection input as a
pulse sequence. If required, the filter block can be used to smooth the actual value. Then the signal is multiplied by a constant
(CON1O.l). If relay REL1O.l is inactive, the result of the multiplication in the case ofa speed control system goes to branch 5, in the
case of velocity control to branch 3.
If the actual value is obtained in the form of a pulse train (S1O.l = I), a decision must be made, using S10.4, whetherto use single-
channel internal pulse acquisition or one channel (1 or 2) of the external IP240 input/output module.
- For internal pulse acquisition, a digitaltachometer is connected t o the 25-way Cannon connector on the frontplateof the IP252.
- If the 1P 240 external counter module is used for digital actual value acquisition (S10.4 = l), the slot-coded I/O address (128 t o
252) and the channel no. (1 or 2) must be specified as well as the sensor pulses per rev/'lOO and the nominal speed in rev/s. An fP
252 can access several 1P 240s. However, only one IP 252 can access both channels of an IP 240!
This backplane bus access is only possible in the S5-115U programmablecontroller, with the IP 252 connected directly adjacent
t o the CPU (see also Section 4.9).
For display purposes the actual speed value (hAP12) is processed further. It is multiplied by a constant (CONt0.3). then transmitted
via the display block and output via the analog output channel DACI.
If relay REL1O.l is active, the constant CON10.2 goes to branch 3 or branch 5.
Relay REL1O.l is used during start up.
The display and filter blocks are described in Section 4.12.6.4.
lnput variables:
- GONIO.1 The constant is used for narrnaiixingthe actual speed value.
- CON10.2 This value can be input for commissioning purposes via relay 10.1.
- The constant is used for calibrating the display via DACI.
-- CON10.3
CON10.4
CON10.5
Rated speed in revolutions per second.
The number of index lines divided by 100. Both constants CON10.4 and CON10.5 are used for calibrating the
digital actual speed value input. At rated speed the block outputs 100% (example: CON10.5= 5 2 500 index li-
nes).
- CON1O.TVZ Input variable of the smoothing Mock, see Section 4.12.6.2.
- ADC3 Address of the analog input channel used for sensing the tacho voltage.
- DAC1 Address of the analog output channel used for displayingthe actual speed value.
- REL1O.l When active, this relay activates constant CONf0.2.
- ADR.K Address of the external IP 240 counter module and channet no.
Output variables:
- MP12 This is the processed actual speed value.
It is either the input of branch 3 or branch 5. In addition the value can be output via an analog output channel.
- MP21 Actual value display
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.125.n Branch l?:

Actual armature current value

Function:
The actual value of the armature current is input via ADC4. It should be routed via input terminals 3 and 4 (channel 1) since actual
value filtering is possible here in the terminal block.
Using the armature current, a thermal monitoring of the motor is possible (511.2 active). For this purpose the armature current is
substituted in an equation. This equation generates the approximate temperature response of the armature winding. When the
limiting value is reached (CONllJ), bit 11.1 becomes active.
Amore detailed description of theequation is given in section 4.15.6.

Input variables:
1hermal monitoring:
- CON1l.l The constant givesthe value from which the thermal monitor sets bit 11.1.
- CON11.2 The constant is a characteristic of the motor. It is a criterion for how quickly the motor warms up.

Miscellaneous:
- CON11.3 The constant is multiplied by the armature currentwhen S11.1 is active.
- ADC4 Address oithe analog input channel used for the actual armature current.

Output variables:
- BiTII.1 This bit is set, when the thermal monitor has reached the limit CON11.1. When the bit isset, the maximum permit-
ted heating of the armature has been reached.
- MP5 The actual armature current value after multiplication by constant CON11.3.This value is used as the input of the
summation stage in branch 5.
- MP13 Actual armature current value input via ADC4.
- MP19 Instantaneoustemperature

4.22512 Branch 12: Acceleration compensation

Function:
If rotating masses are accelerated (decelerated), an acceleration (deceleration) torque must be developed by the electric drive. H
the rotating mass is connected by a web to a drive with a different mechanical time constant, this can produce variations in tension
in tbe web during acceleration or deceleration. To minimizethese variations, the drive is given a current setpoint component depen-
dent on the acceleration torque.
The speed setpoint from branch 5 is differentiated for this purpose. The result is acceleration. !t is multipiied with the constant
CON3.1 and transmitted to branch 1as acceleration current.

Input variables
- CON3.1 The constant determines the infhence on the current setpoint
- MP20 Velocity setpoint from branch 5

Output variables
- MP7 Size of the current setpointcomponents

4.225.13 Branch 13: Limit monitor I

function:
The limit monitor monitors the value at any desired measuring point. A maximumof six limits can be used.The no. of the monitored
measuring point can be modified in the RUN mode of the IP at any time.
The function is described in detail in Section 4.12.6.7.
Inputvariables: Output variables:
- MPNo. No. of the measuring point to be monitored (1 ... 29)
- CONl3.1
1} - BtT13.3

!
- CON13.2 maximum of 6 output bits
- CON13-3 maximum af 6 limit values - BIT13.4
- CON13.4 - BITl3.5
- CON13.5 - BIT13.6
- CONl3.6
- CON13.7 Number of limiting values
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.125.14 Branch 14: Limit monitor 2

Function:
The limit monitor monitors the value at any desired measuring point. A maximum of six limits can be used. The no. of the monitored
measuring point can be modified in the RUN mode of the IP at any time.
The function is described in detail in Section 4.12.6.7.

Input variables:
- MPNo. No. of the measuring point to be monitored (1 ... 29)
- CON14.1
- CON14.2
- C'N14.3
1
]I
maximum of 6 limit values
- CON14.4
- ~0~14.5
- CONt4.6
- CON14.7 Number of limiting values

Output variables:
-
-
BlT14.1
BlT14.2
- BIT14.3
1maximum of 6 output bits
- Blf't4.4
- BlT14.5
- BIT14.6 l
4.12.515 Branch 15: Measuring socket
function:
The value of any desired measuring point can be output via an analog output channel. The no.of the measuring point can be modi-
fied any time during the RUN mode of the IP.

Input variables
- MPNR No. of the measuring point to be output (l to 29)
- RELl5.1 When activated, the relay releases the selected measuring point for further processing
- CON15.1 Multiplication of the MP value with -99.99 to l-99.99
- CON15.TVZ ' Filter time constant (see Section 4.12.6.2)

- DAC3 Analog output channel at which thevalue of the measuring point is to be output.

Output variables
- MP22 Valueoutput at DAC 3
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.125.16 Branch 16: Arithmetic

Functions:
The "Arithmetic" branch offers the facility of gating signals logically.Thesigna1may come from various sources, depending on how
the ADC has been initialized:
1.) The ADC is initialized with a channel no. 0 to 7 (internal IP 252 converter) or 128 to 254 (external analog input modules in the
case of the S5tlSU).
2.) The ADC is initialized with the controller no. and measuringpoint no. of a controller 1 to 8 of the IP 252.
A signal is supplied which is at a random measuring point of random controller l to 8 of this IP 252.
3.) The ADC is not initialized.
In this case, a value can be supplied by the S5 CPU via the data handling function (see Section 5.2.3.2).

If branch 16 ( S f 16 = 1) is configured, each of the eight functions of addition, subtraction, multiplication, division, absolutevalue
generation, reciprocal value generation, conversion and comparison can be seiected exactly once per controller 1 to 8 of the
"DRS" structure. The operations can be nested. This means, for example, that two signals can first be multiplied and the result can
be subtracted from a third signal etc. in order t o avoid unnecessary dead times here, please note that the operations are processed
by the IP 252 in the order detailed above. If the resufts of branch 16of other controller nos. are used, the following also applies here:
controllers 1 t o 8 are executed chronologically fi. e. controller l first).

The precision of the arithmeticoperations is determinedby the format of theinput signal and the result. The format is 16-bitfixed
point two's complement with a value range of -16384 to + 16383 (correspondig to -100% to + 100%).

The results of the operationsare displayed at one measuring point each for f urther processing. This measuring point can be read in
by other branches of controllers 1 to 8 wherever an ADC channef has been initialized with "Controller no. and measuring point
no.".

The Comparator implements a special function (516.8 active):

One of the signals detailed in 1.) t o 3.). e. g. the result of the subtractionin MP 24, is avaikable at ADC 19 and if relay 163 is ener-
gized, is routed to a comparator with hysteresis. Depending on the parameters of this comparator (upper and lower response
threshold of the Schmitt trigger), signal status "0" (not yet triggered) or signal status "l" (triggered) is generated.This result
can be inverted if required (516.9 = l), and is then flagged at BIT16.1. The result ("0" or "l ") issimultaneouslyrouted toan arbi-
trary input bit or relay of branch 1 to 17 of this contmller. This is dore by specifying the relevant branch and bit no. If S16.8 is
active, the position of REL16.1 will decide whether the bit specified in the particular branch is influenced by the programmer or
the S5 CPU (REL16.1 inactive) on the one hand, or by the result of the comparison (REL16.l active) on the other. The upper and
lower response thresholds of the Schmitt trigger can be entered in the format -100% to + 100%. Meaningful entries are in the
range Q IAB 5 AN s 100%. Negativeentries from CONf6.AN and CUNI6.AB are treated as positive entries by the IP 252.
 4. Programming Instructions

4.12 Descriptionof the Drive Controller Structure with Self-Optimization (DRS)

input variables
- ADC 8 Channel 1 of the addition
- ADC 9 Channel 2 of the addition
- ADC70 Channel 1 of the subtraction
- ADC11 Channel 2 of the subtraction
- ADC12 Channel 1 of the multiplication
- ADC13 Channel 2 of the multiplication
- ADC14 Channel 1 of the division
- ADC15 Channel 2 of the division
- ADC16 Input channel of the absolute value generation
- ADC17 Input channel for generating the reciprocalvalue
- ADC18 Input channel for conversion (multiplication with 1-11)
- ADC19 Input channel of the comparator
- CON AN Upper response threshold of the Schmitt trigger
- CONAB Lower response threshold of the Schmitt trigger
- REL16.1 comparator enable
- f.B Branch and bit no. of affected by thecomparison result

Output variables
Result of the addition
Result of the subtraction
Result of the multiplication
Result of the division
Absolute value of the input variable
Reciprocal value of the input variable
lnput variable multiplied by 1-11
Result

4325.17 Branch V :Self~ptimization

Optimization of the speed controlIer is a problem when starting up drive controi systems.

A procedure based on the guidelines of the symmetrical optimum is available here for the self-setting of speed c~ntrollers.Thispro-
cedure first determines the parametersof a PI controller Kp and TNand of a setpoint filter-The parametersfound are post-optimized
to the desired target response by simulation in the IP 252 and subjected t o thorough final testing.
'The desired target response (transient response or overshoot) can be varied with the help of a presettable parameter.

A precise description of the self-setting feature can be found in Section 412.7.3.

 4. Programming Instructions

412 Description of the Drive Controller Structure with Self-Optimization (DRS)

- -

4.126 Functions of the drive controller

4.126.1 Pre-assigned limit monitors in branches 5 and 9

The results of these limit monitors areused by a CP 526 for display purposes.The output bits cannot be read from thestandard FB
used with the logic program (Section 5.1).

Function of the actual value limit monitor:

Four fmits can be specified via the PG:
- Upper warning limit
- Lower warning limit
- Upper danger limit
- Lower danger limit

Each of these limits is assigned a bit. Ifa signal crosses the upperwarning/danger limits, then the "upper warning/danger limits
crossed" bits are set. In all other cases they are reset.When the signal crosses the lower warning/danger limits, then the "iower
warningldanger limits crossed" bits are set. In all other cases they are reset.

Function of the setpoint limiting monitor:

Two limits can be specified via the PG:
- Upper limit
- Lower limit

Both limits are assigned two bits. When the upper limit is crossed the "upper limit crossed" bit is set, otherwise it remains reset.
When the lower limit is crossed, the "iower limit crossed" bit is set, otherwise it is reset (Fig. 4.44).
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Example: Setpoint limit monitor

l Setpoint

.-- - - - -
100%.- Upper limit

---.-

0 "Upper limit crossed"

"Lower limit crossed"
c Lower limit

limit crossed"
limit crossed"

loo%.-
t Setpoint

- " .U J

-100%, > Upper limit 1

0 0 "Upper limit crossed"
1?l/ /;l "Lower limit crossed"

F g . 4.44 Method of operation ofthe pre-assigned limit monitor

4. Programming Instructions

4.12 Description of the Drive Controller Structure with SeIf-Optimization (DRS)

4-12-62Filter block (see Fig. 4.6)

Function:
The filter smoothes an analog variable using a first order delay function.

Explanation of function parameters:

abIe Symbol Description Number format Setting range

TVZ Filter time constant Time 4 ms to 99h 59min

Explanation of function input/output variabkes:

Type of variable Symbol Description Number format Setting range

Input variable X (t) Functioninput variableto be filtered variable- -100% to + 700%
dependent
Outputvariabie Y (t) Filtered function output variable variable- -100% to +100%
dependent

X(t),

lnput signal
X,.

Fig.4.7 Filterfunction
 4, Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization(DRS)

E6.3 Ramp-function generator

[netion: (Fig. 4.46)
le ramp-function generator produces a ramp as the output signal y(t) from an input Step change x(t).

The slope of the positive ramps is determined by the constants (ZUW, W) and of the negative ramps by the constants (tow,
TRI .
~ o i i t i v eramps are where the output value y(t) changes towards increasing speed ( i l O O % ) . Negative ramps are where y(t)
changes towards decreasing speed (20%).

The constant ZUW (increment) specifies the percentage value which is reached aher expiry of the negative OR) or positive VH)
ramp times, when a 100% step is connected to the input of the ramp-functiongenerator.

In Fig. 4.46 (diagrams 1 t o 4) several examples are included. They illustrate the influence 05 the constants fUW, TR andTH.

- The ramp-function generator takes into accountthe actual value when S8.3 is active.This guarantees the fastest possible trak-
king of the setpoint y(t) by the actual value i(t). When ramping down, the actual value is taken into account, i f it is less than the
rnomantaw ramp value calculated by the ramp-function generator. When ramping up, the actual vaiue is taken into account if it
is greater than the momentary ramp value calculated by the ramp-function generator. This procedure is explained in Fig. 4.47
(diagrams 1 to 5).

- Fig. 4.48 shows how the rampfunction generator behaves if the input signal is changed before theoutput signal has reached its
final value.
The actuat value is also taken into account here.

Explanation of the function parameters and the binary variables:

Type of variable Symbol Description Number format Setting range

Parameter KONTH Ramp-up time Time 0.1 ms to 99h 59min
KONTR Rampdown time Time 0.1 msto 99h 59min
KONZUW Ordinate of the ramp-functiongenerator value, i.e. variable- 0 to +100%
the ramp value reached in the timeTH orTR with '100% dependent
input step change (thus determiningramp slope)
Binary input BITHOE "Higher" bit,BH = 1 causesrisingamp. Bit O/ l
signals BlTTlE "Lower" bit, B f = I causesfalling ramp. Bit O/ 1
BITAUT Automaticbit, BL = 1 causesswitchfrom manualto Bit 011
automatic mode
BITNUL Zero bit, NUL = 1brings the setpoint down too%

Explanation of the function inpdoutput variables:

T v e of variable Symbol Description Numberformat Setting range

Input variables X(t) Current setpoint variable- -100% to+IOO%
dependent
i0) Currentactual value (MP12 or MP16) variable-
dependent
- 100%to +loo%
Output variable Y(t) Output value (ramp value) variable- -100% to +loo%
dependent
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Negative ramp

Positive ramp

Negative ramp
and
positive ramp

Negativeramp
and
positive ramp

Fig. 4.46 Ramp.iunclion generator tor drive controller

Assumption: Actual value referencing not sensible or S8.3 = O!
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

!ii[=!,;- - ---- L
The actual value is larger than the ramp y(t).
--
--> No actual value referencing

0
%

the actual value is between X, and XI

At instant ti,
==>Actual value referencing

At instant tb the actual value is below x l

= => Actual value referencing

At instant t2, the actual value intersects the ramp yft)

= => No actual value referencing

The actual value sinks below the ramp value at t 2

==> No actual value referencing

Fig. 4.47 Rampfunctiongeneraror

Assumption: Actual value referencing
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Fig. 4.48 Rampfunctiongenerator

Changing the input beforethe olrglrt has reached its final value, SB.3 = 1 is assumed
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

- The ramp-function generator has four binary input signalswith which the output y(t) can be influenced (independentlyof the in-
- put x(t1).
If the HOE bit is active, then the output y(t) ramps to the +loo% limit. The actual value is not taken into account (MPx).
- If theTIE bit is active, then the outp"t ramps to the - 100%limit. The actual value is not taken into account.
- If the HOE and TIE bits are both active simultaneously, then the output remains at the last value;
i.e. no a m p is generated
- If the AUT bit is active, a change is made from manual to automatic mode (i. e. the setpoint is approached via the preset para-
rnetersTH,TRand ZUW) provided the HOE andTIE bits are inactive.
Here,the actual value is taken into account if S8.3 is active.
- The HOE and TIE bits have priority over the LOE bit.
- The NU1 bit has the highest priority. If it is active, the 0% setpoint is immediately approached at the preset ramp rate of rise.
The actual value is not taken into account.
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

t Actual
value
referencing
Fig. 4.49 Ramp-fundongeneator
Function of HOE, TIE and AUT bits
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.12.6.4 Display
Function:
When active, this function diplays only t h e lower eight bits of the actual speed value.

4.1265 Characteristic curve

The characteristic curvestage transformsan analog input variable X (field current) into an analog output variable y.
The function y = $ ( X ) used has the following characteristics:

- Linear range
yLO for 02~5100%
y=O for -100%Sx50%
100
y=3/2x for OSxl-%
3

- Parabolic region
y=-
9
-(x-100)~ +- 100for 700
-% S x = S 100%
800 3
The curve is shown in Fig. 4.50.
The curve is also called the normalizedexcitation curve. It represents the relationship between the field current and the flux of a
d. c. motor. The curve is an approximationwhich is valid for most d. c. motor types.
4, Programming Instructions

4.12 Descriptionof the Drive Controller Structure with Self-Optimization (DRS)

Value table:

Linear approximation
3
y=zx

'ig. 4.50 Normalized excitation curve

 4. Programming instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.12.6.6krmal monitoring
When current flows through an electrical machine, the temperature rise can be described approximately by the e function. This
"thermal image" is used to reguiate the temperature rise in the machine in a calculation involving the armature current and the con-
stant KON11.2 (thermal time constant) according t o the following equation

- e --T).
t
, , , ,=
Temperature-rise ,2i (l
If the permissible temperature limit (temperature : MP191 is exceeded, bit 11.1 is set. The temperature limit is specified with the con-
stant CONlt.7. A temperature limit is selected such, that under operating with nominal current, the tempe~aturelimit is never quite
reached (ortheoretically would be only after an infinite period). Cooling is expressed by theequation i2- e - 7 .

Example:
Nominal thyristorcurrent = 500 A 2 10V llsT
g 100%
Nominal motor current = 400 A O 8 V l,,, P 80%
Thermal time cmstant: 30 min (CON 17.2)

Temperature rise cuwe with nominal current:

Temp. rise = i i x (l -exp -m)
t
=qO%
(?-exp - &) = 64 % (1-exp - dmin
)
Temperature rise curve at, e.g., 1.2 iN= 480 A (= 96%)
Temp. rise = 92.16 % (1-e - 30tni, }

It can be seen from Fig. 4.51 that, when operating with 1.2 X IN, bit 11.1 is set after approximately 36 minutes. The temperature rise
value is only reset when the module is in STOP mode. If the IP RAM has battery backup, the d d value will be retained on restafl after
power failure.
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Temperature r i s e of the armature winding

- I
c--
/--
Temperature rise at 1.2 IN
HH
/
/

Switching point
64% -- KON 11.1 /

Temperature rise at IN
50% -

t
0 lmin]

- 10
KON 112
20 30 396 40
-4
50 60 70 80 90 100

Temperature rise equation

i Armature current
X Thermal time constant CON 11.2
t fime

Armature-c
i(t1
P,,--a-:) I
Fig. 4.51 Thermal monitoring
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4126.7 Limit monitor

Function: (Fig. 452)
The value of a measuring point MPx is checked against six limit values GW(i).
If for positive limit values MPx > GW[I)
or for negative limit values MPx < GW(i),
then the corresponding limit value bit B(i) is set.

- Limit (i)20: MPx 5 Limit (i) - B(i) = 0

MPx> Limit (i)-B(i) = l
forlSi5N
- Limit (i)< 0: -
MPx 2 Limit (i) 66) = 0
-
M P x < Limit (i) B(i) = 1

- The number N of limit values is defined by:

1SNS6
- Unused limit value bits are set to zero:
B(i)=Ofori>N

Explanationof function parameters:

-

Type of variable Symbol Description Number format Setting range

Parameter CON 13.7 (or 14.7) Number of preset limit values no unit l to6
CON 13.1 (or 14.1) Limit value 1 vatiable- - 100% to + 100%
dependent (or %)

CON 13.6(or 7.4.6) Limit value6 L

Explanationof function inputfoutput variables:

Type of varia ble Symbol Description Number format Value range

lnput variable Xe Input value to be checked variable- -100% to + 100%
dependent(or %)
Binary output Bit 13.1 (or 14.1) Lirnitvatue bit 1 Bit 011
signals

Bit 13.6(or 14.6) Limitvalue bit6 Bit 0;l

4. Programming instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Fig. 4 52 Limil moniwr of the dr~vecon1roller nruciure

 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (ARS)

4.12.7 Speed canhaller setfoptimization

A large number of applications of the DRS drive controller structure of the lP 252 (various coiling mechanisms, centrifuges, calen-
den and hoists) have more or less rigid mechanical conditions in the speed loop and display a relativelysimple unified basicstruc-
ture.
For applications of this type, the structure has been equipped with a start-up procedure forthe speed controller. in conjunctionwith
the on-iine adaptation of the drive controllerstructure (see branch 4: Influencingthe loop gain), the procedure can also be used for
controlled drive systemswith variable moments of inertia.
The controller can be determined in this way without lengthy trail and error, whereby only limit data for the protection
of the motor and the machine need be specified as input variables for optimization. The dynamics of the controller serting can be
influencedwith the help of a further parameter.
This section is concerned with the principle and operation of the procedure and the preconditionsfor its use.

4.1271 Performancerange and area of application

The procedure is suitable for use in the speed control of DC shunt-wound motors with secondary current control loop corres-
ponding to Figs. 4.61 and 4.62.

Speed Current Power

controller controller section M

Na-l

Fig. 4.61 Drivecontrol system

Motor, mechanics
Setpoint filter Speed controlter I

Fig. 4.62 Simplified block diagram d thespeed control loop wirh secondary current c0Mroller and filter element (rigid mechanics)
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

The gain and integral action time for the speed controller are to be found in the preconditions outlined below, as well as (if configu-
red) the time constant for a PT, element, through which the setpoint of branch 8 is supplied.
4 ms or 8 ms can be selected as the sampling time of the speed controller. For greater sampling times, Section 4.12.7.5 contains
appropriate conversionformulas.
Thevalues of the constants and the position of the configuring switch set by the user are taken into account, insofar as these have
an influence on the system.

Control and monitoring functions

The self-optirnizing procedure consists of an identification phase, in which the behaviour of the controlled system is determined
by acceleration attempts, and an optimization phase, in which the control parameters are determinedfrom the measuring signals
acquired.
Control of the individual steps of the procedure and avoidance of impermissiblemachine states arethe task of thesequence con-
trol, which is also a component of the DRS structure. During the acceleration test runs in the identification phase, any exceeding
of aspeed limit (armature current dependent) is prevented and, if required, adherence to position limits isensured-The parameters
establishedin the self-optimizing procedure are subjected to a validity check, based on simulation of the controller behaviour in the
IP 252 and comparison with a reference model, before they are presentedto the user. It is atso possible, afterfinishingthe optimiza-
tion run, to representthe target response and the simulated response of the dosed loop controi using a programmer with graphics
capability and the appropriate software (COMREG GRAPHICS, see Section 7).

4.1272 Preconditions for use

This section describes the preconditions for use of the procedure.

Current controller, static converter

The characteristics of the system consisting of static converter motor must be largely independent of the operating point through-
out the useful speed range.This assumes converter sets in inverse-parallel connection with or without circulating current, and adap-
tation of the curent controller t o the response of the armature loop modified in pulsating-current operation.
Torque reversal must be possible. The current control loop should exhibit no more than 10% overshoot for optimum results, which
is usually the case. When using single-phase static converters in conjunction with very short mechanical acceleration times, it is
necessary to use anticipatory EMF control (standard with all SIMOREG devices).

Motor and mechanics

It must be permissibleto accelerate the system to be identified with constant torque.
The load and the speed sensor must be connected to the driven machine as rigidly as possible and with minimum backlash. Conse-
quently, a suitable, programmable fifter must be configured by the user and a correspondingly slow~esponseforoptimization must
be set. The lowest mechanical natural frequency of the system must at all costs be clearly highertban the limiting.frequency of the
current control loop and the actual value acquisition system. During the identification process the load torques must be kept
approximately constant.
The rotating mass and the accelerated mass must be maintainedat a constant level, as must the field current. Strong speed-depen-
dent load torques, as for example an unusually high friction torque or ftuctuating external load torques, are not detected in the iden-
tification phase and can therefore lead t o incorrect results.
 4. Programming Instructions

4.12 Descriptionof the Drive Controller Structure with Self-Optimization (DRS)

Changes in the plant or controlled system parameters in on-line operation

The controller setting for constant plant (controlled system) parametersis made with the control loop open. However, in many drive
systems, these parameters change in the course of operation.
The on-line adaptation capability of the DRS structure or parameter-insensitive optimization of the control loop permit the use of
the self-setting function also in field weakening operation or in the case of a variable rotating mass during coiling operations
[Section 4.12.7.3).

Parameter range
The acceleration time of the motorwith the driven machine connected must be under4 secondsfor numerical reasons. Mechanical
transients must have decayed at the latest after 400 ms a t a sampling time of 4 ms or 800 ms at a sampling time of 8 ms.

Permissible loading of the IP 252

When using automatic self-start up, no more than two controllers can be programmed on the IP 252 due to restricted memory
space. Controllers 1 and 2 are permitted. Otherwise, the self-setting routine cannot be called. If an impermissible controller no. is
used, the relevanterror message is stored in the I P 252.
The sampling time of the speed controller can be selected at 4 ms or 8 ms. During the identification and optimisation process of a
control loop, the IP can service no other controllers. Updating of the measuring sockets is not possible. Old values may be dis-
played under certain circumstances in the "Controllertest" function of the COM packages.

The setting procedure

By measuring the reaction of the drive system to sudden changes in excitation under constant load conditions the setting proce-
dure used obtains a non-pararnetrical description of the response of the controlled system in the form of the step-function
response, which implicitly contains all the parameters important for controller setting, such as the small time constants and the
system order. This presupposes that, during the identification process, the friction can be neglected and external ioad torques
remain constant.
On the basis of this model, a robust controller setting is determined, the dynamic response of which can be adapted to the rnecfian-
ical conditions by the user. The setting determined is then tested by simulation in the 1P 252.
The identification process for the speed system must be carried out at constant field and with a constant rotational mass.
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

The required parameters are obtained in the following steps:

a) Determination of a constantexternal load torque and deceleration
By adjusting the drive to zero speed with the help of a PI controller carefully set by the user, an external load torque, which can
have a possible effect on the drive, is approximatety determined. The controller parametersrequired for this measurement are
non-critical, However, they influence theduration of the measuring operation.
No start parameters need be entered if there is no load torque acting on the motor during the identification process.
Deceleration of the motor is then performed by a P controller the gain ofwhich is adapted to the mass moment of inertia duting
the acceleration phase, in order to shorten this phase as much as possible. The max. decelerationcurrent is determined by the
manipulated variable limits "CONS.B+" and "CON5.B-" from branch 5.
b) Determination of the speed stepfunction response
The system is then accelerated by inputting a constant current setpoint whereby a constant external load torque corresponding
to the result from (a) is compensated. The measurement is repeated 16times in order to suppress measurement noise. If imper-
missible speeds are reachedwhen doing this, the motor is immediately braked and the process is repeated with lower current
setpoints, if it is meaningful to do so.Thesameapplies on exceeding of position limits calculated from the position limits entered
by the user, atlowing forthe braking distance. If the acceleration time is over 1 sec., 32 measurementsare executed.
The measurement duration is 400 msfor 4 ms sampling time or 800 ms for 8 ms sampting time. The acceleration characteristics
determined over 16 or 32 measurements on the output side of the actual value filter block can be displayed on a programmer
with graphics capability or with "COM REG GRAPHIK" software.
Asubsequent low-passfilter will produce an initial criterion for the use of the procedure:
The step-function response measured must have approximately I f l behaviour(Fig. 4.63). If no steady state has been reached,
the procedure is aborted with the appropriate error message, since it is then assumed that it cannot be used for one of the
following reasons:
- Poorly damped natural oscillations i n the controlled system
- Non-com~ensatedEMF influence in the armature circuit
- changing' load conditions during the identification process
- System parameters not constant during the identificationprocess

Fig.4.63 Step responseofthe IT1 element and fele".ant control parametersfor a P1 contrdlersei to double ntios (dwMe ratio factor = CONV.DV12)

c) Calculation of the parameters for the speed controller and setpoint fitter
The response of the closed control loop is then tuned to a target function, correspondingto the double ratio specification, by
means of an optimization procedure using thevalues determinedfrom the controlled system parameters (Fig. 4.63). The target
behaviour can be varied by a parameter, to be set by the user, between the limit case of the "Symmetrical optimum" (double
ratio factor = 0.5 or CON17.DV = 100%)and a setting which is infinitely insensitive to parameter variations and mechanical
inadequacies of the controlled system at the cost of dynamic response (doubie ratio factor less than 0.5). A robust controller
setting providesthe default forthis parameter. Dependingon the result obtained, this ~ I u can e be changedempiricallytowards
a slower or more dynamic controller setting (prior to a subsequent optimization run, if necessary). Any dead time due t o the
discrete processing can be taken into account in the course of the optimization process. The time constant for a configured
setpoint filter is obtained direct from the integral action time. Shouldthe target function prove to beinsufficientlyapproachable
during simulation in the IP252, especially if the parameters in Fig.4.63 are used, the preconditionsare obviously not met and the
procedure will be aborted with the relevant error message.
The relationshipbetween setting time and the CON17.DVparameter can be seen from Fig. 4.64.
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Response to setpoint changes Responseto setpoint changes

without with
setpoint filtering setpoint filtering

Slow, robust
setting

DVCONST = 30%

-. t

DVCONST = 50%

Fast setting
("Symmetrical optimum")

DVCONST = 100%

Fi5.4.64 Target behaviour of the self-setting feature iordifierent values of CONl7.DV anc! lhe influence of serpoint filtering
4. Programming instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.l27.3 Speed controller self-optimization in the DRS structure

In addition to the parameters of branch 17, there are alsoa number of external data of thecontroller structure, that have an influence
on the optimisation process.
- The conaolkr structure must be operated without direct backplanebus access.
- The controller sampling time can be selected at 4 ms and 8 rns.

Constants and configuring switches with influence on optirnisation

Branch 1, Controller output:
S1.1 "Conversion"
Branch4, Adaptation of the loop gain:
At the "Diameter injection" position of switch S 4.1, the initial diameter VAR 3.1 entered before the optimisation run is
taken into account.
Branch5, Speed controller:
KFTN as initial values, if the shaft is to be identified under load and these values are entered and are not equal to 0.
Upper and lower control limits "CONS-Btu and "CON5.B-" determine the max. acceleration current in the identifica-
tion phase.
Branch 9, Primary controller:
CONS.IOWL, CON9.IUWL (upperJlowerwarning Iimitforactuat position) are required, if position monitoringduring the
acceleration phase is needed.
Branch '10,Actual speed acquisition:
CON 10.1, actual value weighting
S 10.1, filter block
CONIO.TVZ,if the filter element is selected
S 10.1: analogfdigitalsensor

On-line adaptation of the parameters found by self-setting

The output variables of branch 3 and 4 can be used to adapt the gain of the speed control loop to field weakening operation or in
theevent of variable moment of inertia in the case of velocity control. If the conditions listed in the following are satisfied, the setting
found by self-start up will also be suitable forthese cases.

Field weakening operation

The loss of gain caused by the weakening of the field current can be determined approximately in adaptation branch 4 of the
DRS structure via the flux characteristicand can then be used for correcting the loop gain.
The gain is automaticallyand correctly adapted by branch 4 (flux ca1culation position) if the identification process is carried out
at rated field current.
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Variable rotating mass in the case of coiling operations

To adapt the controller setting to the diameter-dependent system gain of the controlled system, it must be made correspond-
ingly robust b y defining its target behaviour accordingly.
The weighting of the speed with the diameter estimated in branch 3 of the controller structure gives a proportional growth of
the contro[ler gain which acts against the loop gain decreasingwith increasing diameter.Wherethe rotating massof the coil has
a strong influence on the total inertia, this effect can be further amplified with the help of branch 4 "Diameter injection" (or,
additionally, with the help of branch I6 "Arithmetic"), in order to achieve a dynamic controller setting.
If, however the load influence on the mechanical inertia is small -for example, as a result of high motor inertia or a gear reduc-
-
tion control of gain should not be dependent on diameter. In this case, branch 16 may equally well be used.
In order to obtain the fluctuation width of the total gain, severai optimization runs are required.
The reaction of the controller to the extreme values of the moment of inertia should in any case be monitored by the user.
identification must be carried out at full coil diameter. The initial diameter value must be set accordingly (integrator enable dis-
abled) in branch 3 (peripheralvelocity). Any diameter-dependent field current control must similariy be set to the coil diameter
with which the control system is identified.
Diameter signal injection by branch 3 increases controller gain proportionally to thediameter. Optimization must, however, take
place in the direction of a robust controller behaviour, since no complete compensation of the changed system gain can be
achieved.
Suitable guide values for the "CON17.DV" parameter can be obtained as per fig. 4.64. The behaviour of the controller at full
and empty coil must be checked by the user, since the control simulation covers only those system conditions existing during
the idenyification procedure. Ifthere is a tendency to oscillation, the CON 17.DV double ratio factor must be further reduced
and re-optimized.

Setpaintentry
Afilter element can be configured in setpoint branch 8 of the DRS drive structure. By using this block, the overshoot in response to
sudden changes in the setpoint can be reduced from 50% to less than 5% without affecting the controller response. However, this
increasesthe rise time (Fig. 4.64). Natural oscillations in this system are less markedlyexcited by step changes in the setpoint.

Operator interfacefor speed controler self-optimization of the DRS structure with COM REG
The operator interface of the branch for self-optimizationon startup is described i n this Section. Section 4.12.7.4 contains an appli-
cation example.

1. Notes on configuring and initiali;ring the controller structure:

The self-optimization on startup function constitutes branch No. 17 of the DRS drive controller structure. In the configuring run, con-
The controfler structure must be operated without direct backplane bus access.The
figuring switch ST 17 must therefore be set to l.
controller sampling time can be selected at 4 ms or 8 ms. In the "Programming of selected branches" function, the following inputs
are possible:
a) Monitoring of the commutation characteristic (for protecting the motor during speed system identification):

Value range Dimension

Maximum permissible armature current Imaxl : -100 to + 100 %
At speed N I: -1Wto+100 %
Maximum permissible armature current Imax2: - 100to c100 %
At speed NZ: -100to +l00 %
Maximum permissible armature current Imax3: - 100t o + 100 %
At speed N3: -100to+100 %
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization(DRS)

Explanation:
The permissible speed as a function of the current can be obtained from the commutation characteristic representedhere by
the input of up to three value pairs -speed Nx, armature current Ix -(approximation in the IP 252 by linear interpolationcorre-
sponding to Fig. 4.65).

Fig. 4.65 Possiblevalue pairs of Me commutation ekraaeristic

2. Notes on startup (controller test) of the tontroller structure:

In branch 77 the following appears
. .----- - .. -.- -- - Value range
L

Dimension
MQ&C&I of positionIbn'i? o/ 1
S~~changesinpos~directbn
: ? 011
Sudden setpoht &an- in neg. d i i a n ? : 0/1
Doubleratio f a c t ~ K O N
l7.DV +5to+100
S&-&kkhg enable O/l
Controllergain KP -99.99 to 99.99
Integralactiontime TN 0 to 99h 59 min
FittertimeoMtstant TV;! 0 to 99h 59 min
Accept detemhedv a h ? 0/1
permissible annature current h a 1: -loot0 +l00
at speed N I: -100to+100
Maximum permperm&ie
armature current Imax2: -100to+100
at slseed W: -100to + 100
M--mum permissiblearmature w e n t lmax3: -100to +100
at speed N3: -100to +l00
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Setf-Optimization (DRS)

Explanation:
- Monitoring of position limits during the identification phase:
If the switch is on, the permissibletraversing range must be defined by entering a positive upper limit and a negative lower limit:
in branch 9 (primary controller) these are represented by the parameters "CON9.tOWL (upper warning limit, actual position)" or
"CON9.IUWL (lower warning limit, actual position)".
- Setting the direction of acceleration:
Depending on the switch position, the machine is accelerated using positive, negative or alternating armature current. For the
sake of precision, both current directions should be enabled where possible.

--------
1 Speed

I
I
1
1
k set - - - l
I
Ll Armature current
1
I
Max. braking - 1

current
I
Acceleration Deceleration

Fig. 4.66 Variati~nin speed and armature current during the idenfmcationprocedure of the speed controller system. The operation is repeated 16 or 32 times.

- The parameter CON17.DV influencesthe dynamic response of the controllersetting found. It can be set at 5% or 100%. in which
case the default is 50%. Values of "CON17.DVU< 100% lead t o an insensitivecontroller setting, to the detriment of the dynamic
response. In this way, the controller setting can be adapted to, for example, mechanical backlash, tacho ripple or changing
system parameters.
- Start of self-optimization on startup
Switch (4) is reset by the operating system after completion of the optimization run or after power failure.
Resetting of this bit aborts the optimization run.
- When the optimization has been successfully completed, the controller parametersfound are dispfayed.
- By setting thisswitch or bit, the speed controller (branch 5) accepts the displayed parameters KP andTN.1he filter time constant
TV2 found is accepted by branch 8,provided branch 8 has been configured with a filter element. If there is no filter element in
branch 8 of the controller structure generated, CON17.W is displayed with "0". This pushbutton is then reset automatically.
4. Programming Instructions

4.12 Description of the Drive Controller Structurewith Self-Optimization (DRS)

4.127-4 Setf-optimization messages

The optimization run is made visible to the user by the flashing green RUN LED and theerror LED in order t o call attention t o limited
operating system functions (overload).
The status of the optimization run can be monitored by the S5 CPU (Section 5.2) and using the programmer with COM REG from
the "Errors" submenu, which is reached from "Info" in the main menu.

The following status messages are passible:

- No. 75: "Prepare self-optimization"
System capability and controller configuration check
tnitiaiization of programs; bring machine to standstill
- No. 76: "Self-optimization active"
Code forthe speed controller optimization run
- No. 77:"Self-optimization successfully completed"
The pararnetersdisplayed in branch 17 can be accepted.
- No. 78: "Structure or parameter assignment error"
The controller structure contains bus accesses
Traversing range wrongly entered (upper limit must be positive, lower limit negative)
Both acceleration directions disabled
- No. 79:"Impermissible controller no."
Controllers with impermissible controller nos. (> 2) or mare than two controllers have been configured
Asecond controller structure has not been disabled
- No. 80: "Sampling time too large"
Asampling time greater than 8ms has been selected
- No. 81 :"Load torque too high"
6 The external load torque is too high to be compensated for by the armature current setpoint prescribed by the commutation
characteristic.
- No. 83: "Controiled system unsuitable"
The system response measured does not correspond to the reference model and self-optimization cannot then be used.
Reasons: - Overshoot of the current controller greater than approx. 40%
- Kp greater than 100
- Requiredcontroller response cannot be achieved with the given arrangement
- No. 84: "Optimization unsuccessful" (parameters could not be calculated)
The validity check in the last phase of self-optimization was not passed
Reasons: - Overshoot of the current controIler greater than approx. 40%
- Kp greater than 100
- Required controller response cannot be achievedwith the given arrangement
- No. 85: "Abort by PGIPC"
Message via software stop in the case of abort
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Application example
It is assumed that speed controllers no. 1 and no. 2 have been configured on the IF 252.The speed loop of controller no. 1 is t o be
optimized far a drive with fixed system parameters (Fig. 4.61).fhe following sequence then applies:
- Move controller 2 to stop; lock the shaft mechanically, if necessary, since this controller wilt not be processed by controller no.
1 during the startup run.
- If the motor is under constant load during the identificationprocedure, the speed controller (branch 5) must be set with "conser-
vative" start parameters (e. g. KP = 7, TN = 500ms) and enabied with setpoint 0,so that the shah can be kept still when the me-
chanical lock is cancelled. Ail other branches of controller 1 are disabled (i. e. the relevant relays are set to "0").If no external
load torque is acting on the motor during the identification process, pre-initialization can be dispensed with.
- Call branch 17 (speed controller setting) in the "Controller test" function for controller No. 1 and - if this has not already been
done -enter suitable value pairs for the commutation characteristic, according to the manufacturer's recommendations.
- Preselect one or both acceleration directions, depending on the operating conditions of the driven machine.
- Select the desired controller dynamic response with "CON17.DV", retain this in the case of unknown mechanical conditions
e. g. defautt (CON17.DV = 50%) and, depending on the success of the optimization run, repeat with changed "CON17.DV".
- If necessary, release mechanical brake (the shaft is now held by the controller).
- Enable self-optimitation.The speed controller system is now identified by making step changes in the armature current setpoint;
field current and load must remain constant. See Section4.12.7.3.for procedure in thecase of variable field or moment of inertia).
- Read the self-optimization message in the COM RfG "Info", "Errors" function on cornptetion of the optimization run.
In the case of successful completion of optimization, the parameters found will be displayed and can be transferred to the con-
troller.
- Accelerate controiler 2 again
- The basicoptimization of the speed ioop has now beenfound for controller l, and this will be used as a reference point for further
startup procedures.

4,'l275 Projetting the parametersfound to greater sampling times

The self-optimization function of the IP 252 can only be run if the sampling time has been set at 4 or 8 ms. If it is desired t o operate
the controller tater with greater sampling times, the desired sampling time can be projected using the formutae outlined below. In
doing so, please note the following:
a) increasing the sampling time wit1 always lead to deterioretion of the dynamic response of the controller.
b) The sampling time of the digital controller should be ten times smaller than the dominating time constant of the controlled
system.

where x = CONJ7-DV with 0.05 1x 1 1

100%
4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Self-optimization
The influenceof the control parameters K, and T, on the response of the controller loop is illustrated in Fig. 4.67:

-
Kg. 4.67 Maladjustmentto h symmetn-ealoptimum

and Tnrepresentthe controller parameters set to according to the symmetrical optimum (see centre of diagram). Any change to
these parameters by the factor "1/2" or "2" leads to the response illustrated. It is a precondition in these cases thatthesampling
time of the digital control loop must be small compared with the dominating time constant of the closed control loop.
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

4.12.8 Data btockof the drive controller with self-optimization @RS)

f he data block supplied contains all data of the DRScontroller structure. If the contents of these data words are to be read or over-
written by the CPU, they can be accessed with the help of data handling blocks (Section 5.2). .

Data
W70
adurtss
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 I
+-----C---4-----+r-*--+*----+-----+-----+-----C----C---**-----+-----+----+-----+--- v
I Con7lguratlon (DRIVE wtth self-optimization: 105.) 1 DW 0
+-----+-*--r*r--*-+-----+-----+-----L----L----+----+-----L----+-----+-----

I Version number I O U 1
--------h----+-----C------+----4-----+-----+-----+-----+-----+---*hh---+~---~**---+--*--+-----+-~---+

I I Status word I N 2
I ..........................................................................................
I I Error wrd 1 DW 3
BESy +-----c.---+-----+-----+-----+-----~--+-----+-----+-----+-----+-----+-----+-----+-----+-----+
CODE I Erto? word I DY 4
I ...........................................................................................
I I I OW 5
1 +-----+-----+-----+-----+-----+-----+-----+-----+-----+.----+-----+---.r-C----+--r--+r----Cr---"+

I I I OU 6
1 ...............................................................................................

I I OM status wrd I N 7
--------+-----C----+-----+-----C------+---++-----+----r+----r+-r---+-----+-----+-----+-----*----+-----+

I SQpllng time 2.5 ms (3tBIT-FPKT) 1 DY 8

+.----C..-.-+-*---+-~---+.-.--C----*----+-----+-----+-----+-----+-----+----&----+----+-----+----+

I I M 1 9

%qlingl ttme of t h e fastest branch (16-BIT-FPKT) Tlm value I OM 10

t$.e +-----+-----+-----c-"--k---c+-----+-----*.c---C---4--r--*-----+-----+----r+-----+-----+----r+
I f1.e f o m t I DW L1
--------+-----C----C----*--+-----*-----+-----+-----+-----+---4-----*----+-----~----+----+----+-----+

I Minimum pulse durstlon 12.5 m (FXPT) T i r value 1 DV 12

C----*----*----+-----c----+--+-----+-----+-----*----+-----+----+-----L----+-----+----- .
I T$= r o m t I DW 13
+-----b-.--+-----+-"--+-------+-----+-----C---+-----+-----*---+-----+-----+------*----+--*--+

l U i a l ~ l r npulse drratloa (16 b i t s FXPT) flne value I W14

+----*----C----+-----h------+----+-----h----h----~----+-----k----+-----+

I Tlw format T l r fm I DUI5

+-----+-----C----C*--+-----+-----C----+-.---+-----b----,k----+----*----+-----b-"--+----

I Ilulttplicator (16 bits FXPT)

--------+-r--4-----C----+--+-+----+-----+-----*-----+-----h----C--+r-r--C----+-----*
- Sampling tillelsoallest baslc saqrling tile I W16

1 1 Speed fl I DW 17
I C---C---r+r----+-----+------C---+---*--+

I I t a a m t t a a current m (RI) I W10

I +-----hr---Cr-r-+,----C----+--+-----++++-----+-----+-----+-----C--------r+----+-----*

Branch I Speed 12 I M19

17 c---c.--.c----+-.-..+----~-+----~+~-~~~+-+----.---+---.-+-----+--.-+-----+-..--+.---.+

1 1 m t a t l o n current Iw (HP) I W20

1 h----+**---hrr--C----+-----+-----*-----*-----C----C----C----C----+-----+-----C----+-----+

I 1 s p a 13 1 m21
I +,,,,,c--,-c,---c----b--~---h----+-----+-----+-----h----+----+-----+-----+-----+

I I CoPlrtatton current Imx (N3) I DW 22

. - - - * ~ . - + - - " - - + - - . ~ . + r - - - ~ * + ~ ~ ~ ~ ~ * - ~ ~ ~ ~ . ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ * ~ - ~ ~ ~ + ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ C C ~
 4. Programming Instructions

4.12 Descriptionof the Drive Controller Structure with Self-Optimization (DRS)

Data
mrd
address
1 5 1 4 1 3 1 2 1 1 1 D 9 8 7 6 S 4 3 2 I 0 I
------r-+-----+-----+-----+-r---+-----+-----+-----+-----+-----C--*-C------+-----C----+----sC-*--+----+

I 1 Upper response threshold CON 16.AH I W23

Branch +---+-----t-----c----&---+--+-+-+-+--.--+-----+-----+-----+-----~~~~-h---+-----+-----+-----+
16 I Lower response threshold CON 16.M 1 W24
------"-C----+---,,+*-"--+----C----h----+--*--C----+-----*----k----+-----+-*---+-----b----+

I I Eontmller aaln KP of the self-optlntzatlon I W25

17 I I Integral actlon tine TN of the self-optlmizarlon I DCI 26

I .................................................................................................
I I Tiw foraat code for TN of the self-optiafzatlon I OW 27
- - ~ - - ~ r - + - - ~ ~ ~ + ~ ~ - - - + ~ ~ ~ ~ t - - - - - + r - - c . ~ c . ~ c . + ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ +

Branch 9 I 6aln CON 9.VEU I W28

--------C----+-----+--$-r---+-**--+-+-+-+-+-+-----*-*-*---+--*-~+-----+-----+-----C~~

I I Double ratio constant COW I7.DY I DY 29

Branch I Filter ttar constant TV2 of the slf-optt~lzatlon I DYSD

17 +-----+-----+-----*------C---CCCC-C-~--+~~---+-+-~~~+~~-~~+~--~~+~~~--+

I X T l r farpat code for NZ of the self-optimization I W31

--------C----+-----+----+-----+-----Cr---+-----+-----*-----+-----C----+-----+-----+----

I I Fast value COU 3.1 I DW 32

--------+----A--.-+-----+----*----b----+-----C----+-----b----+-----+-*---+----4--"-4---

Branch l I Randardtzatlw, deceleration COW 1.1 I W37

Branch 5 I Contmller galn tow 5.W I W40

- - I - + - - - - - + - - - -C- - - - - - - -

Branch 4 f Startup loop gain CQW 4.2 I W41

--------*-----+-----C--rh----L--------C-+

I I Integral action t l r e0w 5.n I W42

1 C--4----r*-----C----C----h-r--hhh--*----*---A-----b---&----*----+-----L----*--*----+

I I DIM 5.18 I W43

1 C---*-----c----+---"-C------+-----+-----+-----b----h----+----&---b--++----*-+--*+

Branch 5 f Derlvatlvc action time tOll 5.M I W44

I C----+-----C----C~---C----+-----+----+-----+-----~~-~~-C---~C~~-~+~----t--
I I DIN 5.M f W45
I c----+---.c----c----C---rC----C------------*----+

I I upper mnlputated varlaOlc l i m i t COH 5.B+ I M146

1 C----h----C----h----C----C----C----C-----h--t----rC-----C*---+-----+------C~~--C-~~-+

I I L a c r maaipulatcd variable ltmlt CON 5.8- I DU 47

-r------+-----C----+~-**-+-----+-----+-----+----+-+-r-*r-"--+-----+.---+----*-----*----.+-----C*---+
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Daten-
mart -
Adresse
L5 14 13 12 11 10 9 8 7 6 5 4 3 2 L 0 I
----r---C----+-----+-----+-----+-----+-----hhhhh+---*-*.----+---*-*-----+-----+-----+-----+-----+"*---+

I T &In CON 4.VER 1 DW 48

Branch 4 +-----+-----+-----+-----+-----+-----+-----+---.-+.----+-----+-----+-----+-----+-----+-----+-----+
I I Offset CON 4.OfF I DW 49
--------+-----+rr-*-+--**-+----.-+-----+-----+-----+---.-+.----+*..--+-----+-----+-----+-----+-----+-----+

Branch51 StartupvalueBRAHCH5 con 5.1 1 DW 50

-.*I-I--+-----+-----+-----+-----t-.-+------+---~~+-----+-----+-----+-~--~+----*+-----+-----+-----+

I I Flltertimeconstant CON 10.TVZ I DW 51

1 .................................................................................................
I I DIM IO.TIL I DW 52
I +-----+.*.c.+-----t-----+---**+---+-t-----+---*-+-----+-.-***-----t-----+-----+--*--+-----+-----+

Branch 101 Interface CON 10.1 I DW 53

1 +-,-,-+-----+-----+-----+-----+---*-+44444+-----+"---A+-**-*+-----+-----+-----+-----+--"--+--"-*+

I I Startup value BRANCH 10 COti 10.2 I DW5d

.........................................................................................................
I I Serpoint CON 9 . 1 I OU 55
1 +-----+-*---+---*-+-----+-----+.----+-----+--.--t*-**-t~****+-----+-----+-----+--.--+---d-+---*-+

I 1 Controller g a i n CON 9.KP 1 DW 56

I +----*+-----+-----+-----+-----+-*--*+-----+-h*--+-----+-----+-----+-----+**---+-----+-----CCCC-+

Branch 9 I Offset CON 9.OFF I DW 57

1 .................................................................................................
f I Integral action tlme CON 9.7N 1 OW 58
I +-----+-----+-----+----~+---*-+-----+-----+-----+-----CC~~-+.*~.*+*~~~~+~~---+---~~+-~--~+~~~~~

I I DIM 9.TN I DY 59
1 +-----+*---*+-*---+--*--c------+-----+**-~-*t----+-----+-.---+-----+-----+.-----+-----+
I f D e ~ i v a t l v eactlon time CDH 9 . W I OH60
1 C----+-----+-----+----*+-----+-----c----+t----+---.+-----+-----+-I----+*----+-----+~--*-+
I I oIn 9.n I W61
1 *-----+----+-----c----+-----+----.+------+---c--h---"---+--*--*-----*-----+.,--,+----,
I I Upper Iimlt CON 9.B+ I W 6 2
I ................................................................................................

1 1 LOmrIl~ft COR 9.0- I' 0tr 63

I +-----+-----c*.*~+~--~-+-----+-----+--*-.+.--~-c----t-----t----.+~--".+.---.+-.--.t.*---+-.---+

I I FIlter time constant CON 9.NZ I OU 64

1 +---.-+.----c-.-.+..----C----+-----*-----+-----+-*---+--c--k----k----*-"---+-~---+---

I I QIM9,TVZ 1 DW 63
I c ~ ~ ~ ~ * ~ ~ ~ ~ c ~ ~ ~ ~ . ~ * ~ ~ - + - - ~ ~ ~ ~ C ~ ~ C ~ +

1 I Constant factor CMI 9.2 I W66

----r.--C*---C*---+-----C----~-+----+----h----+--*-+--*--+-----b----h----+-----C----+-----+

Branch Ill Iaterface ermatore current CON 11.3 I DV 67

-----r-C----+--"--C-"--+-----C----+-----+-----+----+--r-+-----+-----C----+r---*-+--r-*

Branch 2 ? Friction value CON 2.1 I W68

--------+-----*-----+----4-----+----+----k----*----+-----+----+--*--+----*-----
Branch 121 Staadardlratlon acct lerat 1011 CUN 12. I I OU 69
--------h----*-r---C----~-+----*C~-~~+----*hhh~+~~~+-b*~~~+~~"~~+*~~~~+~

Branch 4 I Standardization f i e l d current CON 4.1 I W70

--r-----+r----C---4---r-+-----+-----+-----+-----*+---+---.--+----+----+-----+-----+---&-t--r-+-----+

Branch 6 I Setttag-up sped Ccn 6.1 1 W71

r-------+-----+-----+-----*-----+-----+-----+-----+-----*-----+-----+-----+-----+-----+-----+----+-----+
Branch 7 f Creep speed * COW 7.1 I W72
..........................................................................................................
I I Setpelnt CON 8 . 1 I DW 73
I +-----+.*.--+---rr+---~----+----t---*-+----*+-----+-----+-----+-----+-----+---*-+-----+*-*-*+"----+
4. Programming Instructions

4.12 Description of the Drive Control\erStructuie with Self-Optimization (DRS)

Data
word
address
l415
13 12 11 10 9 8 7 6 5 4 3 2 1 0 I
+-----+-----+.----+-----+r-r-----.+----++-+*+----+-----+ v
I I Ranpup t l m e W 8.TH
M I W74
I h----C----+-----+-----+-**----C----*----*-----+----4-----+----+----&----+-----+-----*----

I I DIH e.a I w75

BraEh g+-----+-----c----c----c.-----~----+-----+----b---+----+----~---~b----b----+-----b----+
I I R4.pup t i r COW 8.TR I W76
3 C---+-----C----+-----+----*------*CCCCcC----+---~+-----&----+-----+-----+----C--

I I Din 8.m I own

] +-----+----+-----+-----C-r--C--C--*---*-*+-----+-----b----+

I I Ordinate after tta elapsed CO# 8.ZW I W78

1 +----C*---C----C----+-----C----+------+----+-*---+

I 1 FI ltw tim constant CDll 8.NZ I W79

1 h----C-*-*h----t-----C----C--..C*.*.C----C----+-c----b*-~*-+-----C----+-----C.--r-*--+----+

I I DIM 8.W I W80

--------&----+-----+-----+------"-b----*----+-----+-----+-----&---------b----+

Branch 101 Cal tbratlon dtsplay CON 10.3 I W81

-------C----+--..*+r---.---+----+-----+--~*~+~~~~+~~~-~+~---~+-----b--~+b~~~~+-----+----

I I Upper response threshold CON 11.1 I W82

1 Cr---h---C----C----C------b----b---&----b---&---+---+-----+----*---4----+----+

Branch 111 Ttoe constant ECAI 11.2 I M83

1 * r - - - + - - - - - C - - - - C - - - - + - - - - - ~ C - - - h - - - + - - +

I. I DM11.2 I OHS4
--------C----+--r--+-----b----c---+-----b----b---4----+---+----k----+-----+-*--&----b

I I 6UMl: #umber of 11mtts CDEl 13.7 I W85

1 C----C----+-----C----C------&----C----&---b---A---&---+----b----b----+----b----+

f I MIX: fait 1 c(11 13.1 I 0u86

1 C----b----C----+-----t-----C~c~+--~-~C-~~-+----C----b---rt.--~-+-----~----t

hunch 131 6Ynl: L t d t 2 .W 13.2 I W87

1 *-----+l----C----+-----+-----C-r-C-r--C----C----C----C----+-r---h----+-----+-----C----+

I I GUM: Llmit 3 tOa 13.3 I W O

1 C-r--C---+-r--C----+-----C--*---C---rb----~----*~--4---~+-----C----+

I I 6Yll: Lblt 4 COW 13.4 I DY 89

I C---C-r--C----+----C----+--+o--C-.*rCrrr--+-----C---rC------C~------C---r+

I I W: t w i t 5 C011 13.5 ' I W90

1 ---C---+ ---- ----
C --C
-----+---*---*

I I M: L b l t 6 eDlr 13.6 I m91

--------c----c-.--c----C-----*-----+----+----+---*+-----+

I I 6YIP: lmbtr ot H a l t s EOll 14.7 I W92

f + - - - - + - - - - - + - - - - - + - - - - + - - - - - + r - r , , + * - - , h - - - - C r - - - - +

I I 6YIQ: Limit 1 to)( 14.1 1 W93

1 C----C----+I*-lr+-----h----+--*&----+~----c---rrCr--*r-r-C----C----C----~~c~~~~+

I I WIZ: Llnlt 2 COX 14.2 I DV%

I C----+-----C----+-----+-----+-----+---C--I----+----C----C----C----*

Branch 141 W :Limit 3 CON 14.3 I W95

f * - - - - - ~ ~ ~ ~ ~ * - - - - ~ + - ~ ~ ~ ~ + - - - - - * * - ~ ~ & r ~ ~ ~ r ~ + ~ ~ ~ ~ + - - - - - * - r * - r C - ~ - + - + ~ - + - i C ~ ~ - i ~ ~ + ~ ~ ~ ~ ~ c

I I W :Limit 4 CMI 14.4 I W%

1 C----C----*-----C----CC-C-C-C-C-~C--~--&---~----~*----~-~--~+~~-~+~

I I W:limit 5 CQU 14.5 I W97

1 C - - - - + r r ~ ~ ~ + - - - - - ~ - - ~ ~ * - - C - - - - 4 " - - + - ~ - C ~ ~ ~ ~ ~ ~ ~ " ~ + - ~ ~ ~ ~ C - - - - + ~ ~ - ~ C - ~ - ~ C ~ ~ ~

I I 61b12: Llmit 6 CON 14.6 I W98

--------+-----+-----+----*+----*-----+--~~-*-----+---*~CCI*CICI+-----*-----+-----+*+---CCCCC+-----+---"-+

I I Posltion setpoint upper Ilaft CON 9.S06 I OM 99

I +--+--+-----+c----+.--*-+-----+-*---+--~~-+-"~~-+----*+-*---+----+--~~-+-----4-----+---*-+-----+
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Oaten-
Uort-
AdrtSse
X 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 I
+ - - - - r C - - - - + - - - - - + - - - - C - - r - * - - r - - + - - - - - + * * + * + + * * + C + + V
I I Posftion s e t p i n t 1- llmlc COM 9.SU6 I W100
1 +-----c--.-+-----c----+----+-------+-----+-----+-----b----k----+-----+-----b----+--

Flxcd I Position Setpoint upper warning Ilmlt CMI 9.W I OU 101

LH in +-----+-----+-----*----*+----+-----+-----+-----+-----+-----+----+-----+-----+-----+-----+-----+
Wunch 9 I Posltion setpoint l m r rarnlng l l m + t COk 9.UU I DV 102
1 + , - , ~ , C ~ ~ - - C - r - ~ C - - - - + - - - ~ - + - - - - ~ + * ~ ~ ~ d + ~ ~ ~ ~ - C ~ ~ C ~ ~ + ~ ~ ~ ~ * + ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ C ~ ~ ~ C ~ - - ~ * - + - - - - - t ~ - - ~ - +

I I Upper danger I h f t CON 9.06 I DU 103

1 +-----+-----C----+-----+-----+-----+-----+-----+----C----C----t-----+----+-----b----+-----+

1 I Lower daager llmlr CON 9 . K I W104

--------*----+-----*--~-+----~*CCCC+-----+-----~-----CCCCC~CCCCCCCCCCC-CC+-----

I I Speed wtpolnt '@get l l a l t W 5.SE I DW l05

I C----+.*-rlrr---+-----+-----C----+-----b----+-----+-----+-----+-----+-----+-----L----+-----+

I 1 Lmr I l m l t CON 5.Sm I W106

1 +-----b----+*----+-rr---C----C------+-----+-----b----b---A---k----+-----+-----+----

I I Aetual speed upper uarnlng l t n t t COW 5.W 1 011 107

Ftxd +,~~,~+~~~~~~~~~+~~.-~~~~~~+-+---+C-~~~+~~~--C-~~C+-~+-~~C----

Ul in I Actrral speed lwer warning l i m i t COW 5.M I Owl08

bramh 5 +-----c----c----c----+-----+-----+-----c----+-----+---h-l--+-----h----+-----+
I I Actual speed upper danger lln4t CON 5-06 I W109
I +----.+-.---C---c----+-----C----C---4-----+-----+-----+-----+-----+----+----+----

I I Actnal speed lactr daagw lClt CON 5.N I W 110

--------+-----+-----+-----*----*--+----+-----+-----+-----h----h--r-+-----+-----hr---C----+

Branch 8 I Setpoint scaler CMI 8.2 1 DY 111

---.---*+.---.+-----C----+--+-----C---*----+-----+-----C----*-----h----+

Branch 101 Rated speed in vs 10.4 I W 112

1 +----c-~-*b----c----c----c----+----+~---~+~----+-----+-----+~----+-----c----C
I I Sensor number 1100 COW 10.5 I DU 113
- - - - - - - - C - - - - C - - - J - - - - C - - - - - - C - - - - C - +

I I lmtegraioa time constant COll 3.TID I W 114

Bram 3 h - - - - c - - - - c - - - - ~ - - - - ~ - - + c - - - + - - - - + c - c - - - c - - - - c - - - l c - - - - +
I I OIH3.TID I W I15
--------C--C---C---J----h-+.----h--C----t----+-----k----*----+-----t----b----t---+----

Branch 151 )*asurlnp polnt output MeasnrlDp polar m. f W 116

--------+---*---+-----*------C----+-----&----+

Branch 161 Address o f the a r t t h c t t e ceaparstor I W 117

------r-+-----*----*---+----C--b---+-----k----+----+-----C----*

Ilsasu- T Limlt mnlwr 1 lhsurlng potat m. I W 118

ring +----&----c---+---+-----c---------+----+-----+-----h---+----+-----+-----~---+----+
polnt n0.1 LWt waitor 2 measuring point m. 1 DU l19
- - - - - - - - C - - - - C - - - - C - I - C - - C - A - - - - C - - ~

I I MC 1 a m $ $ Actual positloa I W120

I b - - - b - - - c - - - h - - - - C - - - - C - - - - h - r - * - - - - - C + - - - - - +

I 1 ADCZaddnss Position setpotat I BY 121

I: C----+--r--C---re----C----C----C-----+----+----+----+----A---+----+-----+--+----+-----+

input I ADC 3 a&ss Actnal speed I W122

ad- C----~----C----+-----+-----C----+-----+-----L----~----A----L----+-C~---~+

dresses 1 ADC Q address ~ c t - I a ~ t u r current

e 1 011123
1 +----+-----*-----+-----+-----+-----+-----+-----+-----+-----+-----+-----h--hhhh---h----C--C-+

I I ADC 5 address FIeld c u m n t I W 124

1 +-----+--..-+-----+--*--+-*--+-----+--------+-----+
I I ADC 6 aadress Speed setpolnr I W125
I ................................................................................................
4. Programming Instructions

412 Descriptionof the Drive ControIler Structure with Self-Optimization (DRS)

Data
word
address
1 5 1 4 I J l 2 1 1 1 0 69 5 8 4 3 7 2 1 0 I
I + - - - - - + - - - - - + - - - - - + - - - - - + - - - - - + - - - - * - - - + * * + + + + + + + v
I 1 MC 7-address Setpoint for coil cowuter in branch 3 I OU 126
1 +-----+-----*-----+-----+-----+----*----*---+----**-----+***--+-----+
I I M C 8-address lddltion I DU 127
I +-.---C----+-----h.---+-r----+-----+-----+---"-+-----+-----+-----+-"---+---*-+.----+-----+-----+

1 I ADC 9-address Addition 1 DV 128

I I AOC10-address Subtract %on I DW 129

I I Pulse capture address Acutal speed I DU 131

1 .................................................................................................
I I ADtl2-address Uultiplication I DW I32

1 +-----+--*--+-----+-----+-----*-----*-----+-----+-----b----+-----+-----+-----+-----

I I ADCZ6-address Absolare value generation I DW 136

I I ADC17-address Reclpr~calvalue generator I DW 137

I C----+-----*-----C----+r---+r----+----&----+-----+--+-*+--*"-+--"-++--&--C----+h----+*---+-----+

I I ADCl8-address ~ultiplicatlonwtth (-1) ' I D11 138

I +rr--.C----+----+-----+-----+-----C----+-----+-----+-----+-----+-----+----+----

1 I ADCl9-address Input for comparator with nltched output 1 Ou 139

--------+-----+-----+-----+-----+-----+-----+-r---C----C----+-----+---r-+-----+---+--+-----+-----+-----+

I X Scaling CON 15.1 I W 141

I: c----+-----+----*+-r---*+-----+-----+-----+----*+-----+-----+-----+-----+"----+-----C----+-----+

Branch 151 Fllter time constant toll 1S.TVZ I LW142

1 C*---C----+.----+---*-C--*-+---C----+-----h----C+C+--Cr---+-----+-----C--*-+

I I DIM 15.NZ f .M,143

(krzpt I DAU l-address Rctnal speed display I W144

dnssez.1 DAU 2-address Currtat atpotar I W 145

1 *-----+-*---+--r--+----+-----+-----+-+-C----+-----+-----C----C~-C*~+-.---+-----+-----+-----+

I I Dlll %address Heasuring point output I W 146

 4. Programming instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Data
wrd
address
15 1b 13 12 11 10 9 8 7 6 5 4 3 2 1 0 I
+-.--.+--.,,+*.-1-+----+-------+-*--*+-----+.-*.-+-----++.++++.*++ v
I I I DY 152
1 c.*--+-----*,.---+-----+-----+----r+----.c----c.----c----+*--.-+-----+-.--.+-----+--,-,*.~---+

I I I MJ 153
1 .................................................................................................
I I I DU I54
1 +-----+*-.--*---*-+-----+.----+-----+--+--+***~*+-~~--+-....+~.---+-+---+-~~~~+~~*--+*----+-----+
I I T DW 155
I .................................................................................................
I 1 I DU 156
1 +-----+*----*-----*-----+----*+**--+-----+-----+-----*-----+-----+----*+--*--+-----+-----+-----+
I I I LW 157
1 +----.+.----+-----+--,---+-----+-----+-"-*++--*--+-----+-.-.**-----+-----+.--*-+-----+-----*-----+
I I I ow 1%
1 +-*--**.----+-----+--"--+-----+-----c.-.*+---.-+--,*.+,----+-----*-,,,,+-

I I I DW 159
--------+-*---+-----L----+-----+-----+-----C-*--+-----+-----+-*---*----+.--~.+---*-+.----+----*+*.---+

I I Controller name: 1 s t byre I Controller n m : 2nd byte I nu I60

1 +-----+-----c----+--,---C----+-----+-----+-----+-----+--.*"+-----+---~"+--
Flelds I Cont~oller MDC: 3rd ByTe I Controller sasle: 4th byte 1 OU 161
for +-----+-----+-----*----+-----+-----+-----+-----+-----+-----*----+-----+-----+-----+-----+-----+
local 1 Controller name: 5 t h byte I Controller mm: 6th byte I DV 162
opcrator-+-----+-----+-----+-----+-----+-----h----+-----+-----+-----+-----+r---r+-----+-----+-----+r----+
process I Contr~ller name: 7th byte I Centroller nam: 8th byte I DU 163
c~"j-+-----+--*--+-----+----*,-+,---.*--+----,+,..--+-----c-.---+-----+-----+,----**--.-+-.-*-+
catton X Range name: 1st byre I Range W: 2nd byte I BW 164
and +-----+-----+-----+-----+-----+---&-----+-----+-----+-----w----+-----b----+-----+-----+-----+
vIsaa11-I Range name: 3rd byte 1 Range nac: 4th byte I DW 165
zarjoa + - - - - - + - - - - - + - - - - - k - - - - + - - - - - c - - - - + . - - - - - C - - - c . - - . k . c - - - - + - - - - - + - - - . - +
l I Urngetwe: 5th byre I Range aaoe: 6th byte I OW 166
-+--*, --+-----*--- , , ,+. , -*,*-----+1-----+
I I Range mm: 7th byZe I Range ~ar: 8th byte 1 DU 167

I I ADC l-COfEt~ts I DC( 168

1 *-----+.--3-*-r---*-----+r---**-----+**--*-----+-----+-----+-----+*-4-----%----&----C---+-----+

I I ADC 2-Cantents I DU 169

I +-----c---+-----k----+-----+-----+-----+-----+----+-----*--*-+-----%----+-----+-----

I l ADC 3-Contents I M3 170

I c----
c,,,,+-----+-----c----+--+-----+-----++...-+----**----+-----c-,,,+.,---~+~~---+----I**----+

I I ADC &thatems l DY 171

1 +-----+-----*----m*r.-+-..-+-*--+---+-----*----*+-.--+-----c------+----+-----+--.--c--**+

L I Wt 5-Contents I W I72
f +~~~~~+~~~~~~----L-,--c-l--c----~-c----+~~~~-+--~--+----*+
I I ADC 6-Cantents I Du l73
f C----*--,h----+----C----*-----+-----*-----+----+-------*--h----C--C----C----+--

Con- 1 AOC 7-Comenrs I DW 174

+.---c*-*.c----+-----c,--c----+-----c----**---+---..+.-.-.+-----C-----+-----b----+---*.+

Of tkc I MC I-Conttln~ 1 Du 175

Inputs c----+----.+---.c----c--------+.----+-----+-----t-----+-----+.----+-----+-----+-----+-----+-----+
I I ADC 9-Contents I DV I76
I +-----*-----+*----+-----*--+*----*-----+-----+-----+-----+--*--+-----+-----+----.+----**-----+-----+
I I PDC10-Contents I On 177
4. Programming instructions

4.12 Description of the Drive Controller Structurewith Self-Optimization (DRSJ

Qata
rord
addnu
15 14 L3 12 11 10 9 B 7 6 5 4 3 2 l 0 I
1 ~----+-----*--.--+-----~---.~----CC-~-C--~C+"~~*-+----*-~~~-*-+----~C----C-- v
I I ADtll-Contents 1 W 176
I +-----+-----C----C----C----+--+-----+-----+*----+-----+----A--4-----+----&---+-----+----*

I f Value of digital counter 1 DV 179

r-------+-----+-----+-----+--r--+--r-~~+-+-+-+-+~~-~~C~~~~t~~---C----+~~~~~h---~C~~~~C-~--k---~+~-~--C---r*

Bit I E f t varlablc word 1 (Illputs) I W180

varla- ~----+-----+-----+-----+-----+,----+---~-+----h----+-----+-----+-----+----+---+----+-----+

bles I: B l t variable word 2 (Iaputs) 1 DW l81

--------+-----+-----CCCC-+-----C----+-----+-r---C---.-CI---C---C----C----+-----C--------+-----+

1 I ADC 12. conteats I Du 182 !

f C----C----C----*-r.-IC-----+-*---r-C-----b---&----+

I I ADC 13. contents I DH 183

I C----*-----L----+-----*-r----C~---~----h---~---b----%---&---+----*---&---4-~---+

1 I ADC 14, contents I W184

f + - - - - 1 C - - - - + - - - - - * - - - - - c - * - - - C - - - - C - - - * - - C - - - - - - +

Cont- I ADC 15, contents I OU 185

of the I AlKl 16, contents I W166

inputs +.----+-----c----c----h.-----+-.----+-----+-----+----*+-~---C------+----b---+----4--
I I ADC 17, contents I W 187
I +---r-L---+-----+--~--+-----CCC~~k~~~~+----~hhhhh+~-~-~+----+-+---+-++~----+---+--+-+----C~~~t

I I RDC t8, contents I W1BB

--------C--.-+-----C---------C-----C-----c---&---&-r-+-----C----*---*--~-*---"+-----+---+--4

I I Speed setpolnt VAU 8.1 I. W 189

V a r d a - c - - . - c - - - - + - - - - - ~ - - - h c - ~ - ~ - - - - - - w - - - - b - - - - +
bles 1 Positfoo setpoint VAR 9.1 I W190
I b----*-----C--rA---+-----*-r---I.c---+r-+r-+r-C-c--C
*----k--C----+---~-~~~--c~~-+

I I Vartabtc start valut (atameter) VnR 3.1 I DU 191

.---m . . . .- - - ~

area 1 1 1 DUI%
1 . C---C----*--"-*-----C-----c----+--t--CI--C---+
I I +1 DU 197
1 C.----C----C---cC----&---+---r+-----C
I 1 x 1 m196
1 C--r-L---+----*---rJ------m----C----C-.---C---&----+-----*

I I 1 1 061199
 4. Programming Instructions

4.12 Description of the Drive Controller Structure with Setf-Optimization (DRS)

Data
word
address
I S 1 4 1 3 I Z 1 1 1 0 9 B 7 6 5 4 3 2 I 0 I
L , ~ ~ . + ~ . , ~ , + . - , ~ , + - - - - + - - - - + - - - - - - - + + C + + +y * * + * +

I - - I I W204

--------+-----b----+-----+-----+-----+-----*-----+-----+-*---+--*--+----+--*--C----+-----+-----+-----t

Con- I I DAC 1 contents Display I DW 208

of the1 I OAe 2 contents bnipulattd variable (current setpoint) I DU 209

0 u t p " t ~ I +*-*--+--**-c---*+.----*CCCCC+-----+-----+-----t---d-+-----+--~--~----+-----+-----b----+-----+
1 1 DAC 3 conrenss neasurlnp polns output (lamer 3y DU218) I DV 210

WrtlaQ c---.c----c----c----+-----+-----+----+-----k----+-----~----&----+----+-----
area I II DWZ~S

I IC I' W 218
-
1 +-----*-----c--.-+--~--c---C--~-C----+**---+--*-~+----+-----*-+--*-**--*-+-*--*-**-~+

I: 1 1 1 W1219
--------C--*-h*---C----+**-*---C---*+--*-C---*+----A---*+--*--+-----+-----+----+----

6% I 51t variable word 1 hrtputs 1 wno

varj~blt$c---A----A----C--A--c--c----~---A---A-~-&~~--+---~~~---+----+-----+----~+-----+
I I B l t variable word 2 ODtpuzs I IW 221

I I nearclring polnt 1 Actual value primry controller I OU 223

1 +-"---+*---+"-*-h----C-r--+-r--+-----c----+-----&*---+*--*-+-**--+--*--+-~---+---**+----+---*-+

I I Ilasurimg pint 2 Setpctnt prlmry eontrallcr I DU 224

I c----c----+.----C----C-*--+-----*-----+-----C-"~-C---ch-h~hC--~-+-***-+--*-*-+,~*~+

I I Ilcasnrlnp point 3 Controllw dwiatlon prtmary contraller I W 225

~me~+.--.*-----+-**-.b----+----*+~*---+-+-+-+-+-++**-h*--+---*+-----+.*,,,*.,-,,+,,,,,*,,,,,+
of the I Ileasllring point 4 Eoatrolltr value prlllary cont~~ller I DW 226
masur- +---+-----C ----+----4-----+-----+ - 4+ + - - - - C
----h----+- ---- ----+ + +
ing I k s u r i l l p pint 5 Comction value a m t m current I DU 227

I I nEasvrfap polnt 6 Brake c u n n t 1 DC1 228

I I lkasurlng polnt 7 kcelcratton coplpensatlon I DW 2B

1 I tkasurlng point 8 Flu PHI I DW 230

4. Programming Instructions

4.12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Data
rord
address
15 14 l3 12 11 10 9 B 7 6 5 4 3 2 1 0 I
I C----+-----+.----*-----+-----*-----+-----+-----+-----C---dk----+-----+----+-----&
V
1 3 Ikasurlng polnt 9 Current s e t p ~ l n t I OU 231
I +-----h----+-----+-----+-----+----,+------+-----C----+-----+-----+-----+-----+----

I I MeaSuTlng p i n t 10 Controller output secoadary controller I

I + - - - - - + - - - - - C - - - - C - - - - + ~ - - * ~ + - - - ~ ~ + ~ * * ~ ~ + ~ ~ ~ ~ ~ + ~ ~ ~ ~ ~ t ~ ~ ~ ~ ~ C ~ ~ ~ ~ + - + - + - ~ + - c

I I Measuring point 11 Controller deviation secondary ronrroller I

1 +-----+-r---+r----+-----+-----+-----+-----*-----+--+++----+-----*-----+-r--*-.--+
I I Measuring potnt 12 Actual speed I
I I kasurlng ) e 4 n ~ - M - - - ~ E ~ J - a ~ € u + e ~ f ~ w e n ~ - - + - - - - - + - - - - - + - - - - - - - + + + + - - - - t
1 +-----+-----+-----+-----*-+----+,---,+,,,,,b----+--*--*-----+-----+-----+-----C----+----.+

1 I ntasurlmg point 14 Setpoint a f t e r ramp generator I

I +-----+-----C-,-.h-,.-+--+-----h----+--+

I I kasurlrtg poInt 15 Dtameter I

1 *-----+-----C----+r~--~+----4+-~-+-+~+~----+-----+~---~+-~~~~+~~

&ntentsI Measuring polm 16 Vefoefty I M1238

of t h e +-----+-----~----+-----c---~-+-~----~----~----+-----b----k----+-----b----+-----+-----+----+
oeasu- I k a s u t i n g point 17 Setpoint before ramp generator I Ow 239
fed C----~----+-----C----+---~-*----*-*-**-~+CCCCCC~GG-*--*-*--+---A-+-----+-----CCCCC+-~---~---+~----+

polnt f k s u r t n g point 18 FIeld m n t I W240

1 +----*-
I 1 Neasuriag polar 19 Trrptratttre I W 241
I C----C----C----+-----+-----+-----+-----*-----+----4-----k----+-----b----+-----C--

I I Heasurlng point 20 Sum setpojnt I OH 242

1 C----C----+r-rr-+-----b----+-----b--+-----*-----+-----+-----*---*-*----+----+-----+--*--+-----+

I I Ibasurlng polnt 21 Actual speed dlsplay I DU 243

1 +-----C----+-----+-----*-----C----+-----*--r-r*-----C-r-rC----+----C----C----

I I Measuring point 22 HeasunQ polar output I W244

I C--crC----+-----+-----+-----C----*----+----+-----C----~---+----+----k----&--~4--

I J M s u r i n p polnt 23 Sua I MI 245

1 C----C---+--*-C----+----C*---+-----+-~---+-----+r----+.---b----+----b----+----+-----

I I 1Casrlng potat 24 Difference I W246

1 +-----+----+r---rC---r*-----C----*-----++

I I h s u r i n g point 25 M e t I W 247
1 C-r--C----C----+----C-rr-C----+--r---------+----*----*----+-----+

I I L a w r i n g point 26 Qaotlent 1 W2#

I C - - - - C - - - h - - - - + - - - - - t - - - - * - - - - - * - - - - - C - - - - +

I I ncasurlng polnt 27 Absolnte value I Y 249

1 C---C----C----C----+----C----C----+-----*-----~-----C----C----C----*----~&-~+---~~*.~

I I k a s a r l n g point 28 Rectprocal value 1 M250

1 +----+
I I Ileawinp polot 29 '(-1) I W 251
- - - - - - - - C - - - C - - - - C - - - - + - - - - - C - - C - * - - C - - ~ C - - - +

I I A c k a a r l e d ~ n word
t lor speed controller I W252
1 +---C----*---rC---+----~-----C---&---&-&-*~-A---~---C---*~--~-~

Status 1 Statns word for s p e d coutrolla I W2u

bytes k ~ - - - ~ - - - - c - - - - * r - - - - + - - - - - ~ - - - - r + - - - - - , ~ - - - - + - - - - - ~ - - - - + - - - - - c . - - - . * - - - - - +
for I Acknorledgement umd for posltlon contmlbr I DV254
m *-----c---c----c----*-----+-----c-t-----~~---+-----b----+--~-

1 I Status ward f o r posttton controller I but55

--------+-----*r----*..-*--+-----*-----+-----+-----*-----+-----+-----+-,--+-*+---+-----+-----*-C-C*-----+
 4. Programming Instructions

4.12 Description ofthe Drive Controller Structurewith Self-Optimization (DRS)

Data
amxol~er word
address
f 5 1 4 1 3 1 2 l i 1 0 9 8 7 6 5 4 3 2 1 0 I
...................................................... y

I REV I DW 7
+-----*-----+-----+.r---+-----*-+"-*---

Controller management bit R3V = 0 : Controller is not processed

= 1 : Controller is processed

Data
UOf 0

address
I
V
OW 34

Abbreviation Branch Meaning

Arithmetic
Sum
Difference
Product
Division
Absolute value
Reciprocal value
*(-l)
Comparator
Invert result of comparison
InverSion
Friction
Actual velocity
Loop gain
Setting-up speed
Creep speed
Speed setpoint
Ramp generator
Filter
Actual value allignment
Position controller
Position setpoint selection
Scaler selection
Actual speed subswitch
Asrmat~re current
Injection
4. Programming Instructions

4-12 Description of the Drive Controller Structure with Self-Optimization (DRS)

Diameter compensation
Field cuxrent monitoring
Conditionning
Actual value correction
Filter
Filter
"Expanded scale"
External pulse input
Thermal monitoring
Acceleration output
Limit value monitor 1
Limit value monitor 2
Measuring point output
Filterng
Speed controller self-optimization
 4. Programming Instructions

4.12 Description of the Drive CantroIler Structure with Sew-Optimization (DRS)

Input b i t variables
Data
wrd
address
1 5 1 4 1 3 1 2 1 1 1 0 9 6 7 6 5 4 3 2 T O I
+ - - - . - + - , * . . c - - - - + * * - - . + - - * - - + - . - - - + - - - U+ + - + + * + + + +
IBIT REL REL RE1 REL REL REL REL REL REL RE1 BIT BIT BIT BIT BIT I D Y l a O
13.1 1.1 6.1 7.1 3.2 8.2 8.1 9.1 2.1 5.2 4.1 9.1 5.1 8.5 8.6 8-71
C----+-.--*+-----+-----+*----+-----C--.*+-*---+---**+--*--+----rC----*-----+-----+-----+-----+

I REL BIT REL REL REL REL BIT BIT BIT BIT BIT I. W 181
1 8.4 8.8 15.1 16.1 10.1 8.3 17.1 17.2 17.3 17.4 17.5 I

Abbreviation Branch Meaning

DW 180 : REL Brake enable
REL Friction enable
BIT Integration enable
REL Initial value switch for integrator
REL Enable startup
BIT Controller enable speed controller
REL Enable startup speed controller
RE& Setting-up speed
REL Creep speed
REL Setpoint switch (speed)
REL Setpoint enable (speed)
BIT High ramp-up generator
BIT Low ramp-up generator
BIT Automatic -"-
BIT Controller enable position controller
REL Setpoint switch (position)

DW 181 : REL 8 . 3 Setpoint switch: analog/digital setpo

REL 8.4 Isolated mode
BIT 8.8.NUL Ramp-up generator: output zero
REL 10.1 Enable startup value
REL 15.1 Measuring point output
REL 16.1 Comparator enable
BIT 17.1.POS Enable positive acceleration directio
BIT 17.2.NEG Enable negative acceleration directio
BIT 17.3 .LAC; Position monitoring ?
BIT 17.4.OPT Start speed controller self-setting
BIT 17.5.m Transfer of parameters
4. Programming Instructions

4.12 Description of the Drive Controller Structurewith Selfbptimization (DRS)

Output bit variables

Data
UarQ
address
1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 I
+ - - - - - + - - - - - + - - - - ^ + - - - - - + - - - - - + - - - - - + - - - + + + + + + + v
I BIT BIT 61 Ed4 6H 611 61 1 I BIT BIT l DU 220
I9UE-L 9UE+L 13.6 13.5 13.4 13.3 13.2 13.1 1 16.1 11.1 1
+-----+-----+-----+-----+-----+-----+-----*----+----+-----k----+-----+*--

I BIT BIT BIT BIT BIT BIT BIT BIT I I DV 221

ISUE- 5UE+ 14.6 14-5 14.4 14.3 14.2 14.1 I I

Abbreviation Branch Meaning

DW220: BIT SUE-L Lower limit position controller
BIT 9UE+L Upper limit position controller
BIT 11.1 T h e m 1 interrup
BIT 13.1 Response L i m i t 1 Limit monitor 1
BIT 13.2 -"- - - 2 - m-

BIT 13.3 - "- -"- 3 - -

B I T 13.4 -* - 4 -*-
BIT 13.5 - "-* - - 1 -

-"- 5
-"- 6
-=-
-"-
BIT 13.6 m

BIT 16 .l Result of comparison

DW221 : BIT 5UE- Lower limit speed controller
BIT SUE+ Upper limit speed con+roller
BIT 14.1 Response Limit I Limit monitor 2
BIT 14.2 -- 2 -"
BIT 14.3 -
--
-,I
'I

-"-
'

3
-"- 4
1

-"-
-"-
BIT 14.4 "

BIT 14 - 5 -- 11 -- 1'
5 -"-
BIT 14.6 -m- -=- 6 -- I)
 4. Programming Instructions

4.12 Description of the Drive ContmHer Structure with Self-Optimization (DRS)

S t a t u s word for speed controller

Data
word
ad6css
I
I
+-*---+rrr--+----r+--*--+-*---+----.+.----+-----+-----+-*---+-----+-----+-----+-----+-----+--*--+ V
1 YOLD YU# SOGO SUGD IMcD lUU0 106D I U G D I Dw 253

YOGD: = 1 ---S Upper control limit exceeded

WGD: = 1 ---> Lower control limit exceeded
SOGD: = 1 ---> Speed setpoint exceeding upper limit
SUGD: = 1 ---s Speed setpoint exceeding lower limit
IOWD: = 1 ---S Actual speed exceeding upper warning limit
IUWD: = 1 ---S Actual speed exceeding lower warning limit
IOGD: = 1 ---> Actual speed exceeding upper danger limit
IUGD: = 1 ---> Actual speed exceeding upper danger limit

Status word position controller

Oaten- ,

Wt-
Adresse
I
1
y
~-~--**-*-+---*-c--*-+~-~~-"~~+-~--4----+-----+--*--+-----c---c-
I Y06L %L SOSL SU6L IOUL IVUL X E L I&LI Dw g5

YOGL : = 1 ---S Upper control limit of the position controller

PTJGL : = 1 ---> Lower control limit of the position controller
SOGL : = 1 ---> Position setpoint exceeding upper limit
SUGL : = 1 ---> Position setpoint exceeding lower limit
IOWL : = 1 ---> Actual position exceedhg upper warning limit
IUWL : = 1 ---> ~ c t u a lposition exceeding lower warning limit
IOGL : = 1 ---> Actual position exceeding upper danger limit
IUGL : = l ---> Actual position exceeding lower danger limit
 5. SSCPU <-> iP 252 Communications

The IF 252 intelligent inputfoutput moduie is capable of exchanging data with the control CPU via the backplane bus.

For this purpose, the CPU <->IF' 252 connection must beestablished on both sides of the interface.
- On the IP 252 this is done by assigning a page no. 0to 254. Using the "COM REG" or "COM 252" operating system (Sections
6 and 7), the page no.can be entered in the "Info" functionin the "SYSID" submenu.This page no. isalso referredto as theinter-
face no. "SSNR".

- The connection to the IP 252 on the CPU side is establishedby the data handling blocks, which are called in the STEP 5 user pro-
gram and initialized with the relevant SSNR.

The standard function block FB:STEU, which calls the data handling blocks internally, is described in Section 5.1. This FB:STEU is
used for high-speed data exchange of defined data. Knowledge of the data handling blocks is not required for their use.
Expanded means of communication (exchange of random parameters betweenthe CPU and IP 252) are described in Section 5.2.
In these cases, the data handling blocks are used direct. In Section 5.2.7 there are relevant examples to accompany all the possi-
bilities described.

Note:
1) The data handlinq blocks (standard FBs) must be ordered separately for the S5 135U (R processor) and S5 150U programmable
controllers. Inthe case of the S5 115U, they are part of the operating system.
2) Section 5 describes the methods of communication between the IP 252 and the S5 CPU. Here also, a distinction is made at cer-
tain points between the
DWSI user submodule (MLFB:6ES5374-OAAll or OAA13)
or DRSlSR usersubmodute(MLFB: 6ES5 374-0AB11)
The text and examples are marked accordingly.

5.1 Standard function block f 0:STEU

The FB:STEU is a standard F0for data exchange between the S5 CPU and the IP 252. There is a STEP 5 standard FB for each of the
controtlerstructures available on the IP 252, i.e. "Drive controller (DR)" or "Drive controller with self-setting(DRS)" and "Standard
controller (SR)" :
DR und DRS : FBlOO (Name: STEU:ANT)
SR :F5101 (Name: STEU:STD)

The function blocks F0 100 and F5 101 implement the following functions:
-Transfer of setpoints to the IP 252 closed-loop control module
-Enabling or disabling of the controller branches and the structure branches
- Setting of overflow identifiers
-Recognition of limits
- Recognition of parameter assignmenterrors
5. S5-CPU c-> IP 252 Communications

5.1 Standard Function Block FB:STEU/FB 100

5.1.1 Function block for drive controller structure FB:ST EU:ANf

a
Overview

I I
I PC I

------------------- I
I

I
1

1 Flag bytes I

I
I
--------------------A---

! Data handling blocks I

Functiondescription:

As shown in thc overview, communicatian between the PC and the 1P 252 in drive control systems is carried out by function block
"STEU:ANT". This function block is used for exchanging the most imporfant parameters.

Flag bytes are used as the transfer area for the data to be transmitted or received.

During the actual data transmission/reception, the data handling blocks which consist of standard function blocks are called up
specifically in the "STEU:AIUTU function block and carry out the data transmission via a dual-port RAM interface (*).These data
handling blocks need not be initialized by the user.

Functions:

- Transfer setpoints to the IP 252

- Enabling and disabling of controllers and structure branches

- Enabling and disabling of setpoints and actual values

- Transfer of overflow identifier bits
- Detection of limiting values
- Detection of incorrect parameter assignment

Communication interfaceof the IP 252 for the CPU (1 K-address range wirh 8-bit dara width).
(S)
 5. SS-CPU c-> IP 252 Communications

5.1 Standard Function Block FB:STEU/FB 100

Calling up the function block

Graphicalrepresentation: List representation:

F3 100
: l U F6 100
------_+-----------I___

--- t DBNR I NAME :STEU:ANT

I PAFE I--- DBNR :
--- 1 SSNR SSNR : KF
RENR :
1
--- I RENR
VAR8 :
VAR9 :

DEO :
DEl :
DE2 :
DAO :
DAI :
--- l VAR3 f DA2 :
1 t PAFE :
--- I DE U D A I] l ---
I I
--- l DE 1 DA l I ---
I I
--- ---
1
----
DE 2
---------I--------
DA 2 1 ---
Description of the parameters

Name Type Data Description Note

DBNR Data biock no. DWD-12 used, afterthat data transfer area
SSNR Interface no. Page no. set on the !P
RENR Controller no. 8 controller nos. and task assigment
VAR8 Speed setpoint Branch8 of the structure
VARS Positionsetpoint Branch9 of the structure
VAR3 Startingvalue circumferentialspeed Branch3 of the structure
DE D "Relay C?" ofthestructure -
D€1 "Relay 1" of the structure -
DE 2 "Relay 2" of the structure -
DAO "Relay 3" of thestructure -
-
DA 1 "Relay 4" of the structure
DA2 "Relay 5" of thestructure
Parameterfault
-
-
PAFE

Parameterassignment

DBNR - DB3-D0255
SSNR - KF = 0- 254
RENR - BY
-
KF = 1 8 Datatransferlreception PC c-> IP
-
KF = 11 8 Data transfer 1P ==> PC
KF = 2l-28 Datatransfer PC ==> IP
VAR8 - W (FW, DW etc.) KF = +- 10000
VARS - W " I)
KF = +- 10000
VAR.3 - W " * KF= +-l0000

NOTE: During the "transmit* job (data transfer) the assignment of the outputs DAO, DA1, DA2 is irrelevant-
During the "receive" job (data reception) the assignment of the inputsVAR8, VARS, VAR3, DEO, DEI,DE2 is irrelevant.
5. S5-CPU c-> IP 252 Communications

5.1 Standard Function Block FB:STEU/FBldO

DE 0 -"Relay 0" of the structure

0
I
Structure Bit Rel Rel Rel Rel Rel Rel Rel
Branch 31 '1.1 6.1 71 3.1 8.2 81 91
fortheDRstnrcture *
I

Structure Bit Rel Rel Rel Re1 Rel Rel Rel

+ortheDRSstructure
Branch 31 1J 6.1 73 32 8.2 81 91
Re19.1 Setpoint selector outer loop controller Re17.1 Inchingspeed enable
-
0 specified from PG 0-disable
1- specified from PC 1-enable
Re18.1 Setpoint selector speed controller Re16.1 Setting up speed enable
U- specified irom PG 0- disable
1 - specified irom PC 1-enable
Re18.2 Setpoint enable speed Rell.l Braking enable
-
0 disabled 0- no braking
1 -enabled 1-braking
Re13.If Starting value for integrator Bit 31 Enable integrator
or 1-specified from PG 0- no integration
Rel3.2** TO - calculated value 1-integration
DE 1 -"Relay 1" of the structure
BA 7 6 5 4 3 2 1 0
Structure Re1 Rel Rel Bit Bti Bit Bi Bh
Branch 21 51 519 9.RF 5.RF 8.HOE 8.TIE 8.LOE
fortheDRstructure *
Structure Rel Rel Rel Bii Bii Bit Bi Bit
RrtheDRSstructure n
Branch 2.1 5.2 41 91RF 5.1RF 8.5HOE 8.6llE 8.7AllT
Bit 8.LDE* Ramp-functiongenerator reset Re1519 Switch-overtodirect tension control (branch 5)
or 0- inoperational 0 -speed control
Bit 8.7AUt"* l-operational l-tension control
Bit 8.TIEf "Lower" ramp-function generator Re14.1 Loop gain
or 0 - inoperational 0 - structure-dependent
Bit 8.6TIEe* 1-operational 1 -start-up loop gain
Bit8.HOE* "Higher" amp-function generator Re15.1 Start-upenable
or 0- inoperational or 0 - structure-dependent
Bit 8.5 HOE" 1 -operational Rel5.2** -
1 specred from PC
Bit5.RFe Speed controller enable Re12.1 Frictionenable
or 0-disabled 0-disabled
B i 5 - l RF ** I-enabled -
1 enabled
Bi9.RFf Outer loop controller enable
or 0 -disabled
Bi9.1 RF" l-enabled

DE 2 -"Relay 2" of the structure

Bit 7 6 5 4 3 2 1 0 I
Structure 0 0 0 0 0 0 Re[ Rel
Branch 101 83 fortheDRstructure *
Structure Re1 3ii Rel Rel 0 0
fortheDRSstnrcture tr
Branch 8.4 8.8NUL 151 161 101 83
Re18.3 ADC/specification Relt5.1 Enablingof the measuring point output
0-setpoint specified by ADC 0 -inhibited
-
1 setpoint specified by PG/PC -
l free
Ref10.1 Actual speed value selector Bit8.8 NUL "Setpoint to 0% " ramp-function generator
0- structure-dependent 0 -ineffective
1 -specified from programmer 1 - effective
Re116.1 Comparisonfunction enable . Bit 8.4 Isolated operation
0 -comparator inhibited -
0 setpoint of branch 8 transmittedat branch 5
1 -comparator enabled 1 - isoIated operation for branch 8
 5. S5-CPU C-> 1P 252 Communications

5.1 Standard Function Block FB:ST EUIFB1W

DA 0- "Relay 3" of the structure

Ba 7 6 5 4 3 2 1 0
Structure Bi Bit Bit Bit Bit 3'i Bit Bit forth DRstructure +
Branch 9.UE- 9.UE+ 12.6 12.5 12.4 12.3 122 121
Structure Bit Bit Bit Bit Bit Bit Bit Bit forthe DRSstnrcture *f
Branch 9UE- S.UE+ 13.6 13.5 13.4 13.3 132 131

Bit 12.1 t o bit 12.6 on the AR and bits 13.1 to 13.6on the DRS are the limit monitor bits of limit monitor 1 (GWM 1)

When the bit is set, the corresponding limit value from branch 12 of the structure has triggered.

Bit S.UE+ Upper limit position controller Bit 9.UE- Lower limit position controller
-
0 no overflow 0- no overflow
1-overflow -
1 overflow

DA 1 -"Relay 4" of the structure

Ba 7 6 5 4 3 2 1 0
Structure 0 0 0 0 0 0 D Bid forthe DRstructure +
Branch 11.1
Structure 0 0 0 0 0 0 Bit Bit forthe DRSstructure H
Branch 161 11.1

Bit 11.1 When the bit is set, the thermal annunciator in branch 11 of the structure has triggered.
Bit 16.1 flagsthe result of the comparison function in branch 16.

DA2 -"Relay5" of the stnrcture

Bit 7 6 5 4 3 2 1 0
Structure Bit Bit Bit Bit Bi Bit 6ii Kt iortheDRstructure *
Bran& 5.UE- 5.UE-i 13.6 13.5 13.4 13.3 13.2 13.1
Structure Bi Bii Bit Bit Bit Bit Bit Bit forthe DRS structure M
Branch
-
5.UE- WE+ 14.6 14.5 14.4 14.3 14.2 t4.1

Bit 13.1 to bit 13.6 are the limit monitor bits of limit monitor 2 (GWM 2)

When the bit is set, the correspondinglimit value from branch l3 of the structure has triggered.

Bit 5.UE+ Upper limit speed controller Bit 5.UE- Lower limit speed controller
0- no overflow -
0 no overflow
'1 -overflow -
1 overftow

PAFE -Parameter error

When the bit is set, the execution of the function block is discontinued.

Conditions

The data block specified at input "DBNR" (DB No. 3.. ,255, length at least 12DW. free for user from DW13) must be present in the
memory of the programmable controller. The page frame No. must be selected on the IP 252 before start-up via a programmer.
Selection via the "info" function, submenu "SYS1Dn-
If one wants to observe the taskexecution ("TRANSMTT" or "RECEIVE" data), this is possible via the corresponding status word
( A m or the error byte (PAFE) of the data handling blocks. See "Technical Specifications"!
5. SSCPU C-> Communications

5.1 Standard function Block FB:STEU/FB100

Program structure
a
FB 100
l 1 +m-=-=-=-=+

1 1 +->ISTEU:ANT 1 DBx
l I l l I +-U--
. - r * . . - r r * -
3. CONTROL . ..........*
1 1 1 I ----..+ <------ >.
1
I I l l 1 <----+ .
I
I
-----+
c----
. - 1 . - - . m .

>. SEND .c------

1 . 9

>.

l
l
............
+--- 3. CONTROL
I

I ------+ c------ >.

I 1 1 1 I +---- ........... .
I l l I
J
I 1 1 1 I
...........
.
I
I
1
I
1
l
1
l
I
1 +--- >. RECEIVE . - .

Start-up

Procedure:
- Select the transfer block no. on the corresponding IP 252 with the programmerusing the "COMREG" or "COM252" operating
system.

- Structure and assign parametersto the required control loop

- TransferFB:STEU:ANTfrom PG to PC (withthe S5 135U,R-processor, blocks FB 720, FB l2l and FB 123 must also betransferred)
- Insert an absolute call to FBSTEU:ANTm organization bfock OB 1.
 5. SSPU C-> IP 252 Communications

5.1 Standard function block FB:STEU/FB100

Technical specifications of F0100 (STEU:ANT)

[ S5 115U / I
S5 135U (R processor) S5 150U
Library No. I P712~SIlOO-A-1 PM200-S9100-A-1 I P~20O-S4100-A-O
Block iength 221 words 224 words 1 222words
Call iength 21 words [ 21 words I 21 words
Executiontime:

Data "SEND" approx. 4 ms

Data "RECEIVE" 1 approx. 3.7 ms

Data "SEND" and

"RECEIVE"
approx. 5.6 ms lI
Function blocks called
Datahandlingblock "SEND" 244
Data handling black "RECEIVE" 245
Data handling block "CONTROL" 247
Flags, timers, counters used
"Send"job / FB2M) to FB208

"Receive" job FB209 to FB211

Data handlingblocks

Monitoringthe jobsequence:
A W jobnSEND"
job "RECEIVE"
/ DW8 intheD-DB
DWlO in the D-DB
DW8 in the D-D0
DWlOin the D-DB
DW8 in the D-D0
DWlO in the D-DB
PAFE jobeSEND" . F0212 FB212 FB253
iob "RECEIVE" F0213 FB213 fB255

Details on ANZW and PAFE can be found, if required, in the data handling block specifications.
5. S5-CPU <-> IP 252 Communications

5.1 Standard Functions Block FB:STEU/FB 10I

5 1 2 function block for standard controller structure FB:STEU:STD

Ovetview

I Data words I

I
I
----&--------A----------

I Data handling blocks f

-----------c------------

hrnetiondescription:

As shown in the ovewiew, communication between the PC and the IP 252 in standard control systems, is carried out by function
block "STEU:Sf D". This function block is used for data communicationin both directions in the "Standard" controller structure.

Flag bytes are used as the transfer area for the data to be transmitted or received.

During the actual data transmissiodreception, the data handling Mocks which consist of standard function blocks are called up
specifically in the "STEU:STD" function blockand cam/ out the data transmission via a dual-port RAM interface (*).

Functions:

- Transfer setpoints to the IP 252

- Enablingand disabling of controllersand structurebranches
- Enablingand disabling of setpoints and actual values
- Transfer of overflow identifier bits
- Detection of limiting values

- Detection of incorrect parameter assignment

(9)Communication interface of the 1P 252 forthe CPU (1 K- address range with 8 bit data width).
 5. SSCPU c-> IP 252 Communications

5.1 Standard Function Block FB:STEU/FB 101

Calling up the function block

Graphical representation: List representation:

--- I DBNR I NAME :STEU:SfD

--- 1 PAFE I --- DBNR :

SSNR : KF
I SSNR I RENR :
I I VAW :
I RENR I DEO :
I DE1
--- I
I VAR3 1 DAO
DA1
:
:
:
I I PAFE
--- I DE 0 DA 0 I---
:

Descriptionof the parameters

Name Data Twe Description Note

D8NR Data block no. DWO-12used, afterthat datatransferarea
SSNR Interface no. Page no. set on the iP
RENR Controller no. 8 controller nos. and task assignment
VAR3 Setpoint Setpoint branch
DE 0 "Relay 0" of the structure -
DE 1 "Relay 1" of thestructure
DAO "Reiay 2" of thestructure
DA l "Relay3" of the structure
PAFE Parameter error

Parameter assignment
DBNR - D0 3- DB 255
SSNR - KF = 0-254
RENR - BY
-
KF = 1 8 Data mnsfer/reception PC c-> IP
-
KF = 11 18 Data transfer IP ==>PC
KF = 21-28 Datatransfer PC =S>IP
- W (FW, DW etc.) KF = + 10000 -
NOTE: Duringthe "transmit" job (data transfer) the assignment ofthe outputs DAO, and DA1 is irrelevant.
During the "receive" job (data reception) the assignment of the inputsVAR3, DM and DE1 is irrelevant.

bE 0 -"Relay 0" of the stntoture

Structure Bit Rel Bit Bit Rel Bit Bit Bit
Branch 1.1.RF 12.1 12.ST 1.2.tR 1.1.1 1.5.TOT1.5.RF 1.5.HAI

Bit 1.5.HAI Manual input of the 'step-action controller" function

1 -manual input active
0 -manual input inactive
Bit 1.5.RF Enable bit of the "step-action controller" function
1 -enable controller, i. e. calculated value is output
0 -controller disabled, i. e. zero is output
Bit 1.5.TOT Switch ior selecting the input variables for the 1 component in the "step-action controller" function
1-dead band for the Icomponent inactive
0 -dead band for the i component active
5. SS-CPU c-> lP 252 Communications

5.1 Standard Function Block FB:STEU/FB 101

Relt.l.l Automatic/manual operation switch-over in the

a
Rel 1.21 "PID-controller" or "step-action controller" function
Rel 1.5.2 0-automatic operation
1-manual operation

Bit 1.2.1R Switch-over between ideal and real "PID controller"

0 - real PID
1-ideal PID

Bit 1.2.ST Bit for setting the manipulatedvariable increment in the "PI0 controller" function to zero
0 - no effect
-
1 manipulated variable increment is set to zero or the manipulated variable is held constant

Rel 1.2.2 Disturbance variable injection in the "PID controller" function

0- not operational
1 -operational, i. e. disturbancevariable increment is added to the calculated manipulated variable increment.

Bit 1.Z.RF Enable bit of the "PID controller" function

Bit 1.2.RF 1 -enable controller, i. e. calculated value is output
0 -disable controller, i.e. zero is output

DE 1-"Relay 1" of the structure

Bit 7 6 5 4 3 2 1 0
Structure Rel Rel Re1 Bit Bit Bit Bit Bit
Branch 2.3 3.2 3.1 1.5.W 1.5.BZ 3.HOE3.TIE 3.LOE

Bit 3.LOE "Reset" bit of the "ramp-function generator" function

-
0 no effect
1 -reset, i.e. set the output value to zero and for 1/0transition ramp t o the iast setpoint

Bit 3.TIE "Lower' bit of the "ramp-function generator" function

0-no effect
1-output of ramp-function generator negative (- 100%)

Bit 3.HOE "Higher" bit of the "ramp-function generator" function

0 - no effect
1 -output of ramp-function generator positiv (+ 100%)

Bit 1.5.BZ Acknowledgement bit of the "pulse generator" function

0-final CLOSED position not reached
1 -final CLOSED position reached

Bit 1.S.BA Acknowledgement bit of the "pulse generator" function

0-final OPEN position not reached
1-final OPEN position reached

Ret 3.1 Setpoint selection

0- PC setpoint operationai
1- "setpoint sequence" function operational

Re13.2 Setpoint enable

-
1 setpoint branch enabled
0 - setpoint branch disabled

Rel2.3 Start-up enable

0 -actual value branch enabled
l -actual value at start-up operational
 5. S5CPU C-> IP 252 Communications

5.1 Standard Function Block FB:STEU/FB 1M

DAO- "Relay 2" of the structure

Bit 7 6 5 4 3 2 1 0
Stucture Bit Bit Bit Bit Bit Bit Bit Bit
Branch 1.4.PP 1.4.NP5.6 5.5 5.4 5.3 5.2 5.1
1.5.OPEN 1.5.CLOSED

Bit 5.1- Limit value bit of the "timit monitor 2" function
Bit 5.6 0 -corresponding limit value not violated
l-corresponding limit value violated

Bit I.S.AUF Binary output "open" of the "pulse generator" function 0/1

Bit 1.5ZU Binaryoutput "close" of the "pulse generator" function 011

Bit 1.4.PP Binary output "positive pulsemof the "on" - "off" output function 011
Bit 1.4.NP Binary output "negative pulse" of the "on" -"off" output function 0/1

DA1-"Relay 3" of the structure

Bit 7 6 5 4 3 2 1 0
Structure Bit Bit Bit Bit Bit Bit Bit Bit
Branch 1.1.UE- 1.1.UE+4.6 4.5 4.4 4.3 4.2 4.1
1.2.UE- 1.2.UE+

Bii 4.1- Limit value bits of the "limit monitor 1" function
Bit 4.6 0 -corresponding limit value not violated
l -corresponding limit value violated

Bit l.l.UE+ Bit for upper limit of the manipulated variable inthe "PID controlIer" function
Bit 1.2.UE.i-0-not crossed
1-crossed

Bi 1.1.UE- Bit far lower timit of the mayipulatedvariable in the "PID controller" function
Bit 1.2.UE- 0- not crossed
1- crossed

PAFE -Parameter assianment error

- If the bit is set the execution of the function block is discontinued.

The data block specified at input "DBNR" @B no. 3 . ..255,length at least 12DW. free for user from DW13) must be present in the
memory of the programmable controller.7he page no. must be selected on the IP 252 before start-up via a programmer. Selection
via the "Enquiry" function, submenu "SYSID".
Ifone wants to observe the job execution ("TRANSMIT" or "RECEIVE", data), thisis possibleviathe corresponding condition code
word (ANZW) or theerrar byte (PAFE) of the data handling blocks. See "Technical Specifications"!
5. SSCPU c-> IP 252 Communications

51 Standard hnction Block FB:STEU/FB 101

Program structure
m
--------- F% 2 0 1
I I +=-=-=-=-=+
I I +->iSTEU:STD t
+---- > a
...........
CONTROL
DBx
..........
l I l l 1
>- .
•

I I I t I -----+ <------
I 1 1 1 1 <----+
4-----
............ "
I 1 1 1 I
I i l l l
.
I
I :, I
I
1
l
1
l
I
I .
.
.
' .<-----
.........l.

G I l l t +---- >. SEND

I I I l l I -----+ >.
I C l I I 1 c----+ .
I I l l l +----- .
I l l 1
I
--..-..-..l .
I

.
.
I ,0 ' , , ,
I G 1 1 1 I ..........I
>. CONTROL .
.
I R I --+ 1 l +--..I 1

I A t <--+ 1 f ----c c----- >.

.
l
1
M I
I
l
l
l
l
I <-----+
l +W--- ............
I 1 1 1 1
1 1 1 1 1
1 l l l I
+--- 3- RECEIVE
............ .
l I 1 1 I
I -----.p c----- >.
I
I
I
l
I
I
i

+--l
l
l
l I c-----+
I +---- ...........
..........
I l 4-=-=-=-----+
Start-up
Procedure:

- Select the page no. on the corresponding IP 252 with the programmer using the "COMREG" or 'COM 252" operating system.

Structure and assign parametersto the requiredcontrot loop

- Transferf6:STEU:STD from PG to PC (with S5 135U, R-processor. blocks FB 120, F0 121and F0 123 must also be transferred).
- Select data block in the PC (D03....-255. length at least 12 DW, remainderfree for user)
- Insert an absolute calf to F3:STEU:STD in organizationblock 081.
 5. SSPU c-> IP 252 Communications

5.1 Standard function block FB:STEU/FBlOl

Technical specificationsof FBI01 (STEU:STD)

Blocklength 179 words 183 words 782 words

Call length 17 words 17 words 17words
Execution time:
941 :15.0ms
Data "SEND" 942 :10.0 rns approx. 3.9 ms i approx. 3.8rns
943: 6.5ms
941 :13.0ms
Data "RECEIVE" I 942: 9.5rno approx. 3.7 rns approx. 3.6 ms
943: 6.0ms
941 :21.0ms
Data "SEND" and
'RECEIVE"
942 : 15.5 ms
943 :10.5 ms
approx. 5.6 ms / approx. 5.4 ms

Function blocks called

Data handlingHock "SEND"
i 244
Data handlingblock "RECEIVE" 245
Data handling block "CONTROL" 247
Flags, timers, counters used
"SendMjob 1 FB200to MF203

"Receive"job FB204to MF205

Data handling blocks

Monitoringthe job sequence:

ANfW job"SENDU DW8 DW8 DW8
i
job "RECEIVE" DWlO DWlO DW10
PAFE job "SEND" F5206 FB2W F5250
job"RECEIVE" FB207 F0207 F8252
Nestingdepth 1 j 1 1

Details on ANZW and PAFE can be found, if required, in the data handling block specifications.
5. SSCPU C-> IP W2 Communications

5.1 Standard function block FB:ST EU/FB 101

The following example describes initialization of the FB:S?EU. PB 100 standard function block for the drive controller structure (DR
a
an DRS) an FB 101 for the standard controller. Flag words are used in the first example, and in the other exampte, data words of a
block are used. Error recognition is valid for the S5-115Uonly. The FB:STEU for the S5-l35Ul150Ureserves other flag bytes which
can be found in the tables in Sections 5.2.1 and 5.2.2, if required.

0005 WAITING T m FROM F36 ACTIVE ?

0006 mm IF YES.
0007 KF-2233 -22,33 % AS TEE SETPOIRJ!
0009 TO BE TRANSFERRED TO THE IP 252
OOOA
OOOB THE F O ~ H BITS G REG?hYS
OOOD ARE SET AS A RESUJ;T:
OOOE 1,) B I T 5 . W (CONTROLLER EMABLE)
OOOF 2 . ) REL 8.1 (SETPOINT FROMPC)
0010 3.) REL 8.2 (SETPOINT ENABLE)
0011 4 . ) SETPOINT NOT FROM ADC 6,
0012 BUT PR-
0013
0014 " 6 " TO FB 34 (=EUXR), I.E. SEHf>
0015 A m RECEIVE naTA m CO-
0016 H0 6 OF TBg IP 252.
0017 THE l?oummm APPLIES IET GENERAL
0018 PQR RERR:
0019 ME34 = 1 ..
, 8 : AG c--- IP252
00119 11 ...
18 : AG ---> IP252
28 : AG ---> IP252
OOlB = 21
OOlC FB:STW-ANT FOR TBE DRIVE CON-
OO1D STRUCTWREt OF THE IP 252.
OOlE THIS PIJWCl!IOIQ 3 U K K S~S/RECEIVES
OOlP DA!l!A AND CON!PROL/HESSAGE BITS '

0023 HAHE :S1IED:Bffl!

0024 DBNR : DB41 DATA DB FOR -USE (1)
002s SSWZ : m+4 PAGE HO. OF TBE IF
0026 REKR : W34 JOB AZQD CX)N!FROILER NO (2)
0027 lAR8 z PUl22 VBR8 -> SBTPOIEC VBR 8-1 OF THE DR
0028 WAR9 : m 2 4 V B R ~-> Posnrrm SETPOINT VAR 9.1
0029 -3 : m 2 6 VAR3 -> VBR. START VBLW VAR 3.1
002A DEO : F5128 >
002B DE1 : -129 >>RELAPSAglDBITSOFTHEDR
002C DE2 : F3130 > STRuc!mR3
002D DaO : PB131 >
OOZE M l : FBI32 > MESSAGE BITS OF TBIE DR
002F DA2 : FBI33 > smu-
0030 PAPE : P 30.4 BIT IS SET IF E.G.
0031
0032
.-
W VAR8 > KF+lOOOO (= 100.00%)
KF-roooo (=-100.00%)
 5. S5CPU <-> IP 252 Communications

51 Standard function block FB:STEU/FB 101

ADDITIONAL EXPLANATION:
(1 THE DATA IIB IS USED BY F B l O O
FROM DWO TO DW12.
IF DATA WORDS OR DATA BYTES ARE
USED INSTEAD OF FLAG WORDS OR
FLAE BYTES, THE DATA DB AB DW 13
SPECIFIED SHOULD BE USED (AND
EXPENDED ACCORDINGLY). THIS
DB NO. SHOrJLD THEN BE OPEMEXl
BEFORE CAI3;IWG THE m100.
(WITH "A DBXYm)

(2) IN TH33 CASE OF RENR, A FLAG

BYTE IS SPECIFIED m, THE
CONTEEITS OF WEICH DECIDE WHICH
C O ~ NO.O (1 ~
TO 8 ) OF TBE
IP IS TO BE ACCESSED WITH TEE
PAGE NO, SPECIFIED, AND WHICH OF
F O ~ IS~ TO GBE WNE:
A) DATA FROM PC --> IF 252
B) DATA FROM IP 252 --> PC
C) =
I N I T ~ I Z A T I O NERROR ?
SEND ERROR (FROM PC TO THE
IP 252 ?
RECEIVE ERROR (PC<-IP)
m, IF YES

ERROR HANDIJXG: E,G-

m NO- OF THE FB 1NfJHfC.E !mm
ERROR occmRED TO FBS
( = m 5 1
5. S5CPU c-> IP 252 Communications

5.1 Standard function block FB:STEU/FB 1M

EXAMPLE FOR m:STEU.STD

RTTBOUT USING FLAG AREAS
(KXCEPTION: -1 PLAG
AREAs AND PAFE BYTE)
OPEX DB42, SINCE IT IS ALSO
USED HERE HIFt ASSIGNING
-P TO FB101-

As A R e s a l ! , THE m m = RELAYS
ARE SE3 ON THE STALYIylRD smu-:
1.) BIT R P ( C O N T R O m mm3LE)
2 . ) REL 3.2 (SETPOIEIT EIPABI;e)

SEND TO C O N T R O ~m. 3

DB FOR -1 AND ExTERW& USE

PAGE m. OF TaE IP
JOB AHD COWTROLLER m.
m 3 II D B ~ ZCO-as SETPOIWT
LEPT-HAXD BPTE OF DWl4
RIGHT-HABII) BYTE OF -4

ERROR OcCmBD ?
~ T ~ Z A ! I ! I c ERROR
m ?
SEND ERROR ?
RECEIVE ERROR ?
SEE ABQVg FOR ERROR -LING !
 5. SSCPU <-> IP 252 Communications

5.2 Use of the Data Handiing Blocks of the S W P U

hmmunication between the controllers and the SS-CPU takes place either with the help of the FB:STEU or direct via the data
landling Mocks.The SS-CPU can both exchange data with the controllers and issue commands t o the IP 252.
f the FB:STEU only is used, data exchange will be restricted. In Section 5.2, all methods of data exchange between the IP 252 and
he CPU are explained and are illustrated in Section 5.2.7 using STEP 5 programmingexamples,

Ihe principles of data exchange between the IP/CP and the CPU:

The interface between the CPU and the IPICP must generally be "synchronized" at the beginning, i. e. in the restart organization
blocks of the CPU. The IP 252 does not require this synchronization internally, The IP 252 interface or the dual-port RAM should,
however, be synchronized for the foliowing reason:

After a power failure or a CPU error arising from the program, resumption of data exchange after a warm restart or cold
restart of the CPU cannot be guaranteed without synchronizationof the IP 252.

In the example FBs in Section 5.2.7,the IF252 is synchronized as soon as the organization blocks O820,OB21 and 0622 have been
called. In these OBs the example F599 is called in each case for synchronization of the three interfaces (i.e. in the following
example: three IP 252s with the page Nos. 2,3 and 4). There is an explanation in FB99 of the waiting times before and after synchro-
nization which are required for restarting the 1P 252.

Note:

When exchanging data between a CPU and several IP 252s in an S5 environment, the page nos. (interface nos.) of the IPs must
not be identical, as this would result in a bus short-circuit. Exception: page no. 255, since the S5CPU only has to "read" this page
no. but does not have to "write" it.

At the initial startup of the IP 252, page no. 255 is set for the above reasons. If it is now desired to transfer data between the CPU
and the IP 252,a page no. 0 to 254 must be set for this purpose in the IP 252.
This is done with COM REG or COM 252 by calling the "SYSID" function in the submenu of the "Info" forrn.The IP252 can now be
accessed by the data handlingblock of the CPU via the page no. (interface no.) set in this way.

The STEP 5 programming examples detailed in Section 5.2.7 apply to the S5 115U programmable controller. For the S5 135U (Rpro-
cessor) and the S5 150U the "Call nos." of the data handling Mocks must be changed according to the following table:

Datahandling FB No. inthe FB No. in the FB No. in the

blocks S5 115U S5 135 U (R) S5 150 U
SEND 244 120 180
RECEIVE 245 121 181
Fl3CH 246 122 182
CONTROL 247 123 184
RESET 248 7 24 183
SYNCHRON 249 125 185

Note on data exchange in multiprocessor mode in the case of the S5 135U:

- Communication & w e n one or several JP252s and several R processors is possible, as outlined in the examples in Section
5.2.7. Several R processors may not access an IP 252 with one and the same job no. In doing so, each interface may be synchro-
nized by only one (random) R processor.
5. S5-CPU <-> IP 252 Communications

5.2 Use of the Data Handling Blocks of the SS-CPU

The data handling blocks of the S5-115U, SS-135U with R processor and S5-150Uprogrammable controllerscalled in theexamples
a
enable the user to monitor correct execution of the job in progress and respond to errors:

The job status word (ANZW) of the data handling block flags the job status to the user.

I c- ffee -> I CPU/IP error I I I I I I I I I

Enableldisabledata block (0= enabled, I = disabled)
Data being received -
Data being transferred -
Data transferlreceive running
l o b completewith errors
lob complete without errors
l o b executina

SEND/FEfCH disabled = 1
Handshake meaningful
RECEIVE disabled = 0
RECEIVE enabled = 1
J
Structure of the parameter assignment error byte "PAFE":

1
1
Error no.: Error =1
No error: =O

0 No error
1-4 Source/destinationparameter
1 Rangewrong
2 DB or DX do not exist
3 Range too small
4 Rangedoes not exist
5 Job status word wrong
6 No. not assigned
7 Interface (p. no.) does not exist
8 Interface not ready
9 Interface overloaded
A Interface reserved by other CPU
B Illegaljob no.
C Interface does not respond at the correct time
E Other errors in the data handling block, such as
- missing data block cat1 in the case of indirect assignment of the parameters
SSNR, A Nr., ANZW

Further details can be found in the descriptions of relevant data handling blocks.
 5. SS-CPU c-> IP 252 Communications

5.2 Use of the Data Handling Blocksof the SCCPU

..- -

5.21 Command: Control loop enableldisable

This command is used for enabling or disabling of control loops on the IP.This command has the same effect as the enable/disable
command from the PG (PG menu: "Operating mode").

Calling up in the logic control program of the S5-CPU:

- SEND 10 (with data)
SEND 10 transfers a byte to the IF?

The byte has the following format:

0:Control loop disabled

1:Control loop enabled

Control loop 1
Control loop 8

See example FB3 in Section 5.2.7

5 2 2 Command: RUN/STOP mode of the module

With this command the IP can be set to the STOP modeor to the RUN mode.
The command has the same effect as operating theswitch on the IP or selecting the RUN/STOP command from the PG (PG menu:
"Operating mode").

Calling up in the logic control program of the S5-CPU:

- SEND 19 (withoutdata): module STOP
- SEND 20 (withoutdata): module RUN
The parametersforthe source type must be specified as "NN".

See examples FB6 and FB7 in Section 5.2.7

5. SSrCPU c-> 1P 252 Communications
5 2 U s e of the Data Handling Blocks of the S5-CPU

52.3 Data exchangewith the control loops

m
523.1 High-speed data exchange of defined data
The "SEND 11 to 18" and "RECEIVE 11 to 18" jobs enable high-speedexchange of defined data between the CPU and the tP252.
The length of time between initiating the job in the CPU and using the parameters on the iP 252 is independent of the loading oithe
processor in the IF 252.

The jobs correspond exactly to those used in FB:STEU (Section 5.1).

DirectionS I C P U to IP:
The data handling blocks "SEND 11to 18" transfer data to the controllers 1 to 8.
Depending on the structure of the controller on the IP (drive controller or standard controklerf either 9 bytes or 4 bytesaretransfer-
red. The meaning of the data bytes is given in Fig. 5.2.

Direction IP to %CPU:
The data handling blocks "RECEIVE 11 to 18" transfer data from the controllers 1 to 8.
Depending on the structure of the controllerson the IP (drive controller or standard controller) either2 bytes or3 bytes are received.
The meaning of the data bytes is given in Fig. 5.1.
The data handling blocks "SEND 11to 18" and "RECEIVE 11 to 18" are included in the user-friendly standard function blocks
FB:STEU/FB 100for drive controllers
FB:STEU/FB 101 for standard controllers.

While the number of bytes transferred is fixed in the FB:STEU, it is possible in the example FBs 4 and 5 to send or receive only $ 2
etc. data words or bytes.

Data from a drive controller:

7 6 5 4 3 2 1 0 B Y T E
BIT BIT BIT BTT BIT B!T BIT BIT lncreasing
9.UE- 9.UE-t- 12.6 12.5 12.4 12.3 72.2 12.1 addresses

BIT BIT BIT BIT BIT BIT BIT BIT 2

5.UE- 5.UEt D.6 13.5 13.4 13.3 13.2 13.1

Data from a standard controller:

7 6 5 4 3 j 2 1 0 B M E
BIT BIT BIT BIT BIT BIT BIT BIT

l
.4.PP 1.4.NP 5.6 5.5 5.4 5.3 5.2 5.1 0 Increasing
addresses

BIT BIT BIT BIT BIT B!T BIT BIT

UUE- 1.lUE-t 4.6 4.5 4.4 4.3 4.2 4.1
L2.UE- 1.2UE+

Fig. 5.1 -RECEIVE l? to 18' (IP 252 - SSCPU)

 5. SS-CPU c-> IP 252 Communications

5.2 Use of the Data Handling Blocks of the SSCPU

Data sent to a drive controller:

7 1 6 1 9 4 1 3 I 2 1 7 1 0 BYTE

- VAR 8.1
HIGH

LOW
-
0

1
l Increasing
addresses

HIGH 2
- VAR 9.1 -
LOW 3

'
c BIT
3.1
RE1 REL
VAR 3 .l

.
REL REL REL
1.1 6.1 7.1 3.1 8.2
RE1 BIT BIT BIT BIT BIT
"G?
REL REL REL REL
8.1
LOW

' 9.1
l

2.7 5.1 519 9.RF 5.RF 8.HOE 8.nE 8.LOE

REL REL 8
10.1 8.3

Data sent to a standard controlier:

BYTE
7 1 6 1 5 ) 4 1 3 1 2 ) 1 ) 0

- VAR3.1
HIGH

LOW
-
0

1
l Increasing
addresses

BIT REL BIT BIT REL BIT BIT BIT

1.l.RF 12.2 1.2.ST 1.2.iR 11.1 1.5.TOT 1.5.RF 1.5.W 2
12 RF 1.2.1
1.5-1
REL RE1 REL BlT BIT BIT BIT BIT
2.3 3.2 3.1 1.5.BA 1.5.BZ 3HOE 3.TiE 3.LOE 3

Note: Both these bits (pushbuttons)

HAA: Manual input "Open", and
H A f : Manual input "Close"
can be transferred to the IP 252 only with 'SEND 11 to
18' (Section 4.11.6.12).

Fig. 5.2 'SEND 11to 18' ( S X P U -IP)

See examples FB4 and FBS in Section 5.2.7
5. SS-CPU c-> IP 252 Communications

5.2 Use of the Data Handling Blocks of the S I C P U

52.32 Exchange of random control loop data

m
The previous subsections of Section 5 have described the exchange of a number of defined control loop data.
This subsection will demonstrate how transfer of random controller structure data can be impiernented. The data which can be
transferred between the IP 252 and the CPU are listed in Sections4.10.7 (DR), 4.11.7 (SR) and 412.8 (DRS).The following description
refers to these controller data blocks.

The following procedure is required for programming data transfer:

1) Select the desired constant or desired bit etc. from the configuration documentationin Section 8 or 9.
2) Searchfor the selected values in Sections 4.10.7,4.11.7 and 412.8 (controller data blocks). In doing so, each value of the control-
ler structure must be assigned a DW No. in the controller DB.
3) This DW No. and the corresponding controller no. (1 to 8) are stored in a CPU DB as source/destination parameters.
4) By specifying a page no. when calling the data handling block, the desired values are then clearly assigned.

Note: The data handling blocks described here run on the IP 252 with lower priority. Depending on the IP 252 processor load, this
can result in relatively large dead times betweenjob allocation on the CPU side and the time at which the transferred pararne-
ters come intoeffect (up to several seconds).

Receiving random control loop data of the I P 252

Random data of thecontrol loop are transferred to a CPU DB with the "RECEIVE ALL" job.The data handling block "FETCH"deter-
@
mines which data are transferred from which controller.

Only the "FETCH21" job is permissibleforthe DS/SR user submoduie (MLFB: 6ES5 374-OAAll).This job, initialized with the 'READ/
WRITE" data handling function, transfers the source and destination parameters to the IP 252, so that in any subsequent "SEND
ALL" the desired data will be transferred to a CPU DB.

The "FETCH21" job prepares data transfer accordingto the illustration below, i. e.:
1) Thesource (IP 252) ignores the initial address and the length of the data block. The IP252 always presents thedata of a control
loop starting with the first data word (DWO).
2) Only meaningful data are transferred. The areas DW120 t o DW179 and DW200 to DWZ19 are not transferred, since onty internal
IP values are stored here.

See example F6 12 in Section 5.2.7.

If the DRS/SR user submodule (MLFB: 6ES5 374-OAB11) is used, the "FETCH23" job is available as well as the above-mentioned
" FETCH21"job.
Use of this job permits the user to give the initial address and the length not only on the destination side (CPU) but also on the
source side (IP 252). All controller block data, including internal IP values, can be transferred here. Special care must be taken that
the amount of data transferred in one cycle does not exceed 224 data words, since the length of the dual-port RAM is limitedto 224
data words.
See example F633 in Section 5.2.7.
 5. S5 CPU C-> IP 252 Communications

5 9 Use of the Data Handling Blocks of the S P U

.-..--.----------..-

+
..7..*.*-..-....--

t ,
i AG-D3
I
*---.-I

!
I
f No. l1 !

4 - .-.-*-.---.-.-.!
S5 - CPU
L
.-
.A
1P 252
Fig.

Sending random data to a control loop of the IP 252

In the example FBs 10 and 11 of Section 5.2.7, two data words from CPU DB9 are transferred to the data block of controller no. 1.
The parameters for the source (CPU DB9, DW5 and 6) and the destination (controller DB1, DW105 and DW106) are sent to the IP
252 by "SEND2lUusing the READ/WRTTEfunction. If controller no. 1 is a drive controller (DWDRS], thedata word has the following
meaning (see Sections410.7 and 4.12.8):
DW105:Setpoint, upper danger limit of the speed controller (SOGD)
or DW106: Setpoint, Iower danger limit of the speed controller (SUGD)

If controller no. f of the IP 252 had been a standard controller (SR),transfer of data words 105 and 106 would have had no effect
since, according t o Section 4.11.7, theseare not assigned.

According to Section4, data words 105 and 106 belong tothe group of "retentive data" in the IP 252.Retentive data of a controller
structure are constants, configuring switches W-),DAC/ADC addressesand page nos. etc. Inthe user submodulethey are stored
automatically in EEPROM along with the DWSR structures of the IP 252. Since the EEPROM only has an operating life of >10.000
write cycles, such a mode may not send data cyclically to the IP 252.
5. S5 CPU C-> IP 252 Communications

5 2 Use of the Data Handling BIocks of the SS-CPU

If a cycIic change of retentivecontroller data is required, the user submodule with the DRS/SR structures (MLFB: MS5374
m
OABll) must be used-Thissubmodule permits achoice between "Data dump desiredlnot desired" by using thefollowing job num-
bers:
If it is desired to dump the data on EEPROM, job "SEND21" must be used (example FB10). If otherwise retentive data are
not to be dumped, job "SEND22" must be used (example FBII).

If the user submodulewiththe DWSRstructures(MLFB: 6ES5 374-OAA1) is used, only "SEND21 " with subsequent "SEND ALL" may
be called (example FBIO). Cyclic transfer of retentive data to the IP 252 is then not possible, since the EEPROM wilt have been
destroyed after a relatively shorf time.

The following figure illustratesdata transferfrom the CPU DBvia the dual-port RAMto the controlier D0 of the IP 252.It can be seen
from this figure that the data range in the dual-part RAM ofthe IP 252 permits the transfer of a maximum of 224 words.Transfer of
all controller DBs would therefore have to be executed in block mode.

aS5 - CPU
l I

IP 252

Fig. 5.4

Note: If data words DW 168 to l73in the case of DR

DW 168to 172 in the case of SR
or DW 168 to 178,182 to 188 and 192in the case of DRS
are to be transferred from the S5-CPU to the IP 252, the "high" byte and the "low" byte should be exchanged by the STEP 5
user program.
The following applies for the format of these ADC contents: .
-100% too% to +loo%
-
correspondsto 16384to 0 to +16383 in fixed-point format.
 5. SSCPU <-> I?252 Communications

5.2 Use of the Data Handling Blocks of the SS-CPU

5 2 4 IP 252 Fault diagnostics by the CPU control program

The following messages are transferred from the IP 252 to the CPU control programfor diagnostics:

Fault No. Response

(decimal) on PG Fault caused by of the IP 252
00. Nofault in lP Initialstate: "No fault in IP252" -
II Hardware Time-out (not analog module) "Stop"
12. Hardware Checksum of EEPROMs incorrect "Stop"
13. Hardware Resultof offset correction: Deviationof a DAC > 7LSB "Stop"
14. Hardware Fault in hardware test program: RAM "Stop"
15. Hardware Fault in hardware testprogram: MUART "Stop"
20, Watchdog Tme-out "Stop"
21. Direct access S5 bus not enabled by S5-CPU "Stop"
22. Analog section Wire break a t digitalinput (digitaltachogenerator) "Stop"
W. Analog section Power failure in analog section "Stop"
30. PCatstop BASP active "Stop"
31. Submodule fault Wrong or no submodule in IP 252 "Stop"
50. Analog module Time-out or wire break in analog module "Stop"
51. Overioad IP252 overioaded(timing conflict) LED "F" flashing
70. Stop switch Stop switch on IP 252 set to "Stop" "Stop"
71. Softwarestop Stop of IP 252 (initiated by commandfrom PG or CPU) "Stop"
The following messages apply only to the DRS structure
75. Prepare SE Prepare self-optimization None
76. Soactive Self-optimizationactive None
n. SO S U C ~ ~ S S ~ U I I Y
completed Self-optimizationsuccessfully completed None
78. CONFIG./PAR. error Configuring/parameter-assignmenterror None
79. Impermissible
C M L No. Impermissible controller number (only no. 1 or2 are permissible) . None
80. Samplingtime
too large Samplingtimetoo large (ontyTA = 4 or 8 rns permissible) None
81. Moment of inertia
too high Momentof inertia too high None
83. Unsuitablesystem Unsuitable system (procedure cannot be used) None
84. Unsuccessful
optimization Parameters could not be calculated (unsuccessfuloptimization) None
85. Abort by PG/PC Abort by programmer None
86. S5oomrnunication.s
error S5communicationserrorwith the IP240 None
87. SSwire break Wire break on the IP 240 module None

All the messages listed aboveare rec%nized by the IP 252 operating system and can be
1. interrogated with the help of COM 252 for the PG 615 (or COM REG for PG 635/675/685/695) via the "lnfo" function in the
"Errors" submenu and
2. fetched by the CPU via RECEIVE 200 from a specified RAM area of the [P252 (dual-port RAM).
The error is reset again via RESET 200. Furthermore, any error entered once wil be automatically reset when the module changes
from STOP t o RUN. CONTROL 200 can be used to determine whether a new error has been entered by the IP 252, and whether
it is meanningfuito calf RECEIVE 200.

Generally, only the first message to appear will be entered. Exceptionsare nos. 5l an 75 to 85: However, these messages are overw-
ritten by all subsequent messages!

See example F68 in Section 5.2.7

5. S5-CPU <-> IP 252 Communications

5.2 Use of the Data Handling Blocks of the S5-CPU

5.2.5 System identification and system status (SYSID and SYSTAT)

m
In the first section of the example FB9, the SYSID area (SYSID = system identification) is read with the help of RECEIVE223 from
the dual-port RAM of the IP 252 with the page no. specified. The SYSID area is limited to a maximum length of 100 data words.The
data are stored in ASCll code.

This SYSID area, which is also similar in other CPs and IPs,
has the following structure in the IP 252:

Byte No. ASCll characters (examples) General description

Bytes 0to 5 OAAl ltCR> or OABt l<CR> Submodule order code
Bytes 6to 13 IP-252<CR> Module description
Bytes 14to 21 V1.2B<CR> Module FW version
Byte 22 <CR>
Bytes 23 to 31 15.10.87<CR> Date
Bytes 32 to 38 < C b to <CR> 7 blank lines
Bytes39to 42 255<CR> Page no.
Bytes43to 44 <CR> <CR> 2 blank lines
Bytes45to 52 V 1.2 M<CR> MM-FWversion
Bytes 53 to 199 - not assigned

In the second section of the example F89, the SYSTATarea (SYSTAT = system status) is read with the help of RECEIVE 221 from the
dual-port RAM of the lP 252 with the page no. specified:

This SYSTATarea, which is also similar in other CPs and IPs,

has the following structure:

Byte No. Meaning

..
Byte0 1H : IPatSTOP/2H:IPatRUN
Byte 1 2H-> IP has no additional battery back-up
Byte 2 Irrelevant
Byte 3 lrrelevant
Byte4 Irrelevant
Byte 5 Error message of the 1P
Byte 6 OOH (i.e.: no additional information in the IF 252)

The second method of error diagnostics by the SS-CPU is to receive byte 5 of the SYSTAT range specifically (see Section 5.2.4).

See example FB9 in Section 5.2.7.

 5. S5-CPU <-> IP 252 Communications

5.2 Use of the Data Handling Blocks of the S I C P U

5.2.6 Recording and transferring tfie measured values of a control loop in the IP252(osciIloscopefunction)
The IP 252 has a memory in which measured values can be recorded. Three different measured values can be stored in parallel in
the RAM of the IP 252 for each of the 150 sampling points. The oscilloscope function is only important if it desired to display the
meared values on CRTsystems. Using an operator keyboard, for example, a step change can be made in the setpoint fora control
loop and the resulting transfer function/change in manipulated variable etc. can be displayed on the screen.

a] Sending the parameters of the oscilloscope function from the CPU to the IP 252

It is now possible to inform the !P292, via the CPU control program, which measuring points of the selected controller structure
(DR/SR/DRS) are to be recorded, e. g. MP 12 of controller no. 7 (actual speed of the drive controller structure DR and DRS) and
when the recording is to begin:

- Eithervia a trigger condition (e. g. "Value of the first measuring point exceeds 5% ")
- Or immediately after the parameters of the oscilloscope function have been transferred by means of "SEND 30",i. e. without a
trigger condition.

The values of the oscilloscopefunction for initializationare transferred tothe IP 252 in theorder Listed below (see atsoexample FBI4
in Section 5.2.7):

DWNo. Example General meaning

DW 0 KF = 17Setpoint in the case of DR and DRS 1st measuring point no. ("00" not permissible)
DW 1 KF = 14 Processedsetpoint in the case of DR and DRS 2nd measuring point no. ("00":no recording)
DW 2 KF = 8 Actual value in the case of SR 2nd measuringpoint no. ("00": no recording)
DW3 KF = 144(=[1-11-1034+14d) -
(IController no. ofthe 1st MP] 1). 1034 + 144
DW4 KF = 144(=[1-l]-1034i-144) ([Controller no. of the 2rrd MP] - 1). 1034 + 144
DW5 KF =f178(=f2-11-7034+144) ([Controllerno. of the3rd MP]- 1). 1034 + '144
DW6 K F = 164(&+1%) Trigger lever(-100% to -t 100%) P - 16384to + 16383
DW 7 KF = 1(No expansion) Expansionfactor k (see "Notes")
DW 8 KM = 0000 0- 0000 0Wh( Trigger edge: X = 0 :positiveedge
X=l :negative edge
Trigger: yz = 01 :without trigger condititon
yz = l 0 :with trigger condition
DW 9 KF = O(No delay) Delay factor n (see "Notes")

Notes:

- The trigger condition refers to the measuring point no. in DW 0

- The bit "withlwithout trigger condition" is deleted at the beginningof the recording
- Expansionfactor :k = 1to 9999
i.e. "every k-th sampling point is recorded"
Delayfactor :n = Oto999
i. e. "recording begins after n sampling intervals"
5. %CPU c-> 1P 252 Communications

5.2 Use of the Data Handling Blocksof the S5-CPU

The recording intervalis obtained from the two values "expansion factor" and "delay factor" with the sampling timeTA
m
-> Start after beginning of recording:
..
k-n-T,(ms)= .... (ms)
-> End after beginning of recording:
+
Recording duration delay time
k-150-T,(ms)+ k.n.T,(ms)= ...... (W

b) Transferring oscilloscope function parameters in the IP 252 to a DB of the CPU.

"RECEIVE30" is used for transferring trace data which already exist in the 1P 252 (see above for order).

C ) Receiving measureddata of the oscilloscopefunction in the C W

"CONTROL31" is used to check whether all measured values of the oscilloscope function exist in the IP 252. " FETCH23" is called
to prepare the data transfer, and, in doing so, it sends th source/destination parametersto the IP 252. In the example FB15, all data
recorded by the oscilloscope function (450 data words) are transferred to three CPU DBs. The actual transfer of data is executed
with "RECEIVE ALL". In example FB15,each group of 150data wofdsof a measuring point are transferred three timestoa CPUDB.
 5. =CPU <-> 1P 252 Communications

5.2 U s e of Data Handling Blocks of the SSCPU

5 2 7 STEP 5-Examples of IF 252 C-> SSCPU data traffsc

RLO=o FLAG-
mCOmITIONAUY REQUIRED:
m = 1 - FLAG
E.G.: CALL 'FB2"

30.0=1 CODE: NO POWER FAILDRE

(IS REQUIRED IN FB99)
30.1=5 CODE: COLD RIBSTART

SmMEN3 1
0000 :AN F 30-0 30.0=1 CODE: NO POWER FAILURE
0001 :S P 30.0 (IS REQmxED IH PB99)
0002 : P 30.1 30.1=1 CODE: RESmT
0003 P 30.1 (mIS FLAG rs USED IN THE EXALIPI;E
0004 .:S F86 ABID BE USED FOR THE
0005
0006
0007
.- SS-135U AND S-150U
m EZmBLE TEE JOB
(SET THE IP 252 !R3
" S ~ Z O '
RUN) OHLY IF
0008
0009
.
..
TBE Imm!s/OUTmrrS
CESSED AGAIH, X-E.
ARE BE-
APPER THE
PRO-
oooa PC CYCLE PREVIOUSLY I N T R R R BY
~
OOOB TfZE CPU STOP HAS BEEN PROCESSED TO
oooc
OOOD
*. !m TEE Km.

OOOE :JU FB99

OOOF HaME :SPBC:IPS
0010 :BE

30.0=0: CODE: "- FAILURE"

THEREFORE: IN m99 FIRST 2 SECS
5. S5-CPU c-> IP 252 Communications

5.2 Use of Data Handling Blocks of the S5-CPU

0005 ExAmPIz OF DISABLRJG/EZTABL~

0006
0007
.:A P30.6
CONTROLLER LOOPS OF 'THE IP 252
W T I E TIME FR0.H FB6 ACTIVE ?
0008 :BEB IF YES, END.
0009 :L -25.5
OOOA :T FB82 IM=1111 1111 DE.: ALL 8 CON-
0003 TROUZRS ARE .-E
OOOC :A P 100.1 SET -1
OOOD :m m244 T3E fP WITE PAGE XtM6E.R 2 IS
0003 ElwE :SEND TRANSFERRED m THE 'CONPIGURIEG
OOOF Ssm : KYO, 2 EBZABLE BYTE"
0010 A-NR : KYO, 10
0011 mzw : m 0
0012 QTPP : KSFB
0013 D= :. KYO, 0 -, SINCE Q TYPE: P BYTE
0014 QABIF : Kt?+82 PLAG BPTE 82 IS TEfE SOURCE
0015 QLaE r =+l (OHLY I BYTE)
0016 PAFE : FB67
0017 :L KB1 KH=0000 0001, I.E. EwLBM ONLY
0018 :T m83 CONTR. NO 1 OF TBE IP WITH THE PAGE
0019 . R0 3 (DISABLE CONT'il. IJOS 2 TO 8)
ools :A F100.1 SET RLo=l
OOlB :m -244
OOlC NAME :SEW]
OOlD SSlW : =0,3
OOlE A-= : KYO.10
OOlP mm : m 4
0020 QTPP : KSFB
0021 DBZW : KYO.0
0022 QAaF : KF+8 3
0023 Q ' : KF+l
0024 PAFE : m68
0025 :L KB3 KM=OOOO 0011, I.E. ERABLE ONLY COR-
0026
0027 -
:T FB83 TRUGER 1110- 1 AND 2 OF THE IP WITH
PAGE NUMBER 4 (DISABLE 3 TO 8 )
0028
0029
.:A F 100.1
002A tJIJ F3244
002B BUHE :sEaD
002C SSRR : KY0,4
002D A-= no,10
002E M Z W : -8
OO2P QTYP : KSFB
0030 DBHR : W , O
0031 Q2WF : -83
0032 : -+l
0033 PAFE : m69
0034 :O P 67.0
0035 :O F 68.0
0036 :O F 69.0
0037 :SC =M001 IF YES, m,
0038 :BEA
0039 H001 :L KB3 ERROR H2lNDLXWG: E.G.
003A :T PB5 TRANSFER -ER OF THE FB, IN
003B :BE WHICB THE ERROR APPEARED, !CO FB5
 5. SS-CPU C-> IF 252 Communications

5.2 Use of Data Handling Blocks of the S5-CPU

JOBS FOR 'IZBE IP 2 5 2

0005 ..
* IN THIS m DA!lA ARE SENT FROBE
0006 FXIIAG 'AORR l 0 6 AND m 0 8 OF TBE CPU
0007
0008
. TO THE XP 2 5 2 .
0009 PAGE NUMBER 4 IS SET ON TEE IP 252,
OOOA TffE JOB GOES TO C O N T R O m NUEBER
OOOB : 2 (SEE JOB NO. 0.121
OOOC
OOOD
--
*
* (JOB NUMBERS 0.11 TO 0 . 1 8
00033
OOOP
.
-.. CORRESPOND TO TBB CONTROLLER
NUMBERS 1 TO 8 )
0010
0011 :L -1234 SEC 12.34% AS !l?HE SETPOINT BEFORE
0013 :T m 0 6 "SEND" IS CAI;LEI), THE PWU; BYTES
0014
0015
.-
t
USED (BERE m 1 0 6 TO F3109) MIST
BE INITIALXZED .
0016 .
*
0017 -
0018 rJU F33244 TRANSHITTING DA!TA FEtOM THE IP 252
0019 HAME :SEND
o o u ssm : K Y O , 4 PAGE HUMBER OF THE IP [HERE: 4 )
OOlB A-HR : KP0.12 JOB -ER 12, I.E. M R-NO. 2
OOlC AI'a2.Fr : PUIOO JOB mmus WORD IS m o o AND m 0 2
OOlD QTm: KSPB TfIEDATaAREFRaFBS
OOlE DEluR : gP0,O nmEmnmm, SINCE PXlAG BYTES
OOlF QBHF : KF+106 TBE DATA FROM FBI06 BEGIN EERE:
0020 QLA3 : KP+4 4 FB, I.E. 2 WORDS
0021 PAPE : W104
0022
0023 . DEPENDING ON THE C O R l X O ~
0024
0025
.-. STRUCTURE USED POIUMING DIVISION
WILL RESULT:
0026
0027
..
*
0028
0029
..
002A
002B :
002C
002D
..
002E
002F
-..
0030
0031
.. P p - p

INTHEmOHLYVAR8.1AFTD
0032
0033
.-. VAR 9.1 RQtX TRAWSM- TO THE
- IP 252.
m ORDER M ATSO !CRAMSMT THE
0034
0035
*
.- m- VAWTES M THE IF, TIfg
0036 '-' -?l XUST BE SET TO
0037 BETWEEET '6' "9'
0038 .
0039
003A
.- FKllO:
FB112:
VAR 3.1 OF TEE IP 252
DEO (BITS AND RELAYS V: AR)
093B FB113: DE1 {BITS AND RELAYS V: M )
003C FB114: DE2 (BITS AND RELAYS V: AR)
5. S5-CPU c-> IP 252 Communications

5 2 Use of Data Handling Blocks of the SICPU

2 . CONTROLLER NO. 2 OF B IP 252

IS A COfQTRO~
I.E.:
moo: AHZR, SEND12
m 0 2 : iu!l255+1, SEND12
PB104: P m , SEND12
-105 : FREE
m 0 6 5 VMZ 3.1 OF m IP 252
FBIOB: DEO (BITS AND RELAYS V: SR)
FB109: DE1 (BITS affD RELAYS V: SRI
IN ORDER TO SEND ONLY VAR 3.1,
TBE PARAxmm "QxAE" mm BB SET
TO "QLU= 2"' ( 2 BYTES)
 5. S5-CPU <-> IP 252 Communications

5.2 U s e of Data Handling Blocks of the S5-CPU

JOBS FOR THE fP 252

0005 IN THIS EXAKPLE DATA IS TRWS-
0006 HIITED FFlOM TEE IP 252 M DATA
0007
0008
0009
.
* WORDS IH DB41.
PAGE =ER 4 IS SET ON THE IP 252,
'PEE JOB GOES TO ~~ NWBER 2
OOOA (S- A-m: 0.12)
OOOB *
0 (JOB =ER A-NR: 0-11 TO 0-18 m-
oooc 0 REsmraD TO ~~ NuKEms
OOOD l TO 8 )
OOOE :Q DB41 OPm DB41
OOOP :m m245 RECEIVE DA!EL FROM THE fP 252
0010 Nmm :RscervE
0011 SSHR : KY0.4 PAGE NUHBEX OF TBE IP (HERE: 4 )
0012 A-NR : KY0.12 JOB NO, 12, I.E. m COmR. 8 0 . 2
0013 BNZeJ : DUl DWl AND DU2 POR DISPLAY WORDS
0014 : KCDB DESTIBIIWIOH -P TO DB
0015 DBXR : BiP0.41 LIKEWISE DB41
0016 ZAaP : w+3 ASSIC;N ~~ m
0017 &AE : KF+l m m 1 mm
0018 PAFE : E'3100 -B A S S X ERROR
~ BYTE
0019
oou
.- D841 M U S r mm PI
mHG!m OF
4T)IA1IAm)RD5mTEIs~:
MmnmH
OOlB 0

OOlC DEPENDING m 9!HE COraTROLLm SPaUc-

OOlD . TmE USED, THE FoLmumG D r n S L r n
OOlE
OOlF -..-
9 W ICESm;T:
1. C O m R O ~ ~ 2E OF R THE
0020
0021
0022
. IP 252 HAS "DRIVE" STRUCTURE
THEREPORE:
PB100: P m , RECEIVE12
0023 DB4 l :
0024 -.
,
m:BIPm, RECEIVE12
0025 m:At?m7+1, RECEIVE12
0026 ..
m

m: DAO (LIMTS)
0027
0028 .- ------------------------
DR3: DAl (Itmrrs)
0029 * ~ Y D A o ~ ~ ~ R E C g I V g D
FROBZ m fP 252 IH !l!H3
002A
002B
002C
-
:

: B IP, " W m
=BE SET!FO *2".
pxawm.R
I I P ~ g R T O x c S o ~ I W n a 2 ~
002D .
g IX TirrS CASE 1 EYTB (DRI), -CB
002E IS -
, 'IROULD mm ATSO
002F
0030
..
o

BK ~~.
0031 :
0032
0033
..
0034 -
0035 -
0036 .
.-
o

0037
0038
0039
003A
-.:BE
5. SSCPU c-> IP 252 Communications
5 2 Use of Data Handling Blocks of the SS-CPU

0005 - THf S EXAMPLE TAKES THE IPS WITH

0006 THE PAGE NUMBERS 2, 3 AND 4 FROH
0007
0008 - "STOP" TO "RUN" IF THE PC IS AT
RDN AND IF THE RUB/STOP SWITCEES
0009 .- OF TBg IPS ARE AT THE RUN
.
OOOA
OOOB -. POSXTIOW
OOOC :A F30.1
:JC ==E IF A MANUAL RARM RESTART IS EXE-
OOOD
OOOE - CUTRD AND IF T E E "IPS TO RUN" JOB
m-
OOOF
0010 -.- IS TO BE EXECUTED FIRST, I.E.
~ ~ E L IT Y M, I S T BE NOTED TBAT
0011
0012 0 -- THE PR.3VIQUSLP I ~ PC
CYCLE MUST PIRST BE PROCESSED TO
~ D

0013
.- TflE END, WITHOUT REFERENCING THE

.-
0014 I/OS.
.--
0015
0016
0017
0018 -.
0
THIS -
S TI[BT THE IP 252 W
ONLY BE SET TO RTIN UEIEN THIS RC
0019 C Y m HAS BEEN PROCESSED.
OOlA
0013
*

*
-- TEEREFORE, TEE FUG USED FOR THIS
PURPOSE IS fN!FERROGATED,
OOlC
OOlD :A P30.7 MoMILEs ALFumDY IN RUW?
OOlE :JC =M001 I.E.: JOB FINISBED?
OOlP :AB F 30.7
0020 :S P30.7 SET TBE CODE FOR THE PIRST RUN.
0021 :S P 30.6 TEES ETdS SECMILD BE
0022 * BY THE USER, TO ESTABLISH l@ETlBR
0023 .. OR HfXTEE REQUIRED UXETING TIHE
0024
-. BPTER A "STOP-->RUN-OF TEE IP 252
HBS EmPSED:
0025
0026 -. P 30.6 = 0 ==B RUN
F 30.6 = I => RKCT Kfm
0027
0028
0029
:
-. FURTHER JOBS
0028 :U H 100.1 SET -1
002B :SPA -244 IP W l T i 3 PAGE HtR!BER 2 TO "RUBm
002C HAME :SEND
002D : m0.2
002E A-= : KY0.20 'JOB NO- 20" FOR 'RUN'
002P BFJ2W : FU54
0030 QTYP : KSml
0031 DBHR : gP0,O
0032 QAlW : -0
0031 DBaR : gPO.0
0032 QAMF : BF+O
0033 : BF+O
0034 P m : m64
0035 . :A P 100.1 SET RU)=I
0036 :J[J m244 IP WITB PAGE HUMBER 3 TO "RIRY"
0037 WkME : S W
0038 SSNR : KP0.3
0039 A-NR : 3 x 0 , 20
 5. S5CPU c-> IP 252 Communications

5.2 Use of Data Handling Bbcks of the S5-CPU

003A ANZW : FWS8

003B QTPP : KSml
003C DBHR : KYO.0
003D QANP : KF+O
003E (ZLAe : KF+O
OOSF PAPE : F365
0040 :A F 100.1 SET RI&=1
0041 :JU FB244 IP WITH PAGE HUH3ER 4 TQ "RUN"
0042 NlME :SEND
0043 SSNR : =0,4
0044 A-NR : KP0,20
0045 ANZ'U : m62
0046 QTPP : KSl'elU
0047 DBblR : KOIO.0
0048 gAWP : KP+O
0049 QLM3 : KF+O
004A PAFE : W 66
004B
004C M001
-:m F 30.5
004D :L KTO02-2 WAIT 2 SECONDS sPfPER SmP -> RUN
004P :S1 T 5 T I U THE IPS ARE READY FOR OTflER
0050 :A T 5 YOBS
0051 := F 30.5
0052 :AN T 5
0053 :JC =m102 JUMP IF THE TnmFt &AS NOT YET RUN
0054 :A F 30.7
0055 :R F30.6 JOB: IPS FROM STOP -> RUN n y
0056 RUM
0057 :
0058 :R P 30.7 =0, I . E . IPS READY FOR FORTEER
0059
0 0 s
-- JOBS
005B HQ02 :O P 64.0
005C :O P 65.0
005D :O P66.0
00533 :JC =M003 IF YES, JUMP
005F :BKA
0060 M003 : ERROR E.G. TRWSFER
0063. :L KB6 IWmBER OF TEE PB m REICE! !cm
0062 :T m 5 ERR(3ROClJRREDTOB5
0063 :BBA
0064
0065 EWDE :A F 30-1 RES]ZlfTHEPLBGPORHBIPII[AL~
0066 :B F 30.1 REsmRT
0067 :S F 30.6 DISZLBLE AI& OTBER JOBS M If
0068 :BE
5. SICPU c-> IP 252 Communications

5.2 Use of Data Handling Blocks of the S M P U

0005 .
* THIS ESAlWLE TAKES TBE IPS WITH THE
0006 PAGE NDMBERS 2, 3 AM) 4 FROM RUN
0007 .
g rrDDE TO SMP MODE
0008 a

0009 A F 30.6 RAITING TIME FROM -6 ACTTVE ?

OOOA :BEB IF YES, ERD.
OOOB :A F 100.1 SET RL(3.;1
OOOC :JTJ F3244 IP UlTH PAGE NIMBW 2 TO "STOP"
OOOD Hamz :SEND
OOOE SSHR : KY0,2
OOOP A-NR : KYO ,l9 "JOB NO. 19" FOR "STOP"
0010 AIqZW : -42
0011 QlfPP : Ksm *mw,
1-E. NO asTA
0012 D-
0013 QAlW
0014 QLAE
:
:
:
KYo.0
KP+O
KP+O
.
IRRELEVANT

0015 PAFE : m39

0016 :A P 100.1 SET RfiOsl
0017 :m m244 IP WITH PBGE NUMBER 3 TO "STOP"
0018 HAMB :SEND
0019 SSHR : KP0.3
00- A-NR : ICY0.l9
001s AWZW : FA46
OOlC QPPP : B;(fller
OOlD D- : gP0.0
OOlE QAaP : KF+O
00lF (ZLBE : KF+o
0020 PAFE : FB40
0021 :A P 100.1 SET IU;O=l
0022 r JU . P8244 IP WITH PAGE HUMBER 4 TO "STOP"
0023 :SEND
0024 SSHR : KYO.4
0025 A-= : fflt0.19
0026 AHZW : -0
0027 QTPP : KSlm
0028 DBRR : KY0.0
0029 : m
002a Quu: KF+O
0023 PAPE : FBQl
002C :O F 39-0
OOZD :O P 40.0
002E :Q Pal-0
OO2P rJC =X001 IF YES, JUMP.
0030 :BE&
0031 H001 : ERROR E.G. TWWSFER
0032 :L -7 ~ E R W T B g F B I H ~ C I T ~
0033 :P FB5 ERROR OCCDRED TO FE5
0034 :BE
 5. =CPU c-> IP 252 Communications

5 2 Use of Data Handling Blocks of the S5-CPU

0005
0006
.. m THfs ExAHPu m ERROR REPORTKD
BY !FKE XP 252 WITH PAGE HUHBER 4
0007 IS FETCHED FROM THE DPR OF TEE IP
0008 A m !mAIl- M THE m.
0009
00- (FOR DIAGHOSING SOFIXARE AND HARD-
OOOB - ~ E R R O R S A S ~ a s F o R m ~ E
OOOC MOLPITolu~)
OOOD THE REPORTED ERROR IS STORED II
OOOE THIS KxuFL% W PBllO
OOOF
0030
.:a F ~ O - 6 RFiITIITG TIME FROM PB6 ACTIVE?
0011 :BEB IF YES, Em).
0012
0013
0014 :JO m247
0015 mmE :tmmRoL
0016 S N R : =0,4
0017 A-= : gP0 ,200
0018 AMZU : P15388
0019 PsPE : FE97
born
OOlB
.: F 89.0
IF r a w ERROR:
P 89.0 OF T H E A B Z U = 1 !!
OOlC :JC =M001
OOlD :A F 100.1 sm D 1 (mRE- A!!! THIS
OOlE
OOlP
. POSITIOIO, SINCE "JC =H0Olw SETS
T ~ mo
E m -1.1
0020 :JU PI3245 EVAWIBTIcm IF m ERROR
0021 HAHE :RECEIVE
0022 SSaR : KYO.4
0023 A-= : BIPO, 200
0024 : Em2
0025 ZTSlP : gSPB
0026 DBbllZ : gP0, 0
0027 2W.W : KF+110
0028 ZLBE : =+l
0029 PsFE : PB98
002A :A F 100.1 SE'J! RIQ=I
002B :JU m248 RESEl! ERROR AG?4IH WITB RESET 200
002c HAHE :RESET
002D : KYo, 4
002E A-WZ gPg,2OO
002F PBFE : FB99
0030 H001 :O P 96-0
0031 :O F97-0
0032 :O F98.0
0033 :O P99.0
0034 :JU ==MO02
0035 :BEA
0036 H002 : ZMtOR -LING: E.G. TRARSFER
0037 :L KB8 ~ O F T B E P B M ~ C H T H E
0038 :T FB5 ERROR c)cmmRm TO m 5
0039 :BE
5. S5-CPU C-> IP 252 Communications

5.2 Use of Data Handling Blocks of the SS-CPU

SYSID / SYS!FA!I' - INPORMA!l!ION

0005 IN THIS ExAHFW3, THE SYSID AREA
0006
0007
0008
--. (SYSTfM IDEWTIPICATION AREA) OF
THE IP IS READ FIRST BY HEANS OF
"RECEIVE 223"
0009
OOOA
* -- THEN "RECEIVE 221" READS THE SYSW
OOOB
OOOC
*
-- AREA ( SYSTEkI STAWS ARJ3.A) OF THE IF
WITB PAGE =ER 4
OOOD
OOOE
OOOP :A
- F30.6 RAITING TIW3 FROM F36 ACTIVE ?
0010 :BE3 IF YES, END.
0011
0012 :A f 100.1 SET RLO-I
0013
0014
-
:JU FB245
0015 HAME :RECEIVE
0016 SSNR : KPO, 4 RECEIVE THE SYSID OF THE IP 252
0017 A-NR : KYO, 223 WITH PAGE NXlHBER 4 AWD STORE IN
0018 ANZW : FW84 THE AREA m 1 1 2 M m164
0013 ZTYP : K m
OOlA DBEtR : KP0,O ,-I SLHCE ZTYP: PB
OOlB ZAbIP : =+l12 STORE FROM m 1 1 2
OOlC ZLAE : =+S3 UMGTH OF TIfE IP 252 - ' SYSID IN
OOlD PAPE z FB96 BYTES
OOlE
OOlP
.
:A P1OO.l SET W=1
0020
0021 :JU FE3245
0022 HAHE :RECErvE
0023 SSaR : KYO, 4
0024 A-= : K Y O , 221 RECEIVE SYSIPAT WITH RECEIVE 221
0025 ANZW : PR84
0026 Z T Y P : g(=LIB
0027 DBNR : KY0;O
0028 ZlWP : =+l 02
0029 ZIdW : KP+7
002~ P ~ F E: m96
002B -
002C MO01 :A
002D
002E
- F 96-0
:JC =m102
ERRORS m
IF YES, m.
TRANSMSSXW ?

002F :BEA
0030 M002 : ERROR 3AUDLIMG: E.G. TRAWSFKR
0031 :L KB9 HUMBER OF THE FB, IN =CH THE
0032 :T F35 ERROR OCCURRED m m 5
0033 :BE
 5. SSCPU C-> IP 252 Communications

5.2 Use of Data Handling Blocks of the SSCPU

0005 PR-G EI(AHFLEOF TRANSFER OF

0006 DA!rA (HERE: SOG mm SM; OF THE
0007 D
- CONTROLLER STRUCTURE) THE
0008 C O N T R O m BU'HBER 1 OF THE IP WITH
0009 PAGE HUMBER 4
000s IxPmW!
0003 TELE TRAEISFERREII DA!I!A CAUSE TBE
OOOC IP 252 M DUMP A L L RETRMTfVE DATA
OOOD * IN TEE EEPROX OF TBE USER SUB-
OOOE BODULE.
OOOP : THIS MEANS THsT TgIS JOB HKY NOT
0010 EXECUTE CYCLIC HUDfFfCATION OF
0011 RETENTIVE DATA:
0012 :Q D39 DB9 AS SOURCE
0013 :L KF+123 TRANSFER ET+0123 = + 1-23 3 AS
0015 :T m SETPoINT UPPER L3CMT (SOG)
0016 :L B9-1234 TEUhHSFER KF-1234 = -12.34 % AS
0018 :T m 6 sElrpor;ar LOWER LnnT ( S T X ; )
0019
OOlA :A F 100.1 TO GElOKRATE RU3=1
OOlB
OOlC
*.
rJU F3244
"SEND 21" IN PREPARATION OF
"SEm m"
OOlD Ww33 :SEND
OOlE SSHR : -0.4 !PO IP WITH PAGE m4
OOlF A - m : n o , 21 A-No* 21
0020 m m z m 0
0021 QTPP : KCRW ' W', THEREWRE DBlo COKUUMS THE
0022 D- : 2x0 ,l0 S/D-P POR TEE PO-
0023 QUW : KF+8 'S= ALLw START. ADDR- IN DBlO
0024 : KF+O ,-I SINCE TaERE ARE ALRXYS
0025 PAFE : FBI8 S JJu(V
0026 - 'SEND U * (JOB-NO- 0.0) TRMJ-
0027 DATA FROM THE SOURCE SPECIFIED IN
.
*

.-.-
0028 DBl0 (HERE: D39, AM) rJa6) TO
0029 THE DES!FIBUU?IOR (SPECIFIED IN DBlO
002A FP m 2 m m 5 (EKU: C o m R o X m R
002B :3U F3244 mmm 1)
002C wm3 :S=
002D S- : KY0,4
002E A-HR : KY0,O
O02F ABZW : Ful4
0030 Q?lTP : KQW
0031 DBNR : KYO.0
0032 QAISP : KF+O
0033 : KF+O
0034 PBFE : FB19
0035 :O F 18.0
0036 $0 P 19.0
0037 :YC =MOO1 IF YES, JUMP.
0038 :BRA
0039 MO01 : ERROR -LING: E-G. !CRANSpW
0038 :L KBlO MMBER OF TEE FB IN l?EICH THE
003B :T -5 ERROR CKX[JRRED TO FB5
003C :BE
5. S5-CPU C-> IP 252 Communications

5 2 U s e of Data Handling Blocks of the S5-CPU

ONLY POR TBB DRS/SR STRUCTURE

0005
0006
0007
-..
g P
R
-
=
DA!m (HKRE:
DRIVE C o
EXAHPLE OF TFSWSFERRIBTG
SOG A m SUG OF TBE
m o Ei~ToR- DRS)
0008 :
0009 .- !CO CONTR. NO. 1 HITH PAGE NO. 4
OOOA m R W T !
OOOB
OOOC -.- THE DAfPA TRZWSE'ERRED DO NOT CAUSE
m SAVING OF DaTA (WHETHW RE-
TEbITIVg OR NOT) IN THE EEzRo.?4
OOOD
OOOE
OOOF
-. OF TEE USER SDBXODULE.
.
9

0010 THIS SOB (A-NO. 22) MKY INlDIFY

0011 9 B30P DATA OF THE DRS/SR STRUCTURE
0012 CYCLI~P.
0013 EowEvm, APTER A POrJER FBILURB*
0014
0015
-.. THE OLD VAtWS (STORED ON EEPRCBI)
FIRST BECCBlE THE CURRENT VALWS
0016
0017
-. DB9
ACxm.
:A DB9 AS SOURCE
0018 :L =+l23 TRANSPER KF*0123 = + 1 . 2 3 % AS
OOLa :T m sEm?orm mepm LIBIT ( S )
OOlB :L gF-l234 TRANSFER KF-1234 = -12.34 % BS
OOlD :!l! W 6 smm LlMT (SOT;)
OOlE :U M 100.1 m G m E m ! m -1
OOlP " 'SKBD 22- m PREPARA!rI(M FOR
0020 :SPA m244 'SEBD aLLm
0021 laA?m :smD
0022 S- : KYO.4 M TB33 IP UITH PAGE -ER 4
0023 A-NR : KPO.22 JOB m. 22
0024 B;WZW : Bm.0
0025 QTYP : KCR1 "RWm, DBlO CONTAINS THE
0026 DBaR t KP0,lO S/D-P FOR THE FOLLOWtJ!?G
0027 QAlW : gP+8 "SEHD ALL" I10 DBlo
0028 v : P O -
, SWCE THERE ARE IUXAYS
0029 PAFB : m18 8 DW (RH) "SEND ALES. (JOB WO. 0 . 0 )
0028
002B
002C
:

:
-
9
!mBmFEw~PROMTBESOURCESPE-
CIlPIED IN DBlO (BERE: DB9, DRS AND
-6) 'PO TBE DI&SP-ION (SPECIFIED
002D :SPA m244 I19 m 0 BP m 2 To m 5 ) (HKRE coa-

-
002E lal!lE :SEW) mMBER l )
002P SSER : =0,4
0030 A-BR : B;PO,O
0031 AUZW : m 4 FEmB DATA WITH "SEHD aLLm
0032 QTPP : ICCm -mm,I.E. m D A m IB 3ma
0033 DBlOR : gP0.0
0034 Q.~?LNF : gP+O mRmxvmm
0035 QLAE : KF+O I

0036 PAFE : m19 P m

0037 :O M 18.0 ERRORS m ~ S Z I S S I O N?
0038 :O H 19.0
0033 :SPB =M001 IF YES, J I M P .
00311 :BBA ERROR HABlDLING: E.G. !I%ANSFER
0 0 3 ~M001 :L KBll NUMBER OF 'PHE FB IN WHICH THE
003C :T H35 ERROR OCCURRED TO m5
003D :BE
 5, SSCPU <-> IP 252 Communications

5.2 U s e of Data Handling Blocks of the SS-CPU

0005 P
R
- EXZMPLE OF RECEIVING
0006
0007
-.. DATA FRQM CO- m m E R 1 OF
TEE IP WITH PAGE lXUB3ER 4
0008
0009
.-. (AI& AVB3ZBBLg DATA, 1-E. A TOTAL
OF 176 DMfA WORDS, ARE LOADED
OOOA INTO DBll OF TEZ BC)
OOOB
oooc
OOOD
..
OOOE :A F 100 .l m GEHERaTE Rm=l
OOOF
0010
.:Jff
FB246
"m21"
"RECEIVE ALL'
UJ PREPARATION FOR
0011 HnKE :FETCH
0012 SSNR : KY0.4 O
!!! THE IP WITH 3?ZE lWMBER 4
0013 A-HR
0014 MZi?
:
:
KYO 21
-0
.
0015 ZTflP : KCRH WW", THEREF. DBlO IX)Wl!AlXS THE S/D
0016 DBNR : RPO.10 -P mR THE POIimumG 'SEm

-
0017 : -17 AI&" STRT. ADDR- THE PAR&M. 334 DBlO
0018 ZIAE : KX+O rmELmmm, smcE THERE ARE AIXAYS
0019 PBPE : m28 8 DU
oom
OOlB "RECEIVE Bun (SOB m. 0.0) TRAMS-
OOlC PERS FRM THE SOURCE SPECIFIED
OOlD IN DBlO (HERE: COlWROLLgR HUMBER l
OOlE OF TEE If 252 rJITfI PAGE HlMBER 4 !PO
OOlF TBE DESTIHATION (SPECIFIED IN DBlO
0020 BY DWl7.DW24) (RERE: PC-DB-BO. 11)
0021
0022 :W m245
0023 HAME :RECEIVE
0024SSBR: KPOr4
0025 A-= : K r O ,O
0026 M ZW : m24
0027 %TJIP : KCm
0028DBaR: -0,O
0029 ZiUW : =+Q
0028 ZWiE : gP.i.0
0023 PAPE : FB29
002C
002D :O
. F 28.0
002E :O F29.0
OOZP :JC =X001
0030 :B=
0031 H001 : ERROR ~~: E.G. TRBlPSFER
0032 :L m12 HrmEER OF TBE PE m =CH THE
0033 :T PB5 ERROR OCCURRED To FB5
0034 :BE
5. SS-CPU C-> IP 252 Communications

5.2 Use of Data Handling Blocks of the S I C P U

ONLY FOR THE DRS/SR STRu-

0005 PROGRAlMIWG EXAMPLE OF RECEIVING
0006
0007
. DATA FROM CONTROLL&R NUBEiW 1 OF
THE IP =TB: PAGE MWBW 4
0008 IN COWTRAST !ME EXZWPLE FB12,
0009 IT IS POSSIBLE HERE FOR AN ASSIGNED
OOOA DATA BLOCK TO BE RECEIVED BY THE
OOOB IP. (A D- SET OF THE C O N T R O ~
OOOC IN THE IP IS TRANSFERRED TO DBll
OOOD OP THE CPU)
OOOE * <SEE ALSO: DB11>
OOOF
0010 :A PlOO-l m GENERATE RLO-1
0011
0012
.:JU
*

m246
"FE1Y38 23'
"RECEIVE m&"
IN PREPAlUU!ION FOR
0013 NAME :FETCB
0014 SSNR : KYO 4 TO IP WITH PAGE m E R 4
0015 A-HR : K Y O ,23
0016 ANZW : m20
0017 ZTPP : KCRW "W", THEREP. DBlO COMTIUXS TBE S/D
0018 DBNR : KY0,lO PAFUM. FOR THE POX&OW. "SEMI ALL"
0019 ZZWF : W*2 6 STRT. ADDR. OF THE PARAPI. IN DBlO
OGlA rrZLe : W+O ,-I SINCE TB;gRE ARE ZILHAYS
OOlB PAFE FB28
OOlC
00lD
-
:
*
8 DiJ
"RECEIVE AI&" (JOB NO. .O.O) =S-
FERS DATA Pf2(31Z THE SOURCE SPECIFIED
OOlE IH DBlO (HERE: CONTROLLER -ER
OOlF 1 OF THE IP 252 WITH PAGE NUMBER 4
0020 TO TBE DESTIHATION (SPECIFIED IN
0021 DBlO BY IX326.DW33) (HERE:
0022 PC-DB-NO- 11)
0023 :30 .m245
0024 NABE :RECEIVE .
0025 SSaR : %;P0,4
0026 A-NR : KYO, 0
0027 ANZR : m24
0026 XTPP : KUW
0029 DBaR : KY0,O
002A 2A.UF : m+o
002B ZI3Lg : KP+O
002C PaPE : m29
002D :O P 28.0 ERRORS IN T1RANSMSSIOEI ?
002E :O F 29.0
002P :JC =MO01
0030 :BEA
0031 H001 : ERROR =LING: E.G.
0032 :L KB13 MMBW OF TEE FB IN UHICH THE
0033 :T PB5 ERROR clccwmm m FB5
0034 :BE
 5. S5CPU C-> lP 252 Communications

5.2 Use of Data Handling Blocks of the S X P U

0005 PROGRMMIWG OF RECEIVING

0006 DA!m FROM C O H T R O ~m m 1 OF
0007 THE IP WITH PAGE EWM3ER 4
0008
0009
-.
o
IN COErmaAST TO TBE EXAMPLE FBI2,
IT IS POSSIBLE HERE FOR AN ASSIGNED
OOOA DATA TO BE RECEIVED BY THE
OOOB IP. (A DATA SET OF THE CONTROLLER
OOOC IN TBE IP IS TRANSFERRED TO DBll
OOOD OF !mE CPU)
OOOE
OOOF
. <SEE ALSO: DB11>
0010 :A P100-1 M GlxNmtxm -
1
0011 "FETCEI 23" IH PREPARATION FOR
0012 :J[I m246 "RECEIVE A m "
0013 m :FETCH
0014 SSNR : KYO .4
0015 A-NR : KYO ,23
0016 AlJZU : FW20
0017 : XCRS? 'RW", THEREP, DBlO CON!l%INS TEE S/D
0018 DBNR : KYO.10 PAIUW. FOR THE FOUXW. "SEND.AI&"
0019 ZAMF : KF+2C STRT. -R. OF THE PARAM. IN DBlO
OOlA ZLAE : KP+O ,-I SINCE TEERE ARE ALWAYS
OOlB PAFE : W28 3 DW
OOlC ''RBCEIVE ALL" (JOB NO. 0.0) TRANS-
OOlD PERS DATA FROM TEE SOURCE SPECIFIED
OOlE
OOlF
-
*
IN DBlO (EERE: CONTROLLER NUMBER
1 OF TffE IP 252 WITH PAGE NOBIBER 4
Q020
0021
. !PO TBE DES!FIHWXON (SPECIFIED IN
D B ~ OBY m 6 . r n 3 ) (HERE:
0022 *
0 m - D M O . 11)
0023 :JlJ F3245
Q024 KAME :IRECEIVE
002s SSWR : KYo.4
0026 A-IJR : KYO, 0
0027 ANZW : PU24
0028 ZTPP : KCm
0029 D- : gP0.0
o a a z ~ 3 m: KF+O
002B zL?s : gP+o
002C PaFg : m29
002D 10 F 28.0
002E :O F 29.0
002f :JC =I001 IF YES, JUMP.
0030 :BEB
0031 MO01 : ERROR EADKDG: E.G. TRAWSPER
0032 :L , KB13 mmBEROPTHEFBrN~mTfEE
0033 :T FB5 ERROR O c m TO PBS
0034 :Ell3
5. SS-CPU c-> IP 252 Communications

5.2 Use of Data Handling Blocks of the S5CPU

.
0005
0006
0007
-. "SEND30" IS USED POR TRJWSFBR AND
ACTIVATION OP 'rEE TEST FfJHmm ON
TBE IP 252
0008 :JU m244
0009 IUME :S=
OOOA SSXR : KYO.4 PaGB NUMBER 4
OOOB A-lw : gP0,30 JOB HUMBER FOR TEST FUNCTION
oooc m m : m 0
OOOD QTm : B;SDB
000E DBHR : RP0 ,l4 DB14 CONTAINS THE TEST-P
OOOP QABlF : W+O FROM m
0010 Q ,: =+l0 W T H 10 DU
0011 PaFE : FBI8
0012
0013
0014
0015 HXTH *RBCEIVE30" TESf-P
0016 OP TBE IP 252 WHICH 3 2 4 . AEREADY
0017 ~ S E T C A H B E I O A D E D ~ A D B
0018 g OF !FEE CPU.
0019 ,-P ALREADY PRESEaT
OOU
001s
.
9
Ilil TBE IP, ORIGxHZu!E EI!PmR m !r3B
"COH RBG GRAPHICS" IBITIALISiWION
OOlC : SOFTUARE (IR l 3 A "SEND3Ou OF TEtE
OOlD :JU F13245 BU
OOlE mm33 :RECEIVE
OOlP S= : KYO.4 PAGE HKIHBER 4
0020 A-NR : K'!€O, 30 JOB NCMBgR 30 FOR *TESTa
0022 AN= : Em4
0022 ZTPe : KCDB S!l!ORE TEE DA!PA IN DB
0023 DBaR : KPO.3.4 DBI(IO. 14
0024 ZAW : KP+O FROM SPBRTING ADDRESS 0
0025 8 L U : KF+10
0026 PaPE : FBI9
0027 :BE
 5. SS-CPU c-> 1P 252 Communications

5.2 Use of Data Handling Blocks of the SS-CPU

0005 0 ~ ~ O F R E C E ~
0006 .
o TESfP~~THEIP252WI!l!E
0007 g PAGE MMBER 4
0008 g (& -A I& DBfM, I.E. 3 r 150
0009 g IM!A UORDS, ARE ILlADED INTO !CHE
OOOA ~ B U ] C B ; S
OOOB DB15: VBf;WS OF THE 1ST MWSUR-PT.
OOOC
OOOD
.
g

DB16: PM;ITES OF TKE -.PT.

DB17: VBI;UES OF TBE 3RD WKASffR.PT.
OOOE
OOOP
.-
a
0 gDB10 FNRE DB35 IS USED m
0010 ~~~G THE S O U R c E / D E S T ~ 1 0 ~
0011 --
9 PBRBIIETERS>
0012
0013
0014
0

.-. TEE JmEummG *

-
l
a CEeCKs
~ O R W O T ~ T R B C E ~ O N
0015
0016 :JO
. -247
Tm3 IP mm BEEN mcoRDED.

0017 HAHE :€3mTROL

0018 S- : m 0 ,4
0019 A - m : 'B;P0,31
00- m m : m
0013 PaFE : PS6
00lC
OOlD :m P 8.0 RECEPTIOBO OF TRACE DATA ?-
OOlE :- IF SO, m.
OOlF :L gso PRESET m 5 0 As IsrnrrcMIL c o ~
0020 :T m 0
0021 *
9

0022 9 m- FrRsT nATn R m c K

0023 a TO DB15
0024 :Q DBIO DB FOR S/D-P
0025 :L KcDB SOURCE TS D3 W. 31 OF TEE IP 252
0027 :T W 5 C- SfRT. BDDR- OF !C5E S/D PARAM.
0028 :L KPt31 IP DB NO. POR TEST DATA DB
ooa tT -6
002B :L -1 STRT. ADDRESS OF l!EFE Bmcx m
002D :T W 7 TBE IP DB NO- 31
002E :L KW150 (OR lWLIBER OP DA!l!A)
0030 :T Iltn8
0031 :
0032 :L gSDB
0034 :T -9
0035 :L -+l5
0037 :T m40
0038 :L -4-1 S!LWP. ADDRESS IH DB IS (HERE: 1)
00- :T 28541
003B :L KF+I50 LEHGTB (FmaBER OF DATA)
003D :T 1~42
OQ3E g
g

003P :A F 100.1
0040 -.
0041 :SD m 2 4 6
0042 HAME :FETCH
0043 SSNR : R;f0,4 TO fP UITEI PAGE -ER 4
5. S5-CPU c-> IP 252 Communications

5 2 Use of Data Handling Blocks of the S M P U

0005 :A P30.0 PZBE TO IHDICATE POFlER PAIL-

0006 :JC =MO01 F 30.0 = 0 IN THE EVENT OF WWER
0007 . FAILURE ( S E OB 20 TO OB 22)
0008 :L KT002.2 APPROX. 2 SECS RAITING TlXE IN THE
OOaA :A P35.0 EVENT OF POWER FAILURE
OOOB :Sf T 1
OOOC : P 35.0
OOOD :S1 T I
OOOE M003 :A T 1
OOOP :JC =H003
0010 . EXKEIRONIZE INTERFACE R I T E X PAGE
0011 MOO1 :JI1 F8249 xmMEmR2
0012 HBHE :SYNcHROB
0013 SSWC : KY0, 2
0014 BU;R : KYO, 6 IP 252 ONLY RECOGNIZES BUZR: 6
0015 PaFE : P836
0016
0017
-
:O P 1.1 FOR G E N E R A T I E
0018 :m P 1.1 m = 1
0019 :JU m249
0 0 m ISAHE : s x N c m m N
0013 SsaR : KPO, 3
OOlC BLGR : KYO.6
OOlD P m : m37
OOlE :
OOlF :O P 1.1 FOR GENERATING
0020 :a P 1-1 Rm=1
0021 :JU F8249
0022 WmE :s!ncmoB
0023 SSHR : KYO.4 SmCERoNIZE SS NO. 4
0024 BLGR : KYO.6
0025 PAFB : FB38
0026 :R F 30.6 REsm FLAG FOR 'SJIAfTlffG IH
0027 a m.
0028 $0 P36.0 ERRORS IM STNCHROHISA1IION ? '

0029 :O F37-0

-
0028 tO F 38.0
O02B :JC =H009
002c :BEZI
OO2D H009 : ERROR -LING: E.G. !rRzWSFER
002E :L El499 FB" m F35
OF THE " R E S ~ T
002P :T m 5 Am 3RRoRS IN PAGE Imm3R 2 ?
0030 :A?i F 36.0
0031 :JC -10 IF m, JUMP.
0032 :L !&l TRBBSP- PAGE NO. W WHICE TEE ERROR
0033 : l ! PB4 occURmDmFB4
0034 H010 :M? F 37.0 m R O R s r n P B G E ~ 3 ?
0035 :JC =X011
0036 :L K63
0037 T FI)4
0038 MO11 :All P 38.0 ERRORSINPAGEmiHBER4?
0039 :BB NOTE: m THIS EXAMPLE TEE LATEST
003a :L K64 -OR -WRITES AI;L PREVIOUS
003B :T FB4 ERRORS !
003C :BE
 5.2 Use of Data Handling Blocks of the SICPU

DBl 0
0 :
1 :
2 :
3 :
4 :
5 :
6 :
7 :
8 z KS= DB B DB => m - D B - H R . 9 1 !
9 : gpt +00009: WO. 9 !SOURCE:!
10 : ~ ) . ADDRESS IN DB 9
KF= + O O O OSTRT ! CPU !to
11 : gP= +00002; LEHGTH 11 WORDS 1 ! FBlO
12
13 :
: KS= DB
gP= +00001; m. 1
*DB ==> DB-NO. 1 (C-H0.1)
!
1 and
DESTII.:! m 1 1
14 : 1B;F= +00105) Sl!RT- ADDIRESS IN R DB NO. l ! IP 252 !
15 : KF= +00002; W H I H IN WORDS t !
16 : m= 0000; =>=- here: free -- l
, ==
17 :
18 :
19 :
20 :
21 :
22 :
23 : W - +OOOO2; STRT- ADDRESS IM D3 11 C P U !
24 : gp= +00176; UXGTEi IN WORDS ! !
25 : m= 0000; ==>---p --- m:
fm ===----A
l I ---
--
26 :
27 :
28 : KP= +00110; SPRT. ADDRESS IN R DB HO. 1 ! IP 252 ! to
29 : gP= +00010; lOlMBER OF lmi!A TJORDS ! ! m12
30 : m= D3 = = > C P U D B 1 9 0 . l1 ! I
31 : KF= +00011; m. 11T 1 DESFIN.:!
32 : gP= +00180; Sl!RT. ADDRESS IN DB 11 ! C P U !
33 : KP= +00010; m WORDS !
34 : m= 0000; -->P-
g;H= 0000; +----------p------------+
here: free
I
--
35 :
36 : KH= 0000; ! t
37 : m= 0000; ! 2kea of the sanrce/destin- !
38 : m= 0000; ! ation parameters for FBI5 !
39 : KE=0000; ! !
40 : KH= 0 0 0 0 ; ! t
41 : Em= 0000; I !
42 : m= 0000; +-----------------------------+
 6. COM 252/615 Operator Guide

61 General

The IP 252 ciosed-loopcontrol module can be configured and assigned parameters with the PG 615and PG 635/675/685/695 pro-
grammers. User-friendly menudriven prompts help the user during operation.
in this section the operator communication of the PG 615 is described and input formats which may occur are also described.

Note:
The PG 615 programmerwith the lP-specificnCOM 252" initialization soitware can only be used if the memory submodule
6ES5 3740AAll is used on the tP 252.

6.11 Selection procedure

Starting from the main menu (see Fig. 6.1) in which all functions availableto the user are listed, the correspondingsub-menus {func-
tions) can be selected by directly enteringthe call number shown in the main menu. Except forthe branch seiection menu, for which
two digits can be entered and which is therefore provided with a separate input field, an enter key is not required and the selected
sub-menuis calked up directly after entry of the number.
if a menu is longer than four lines, it can be scrolled upwards and downwards using the cursor keys. In all cases where the menu
display field can be scrolled, this is indicated on the right hand border of the display with the corresponding direction.

. - --

I * I N l T S T A T E 1
I 1.
Z l I N P U T I
I 2 D I S P L A Y I
I 3 I
I 4 T R A N S F E R I
I
I + S - E L E C T F U N C T I O N
-----CC-I-"II-----I-----ICI-C-------------------
-V 1t
Fig. 6.1 a: Main menu before ScrolIing

------------------c------------------------

I * f N I T S T L I T E I:
I
I 5 D E L E T E
- I
I
I 6 S P E C I A L F U N C T I O N I
I 7 I N F O I
I 8
C O N T R O L L E R T E S T I
I I:
I * S E L E C T F U N C T I O N
--cc------------------------*--------------
- i
Fig. 6.1 b: Main menu afar scrolling severaltjrnes
6. COM 252/615 Operator Guide

6.l General

6.12 Parameter inputloutput

6.22.1 Su bfield editor for inputloutput
Input: The input is left justified on entry in the input field. During input the first character deletes the original contents of the sub-
field. The cursor can be positioned anywhere within the input field with the cursor keys. After an entry is made, the subfield
can only be exited by pressingthe subfield enter key. After entering several data items in an input field, they must be entered
using the global enter key.
Fig. 6.2 shows an example of data input before transferring the braking current normalization value with the subfield enter
key, Fig. 6.3 shows this after the subfield enter key has been pressed.

I * l N P P S I C ! S 1 1
I I
f S T A . 1 D C L 1 . 1 X I
I A D R D A C 2 7 I
1 I
f I
I f
I r P A R . B R A N C H U 1 + I
---c---------------------------------------

Fig. 6.2 teft justified input

Output: Data is output n'ght justified, i. e. each subfield is represented on the right after subfield enter key has.been pressed.

I * I N P . P 6 1 C Z S 1
I
I S T A . 1 D C L
I A D R D A C 2 .
I
I
f
I * P h R . B R f i N C H D 1
_____-________11-3_------~-----------------

Fig. 6.3 Right justified outplrt

Sign: In signed parameters, the sign appears in a special sign position. Positive signs are suppressed during output.

6.122 Types of parameters

Dim. Sign Digits Decimal Range

point

Bit value - - 1 - OM
Integervalue
Number, MPnumber - - 2 - var.
Address - - 3 - var.
Constants - Yes 6 2 +/- 99.99
Percent values % Yes 7 2 +l- 100.00
Time values ms - 5 011 0.1-9999
S - 5 0-3 0.001 - 9999
hm - 5 2 00.01 -59.59
 6. COM 252/615 Operator Guide

6.7 General

& l 2 3 Input formats

2. Percentage
v100.00
\IZZ.ZZ
vz.ZZ
3. Milliseconds
ZZZZ
2223
4. Seconds
zzzz
z.ZZZ
zzzz
ZZZ.2
5. Hours
HH.MM

6.l.24 Parameterswith physical units

In some structures(e. g. standard controller) it is possible for the user to input and observe setpointvalues, actual values and limit
values as well as polygon interpolation points and variables with physical units. Depending on the complexity of the structure, up
to 4 different dimensions or physical units can occur simultaneously. For each of the 4 dimensions the user can specify an ASCII
string with a maximum of 6 characters and also the characteristic line used to convert dimension values into a percentage repres-
entation used internallyby the processor.
Since the unit fiefd is only two characters long, the six characters long ASCll string cannot be output after the subfield. Instead of
this a number (D1 to D4) is output. With the "OTHER" key the ASCll strings of all current units can be displayed on the screen. By
pressing any other keytheoriginaldisplay isrestoredt o thescreen. Figs. 6.4 and6.5 show anexampleforthis. In Fig.6.4an example
of an input is shown which uses the physical D1. By pressing the "OTHER" key the representationis displayedasshown in Fig. 6.5.

-------------------------------------------
I * f N P S B H C 5 S 2 I
I
I H . 1 J A R N S N 6 2 0 . 5 D
-
f
1
1
I L . W C I R N I N G 1 2 . 3 D 1 1
I H . D A N 6 . L I t l 3 0 . 2 D 1 1
I L . D A N E . L I n 1 8 . 6 D I I
I: V 1
I * P A R . B R d N C H Q 2 + I:
------------c------------------------------

Fg.6.4 Encodedphysical unit displayduringpaameterinput

Fig. 6.5 Physical unit display after "OTHER-:key

6. COM 252/6l5 Operator Guide

6 2 PG (Programmer) Functions

62.1 Start-up
After switching the power on, the COM 252 executes a short self-diagnostic test and then goes immediately into the default rou-
tine. Herethe defaults form is displayed on the screen (see Fig. 6.6),which the user can acknowledge with the Break key or modify
with the function keys. After modification, the defaults must also be acknowledged before the main menu is displayed,This main
menu is shown in Fig. 6.1.
The main menu corresponds t o the base state to which the user can return from any point by single or repeated activation of the
Break key. from this main menu hecan go into the required function by enteringthe calling number of the function.

I + D E F A U L T S X
f I
I B U S ACCESS.: N 0 f
I I
I I
I I
I I
I Y E S N U
........................................... - I

fig. 6.6 Lkfaulr menu

622lnput
The term "input" refers t o all steps requiredfor fully specifying a control loop with the COM 252/615. In order to prevent any steps
being overlooked during the first input procedure, the PG guides the user linearly, i. e. on a path without branches, through all input
functions.

Input sequence: Selection of the target device

I
input of the control loop no.
I
Structure selection
I
Structuring
I
tnput of the sampling time
I
Selectingthe stop behaviour
I
Determining 6 e dimensions
I
Parameter assignment of the branches

6.22.. Selection of the target device

After selection, the input function checks the programmer initially for a controller block inthe PG. If this is the case, the delete menu
appears on the screen (see Fig. 6.7),and the user must decide whether this block is to be deleted or not.
 6. COM 252/6l5 Operator Guide

6 5 PG (Programmer) Functions

-c-----------------------------------------

I * I # P I
I 3
I B L O C K I
I A V A I L A B L E I N P G I
1 I
I E R A S E ? I
I I
I Y E S N 0 + I
----------c--------------------------------

BiM 6.7 Delete menu

After the user has decided to delete the block by entering " 1",the input menu appears on the PG as shown in Fig. 6.8.

- - --- - -- -- ---

I * I N P U T I
I 1
I 1 P S I
I 2 I P 2 5 2 I
f 3 S U B M O D U L E I
f I
I I
I S S E L E C T F U N C T I O N
-----c-------------------------------------
- I

Fig. 6.8 Input menu

-
By entering a number (l 3) the user determines where the controller block generated in the subsequent step is to be stored. If the
user selects input into the IP 252 controller module or into the submodule, the PG fetches the necessary text and description lists
from the selected target device. Howwer, if the block is to be stored in the PG, then the user must first speci* whether an-line or
off-line operationis required. During this, the user is guided by the "Select operating mode" menu shown in Fig. 6.9.Depending on
this input, the list source is displayed in the top menu display line.

Fig. 6.9 Sd&n of ~ ~ mode n g

6. COM 252/615 Operator Guide

6 9 PG (Programmer) Functions

6.222 Input af control loop number

The next step of the input procedure is the input of the controller number, which is necessary so that the 1P 252 can process eight
control loops simultaneousiy. For this purpose, the PG displays the menu shown in Fig. 6.10.

Fbg. 6.10 input of controller number

The input of the control loop number must be concludedwith the subfield or global enter key,where controller numbers smallerthan
1 or greater than 8 are neglected.
The letter which is displayed in the first line of the dislplay directly after "PG" (M in Fig. 630) indicates whether the memorysubmo-
dule or the IP 252 is used as the list source.

6 2 2 3 Configuration or structure selection

After the control loop numbers have been selected, the configuration of the control loop must be selected. This is normally deter-
mined by the appiication.
The programmer shows the user at this point the maximum4 controller structures available in the memory submodule. If there are
less than 4 structures, then the list is filled up with lines (see Fig. 6.11).

I * I N P P G M C 2 I
I I
I 1 D R I V E I
I 2 S T A N D A R D I
I 3 --- I
f 4 --- 1
I I
I + S E L E C T f O N F 1 G U R . I

Eg. 6.11 Configurations&ction m m

Configuring means the setting of software switches (configuring bii), which are embedded between permanently assigned
branches, according to the application.This means that the switches of necessary branchesare dosed (= 1) and thoseof unneces-
sary branches are left open.
The configuring or St~Ctufe switches function both as "on"/"offU and also selector switches.
For "one/"off" switches, "0' means "No" and '1" means 'Yes". Selector switches are identified by a "/" in the text and select
between t w o alternative sub-branches. "0" in this case is the first alternative and "1 " is the second.
The structure switches are hierarchically organized and assigned t o corresponding Ievels.This organization can be recognized by
the indentation of the corresponding lower level structure switch designations in the configuring menu.
, user prompting is configured in such a way that sub-functions o f a not selected branch, i.e. a branch set
for a better o v e ~ e w the
t o "O", are skipped over during structuring or configuring, so that they do not appear in the corresponding menu displays. The struc-
ture switches are displayed according t o branches. Ifthe cursor is at the last position of a structure branch, then after entering the
subfield entry key the structure switches of the next branch are displayed. If the cursor moves upwards past the main structure
switch, the structure switches of the previous branch are displayed.
Positioning within the display is carried out with,the heip of the cursor-up and cursor-down keys.The selection of the branch to be
used is carried out by setting to "D" or "1" and subsequent pressing of the subfield enter key. As an example Figs. 6.12 and 6.13
illustrate two cases where a selector is set to "D" and then " 1"
 6. COM 252/615 Operator Guide

6.2 PG (Programmer) Functions

----------------------------------m--------

1 * I N P P 6 M C 2 S 2 I
I I
I L O O P C O N T R O L L E R 1 I
I C O N T / S T E P 0 1
1 S f A N D A R D / U P G R A D 0 I
I M . P G / A D C 0 f
I V I
I * C O N F I G . E R O l + 1
-------------------------------------------
Fig. 6.12 Configuringthe controller ourput: continuouscontroller

I * I N P P G M C 2 S 2 I
1 I
I L O O P C O N T R O L L E R 1 X
I C O N T / S f E P 1 I
I
I
P S K E Y / A D C U I -
L
I V I
I * C O N F I G . B R D I + I
-------------------------------------------
Fig. 633 Configuring the controller output: step controller

The selector switchesshown in this example switch between the two alternatives "continuous control[eroutput" and "step control-
ler output". In Fig. 6.12 continuous output is selected, in which case the programmer displays thesub-functions of this branch, e.g.
standard/enhanced and H.PG/ADC. (The meaning of the abbreviations used in the menus is described in the appendix of this sec-
tion). In Fig. 6.13 the selector switch is set to "1",i.e. the output functions as a step controlier output and the programmer displays
the sub-functions of the "step controller output" branch, H.PG/ADC.

Fig. 6.14 S&nt branch not sekted

If a branch is not selected, ?hen its sub-functions remain invisible to the user and are onfy listed when the branch is selected in the
display of the PG-Thisis illustrated in Figs. 6-14 and 6-15 using the example of a speed setpoint.,

I S E T R E V / M I N 1 I
I R A M P G E N E R A T O R 0 I
I S r t O O T H I P 1 6 0 I
I S E T P . S E Q U E N C E 0 I
I v f
. I * C O N F I G . B R 0 8 + I
_------------------------------------------
Fig. 6.15 Setpointbranch selected
6. COM 252/6l5 Operator Guide

6 2 PG (Programmer) Functions

6225 Input of sampling time

After the structure of the controller has been selected in the last step, the required sampling time is input in this step. One should
notethat only times which can be expressed as powers of two between 4 ms and 32 S can be selected.
The processor loading caused by this control loop on the IP 252 is also calculated in this menu depending on the structure and
sampling time.
Figs. 6.16 and 6.17 show the sampling time menu.

------------------------------*------------

I * I N P P 6 M C l S 1 I
E I
I T & = U . l * T I P t E C O N S T . 1
I I
I S A H P L . T I M E T A 4 M S I
I I P L O A D C 1 8 5 % I
I r
I S T O R P A R T A > + I
-----c-------------------------------------

Fig. 6.16 Sampling time menu with defauk setting

I * I N P P 6 M C 1 S 1 I
I 1
I T & = O . l * T I M E C O N S T . 1
I f
f S A M P L . T I H E T A 8 H S I
I I P L O A D C 1 4 2 % I
I I
I S T O R P A R T A > T A < + I
Fig. 6.V Sampling time m m after changing the time

In the sampling time menu one is initially reminded of the rule of thumb that the sampling time should be approximately 10%of the
dominant plant time constant The input line for the sampling time with a default value of 4 ms is located under this reminder. The
line below the samplingtime shows the processorloading of the selected control loop-Thelast line of the displayshows theassign-
mentof the numericat keys as function keys. In Fig. 6.16 * l n is used for the function "ABSP", "2" forthe function "PAR" and "3" for
the fundon "TA.". "ABSP" is used far aborting the storage of previously entered data and returningto the basic menu. Pressing
the "PAR" or the ENTER key takes the operator to the next function, i.e. "programming stop behaviour". The "3" key is assigned
the function "TA>" which increases the sampling time in steps On powers of 2).After changing the sampling time v& 4 ms) the
function "TA<" then appears in the menu and is assigned to key "4". Witfr the '4" key it is possible to reduce the sampfing time
shown on the display. Whether the wntrolter is stable at the selected samplinglime remainswithin the responsibilityof the
user.Similarly, it is his responsibiliitywhen changingthe sampling time to also adjust the controller parametersaccording-
h-

622.6 Selectingthe stop behaviour

At this point the behaviour of the outputs must be determined separately for each controIler if the control structure is inhibited. Two
alternatives are available here: either the outputs are set to zero or they remain in the state in which they were last. In the second
line of this menu the user is asked whether the control loop should carry out an automatic warm restart after a power failure. Below
this is the option of taking the warm restart condition into account. This condition states that the magnitude of the difference
between the control deviation before the powerfailure and afterthe restoration of the power should be not greaterthan 25% of the
setpointvalue before the power failure. With this last option the user can determine which of the following occurs:
no warm restart
conditional warm restart
unconditionalwarm restart.
 6. COM 252/615 Operator Guide

6 2 PG (Programmer) Functions

These decisions have defaults of YES and can be changed by pressing " 1" or "2". In this case, '1" means "YES" and "2" means
"NO".These inputs must be concluded by pressingthe E N E R key.
Fig. 6.18 shows the menu for determiningthe stop behaviour.

-------cc----------------------------------

1 . * I N P P 6 M C l S 1 f
I I:
I S E T O U T P U T S T O I
1 0 I F D I S A B L E : Y E S X
I W A R M R E S T A . R T : Y E S I
% R E S T A R T C O N D . : Y E S I
I f
I Y E S N 0 + I

Fig.6.18 Determiningthe Sop response

6.2.2.7 Definition of controller names and area names

After the stop behaviour has been defined and acknowledged with the ENTER key ,the menu "Input for CP 526 disptays" ap-
pears. Here, each controller 1 to 8 can be assigned a controller name and an area name consisting of up to eight characters. Only
numbers are acceptable as input with COM 252, but any ASCll characters are acceptable when using theCOM REG programmer
software.

1 ++ 1 F p
. .- .
.d
7 C i '2 :
&
..
A

A i
. ! F O R C p 9 2 & . - p . T T ' U R E S ?'

--
L . . . .
?
; a L , z Nf f
t. % & M E ;
---
P

& c r e; . 3 ; . -. .
? C
i: -.
3, ;v; F =
-*-
?

i I

fig. 6.19 CP 526 interface

W ote:
An entry in this screen form is not relevant for the control. Such an entry is only meaningful for controller manipulation and rnoni-
toring with the CP 526.The ASClI characters entered can then be displayed on the CP screen.
6. COM 252/615 Operator Guide

62 PG (Programmer) Functions

622.8 Determiningthe physical units

If parameters with physical units appear in the selectedstructure, the user can determinethe ASCll string and characteristic of the
units before beginning :he assignment of parameters. In the deiault state the 6 characters of the ASClt string contain "%", "0" is
used forthe 0% vaiue and " 1M3.00" for the 1130%value. If other units are present, this is indicated by the scrolling arrow in the base
units menu (see Fig. 6.20j.They can also be displayed by pressing the correspondingcursor keys (not with the DWDRS structures).

fig. 6.20 Base units menc

the base units menu the characteristic or ASCIi input can be called up via soft~eys.
~rom

6.2.2.8.1 Characteristic input

-Ihe 3% and 100% vaiues can be input with the decimal point at any position. However, the pure numencaivalue must lie in the range
+;-1000G.
When accepting the entered value only a check ior correct syntax is carried out. Only after the ENTER key is pressed is a check
made as t o whether the characteristic can be determined from both nodes entered.
The prerequisites for this ars:
1. The characteristic has a positive slope, i. e. the 100%value is greater than the 0% value.
2. The value with the smaller number of digits after the dectmal point can be normatized to the number of digits after the decimal
point of the other vaiue without exceeding 1M30G in magnitude.
An example for an acceptable input is shown in Fig. 6.2';.
 6. COM 252/6l5 Operator Guide

6.2 PG (Programmer) Functions

' i * I N P P G M C ? S 2
I
f U N I T D 1 :
I
I
• D % = 2 0 . 1 %
I f 0 0 2 = f 5 6 . 8 X
I
I E N T E R V A L U E S

Fig. 6.21 Charawristic input iorrhe physical units

3.2282ASCll string input

Since no ASCH keyboard is provided, the maximum 6 characters long ASCII string must be entered by positioning the cursor on an
ASCll tablemenu. If only one single character has to be modified,then any position in the string can be directly seiected. Otherwise
input autamaticaltybegins with the first position and moves on to the next position after entry.
Figs. 6.22 and 6 23 show an example with a physical unit input "DI; KP/CMZr', an ASCll table menu and a menu for selecting the
D Oin Sthe~strtg.
~~O~I

l + ! N P ? G M C l S 2
-
* -,
A v A
1 3 f : K P / C M 2 P O S . : 1
I 1
i A B C D E F E H 1 4 K L M N O P Q R S f I
I U V U X Y Z O t 2 3 4 5 6 7 8 9 / X I + I
7
I
3 P O S . E N T E R + I
------cc-----------------------------------

Fig. 6.22 ASCll tab ernenu

F i . 6.23 Position seiectb

622.9 Assigning parameters

!n the last step of the input procedure, the parameters ofthe previously configured controllers must be input. At this point the pro-
grammer displays only the subfunctionsfor parameter assignment which have been activated in the previous configuring step.
During parameter assignment the PG shows the user a iist o i the selected subfunctions,where each subfunction has a selection
number which corresponds to the branch number (see Fig. 6.24). Using the seiection number, the user can subseque~tiycall up the
?ararneter list ior assigning parameters :o the subfunctions.
 6. COM 252/6l5 Operator Guide

6.2 PG (Programmer) Functions

I * I N P P 6 M C 1 S ? I
I I
1131 C O N T R O L L E R O U f . P U T 1
X 0 5 S P E E D C O N T R O L L E R I
1 0 8 S E T R E V / M I N I
I 1 0 A C T U A L R E V I M I N I
I I
I * S E L E C T B R A N C H + 1
Fg. 6.24 Overview of the selected branches

The parameter iist only displays the parameters ofthe selected branches and subbranches.
Each input must be concluded with the subfield ENTER key, whereas the completion of the branch parameter assignment must be
concluded with the Enter key. After this, the parameter list for the next branch appears until all branches have been assigned para-
meters. Then the branch list appears again on the PG. If no further parameter is to be modified, the previously entered data can be
stored by pressing the ENTER key again. If a data record isalready present in the target device underthespecified controller num-
ber, then the menu shown in the Fig. 6.25 appears on the PG.

*--------c--**-----------------------------

I * I N P I P C l S 2 I
1 1
I B L O C K A V A I L A B L E I
I 1
I I
I O Y E R W R I T E ? I
I I
I Y E S N 0 + f
------c------------------------------------

Fig. 6.25 Delete Yes l No

in this step the user must decide whether the old or the newly entered parameter sets are to be used further.

Special cases:

t Limit monitor
The limit monitors are designed for a maximum of 6 steps. For operation with fewer stages the user must select the number of limits
to be monitored in the first menu input line. The Emit value menu changes accordingly and the PG requests the limit values in the
. same menu. The physical units of the entered limit values are determinedby those of the monitoredmeasuringpoint.

Ftg. 6.26 Limit monitor with l limit value

 6. COM 252,615 Operator Guide

6.2 PG (Programmer) Functions

Fig. 627 LimA monhorwith2 limit values

2. Function generator and setpoint sequence

In the function generator and setpoint sequence, the number of vertices (interpolation and extrapolation nodes) can be selected
optionally between 1 and 10. The parameter assignment menu is generated according to the number selected.

.-m-.-.-.---<--.-

. . "- - --: - :-.

....
.
.I
..
i . .. -.
-: :..
- - '8 I ,
t
.- -. -.
,
F.
2
:
-. .-..A.
1'

- L.. Y.

-
-
-
..
- ..
L-
... ..:
L,...
..
7
L : ,
.-
-
.- -
.7.
5.

.
7.

--
,'L
7.
C < '
..
- .-:
' '
L -...
.=?
.&,
r.*
A

c+
:'.
m
.t^
...
- .-.- - .
...
C.
<.
.
< .,
.
v
<.
.
..S
'.
.i
,t -,'
i'i .-
< ,
- . .. , .
G
-:
...
-..- .
A X.;

.-.
7 ,z !.- :-- :-
I-:
:
.G
7 ' . 7.
:. .: T
2
.:
m

.'v'. :
*
i+pic;,:5. -%
.
".
.--:
.-. $+
.: r.:
.. ;: .!" .: .:
v-,
.- -
L.. -
. :
.:.
--.-----.----.--------..----.---- .------------m -
---W- -

Fig. 6.28 Setpoint sequence

------------------c------------------------

I * I N P P 6 M C 1 S 2 I
I * I
I L I N E A R l I
I T I N T E R V A L . 2 O M S I
I S E T P O f N T 1 0 . 0 0 D 1 I
I S E T P O I N T 2 0.001311
I V I
f * P A R . B R A N C H 0 3 + f
-------------------------------------------
Fig. 629 setpint seqvence&h 2~hterpolation
nodes

Apart from the number of interpolationnodes, the user must also select the distance between nodes by specifying the intervaltime
U-interv).
In addition, the user can decide whether the interpolation between the nodes should be linear or according to a staircase wave-
form.This is specifed by "1 " or "0", which is entered after the input field "LINEAR".
6. COM 252/6l5 Operator Guide

6.2 PG (Programmer) Functions

62.3 Output
If the user has selected the output function by entering the selection number "2" in the basic menu, the output menu shown in Fig.
6.30 is displayed on the screen.
------------W------------------------ ------
I + D I S P L A Y :
I I
I f P G i
1 2 I P 2 5 2 1
1 3 S U B H Q D U L E 1
f 4 P R I N T E R I
I 7
A
i * S E t E C T F U N C T I O N + 1
--------------c----__-------------------------

Fig. 6.30 Displaymenu

Usingthe selection numbers listed in this menu, the user must select the source device from which the controller data blocksare to
be output, After selecting the source device, the menu shown in Fig. 6.31 prompts for selection of the listed data to be output.

Fig. 6.31 Function# W o n output

in contrast to the rigid user guidanceduring incut, various operational procedures can be selected individually during output. After
each operational step the program returns tc his output menu-fhe BREAK or ENTER key branches from this menu to the storage
prompts.

IMPORTANTNOTE:

When assigning parameters the selected dimensions are displayed initially and can be changed as during input.
Please note that modificationof the characteristic does not cause the values previously enteredforthat physical unit to be
changed, so that it is possiblefor values which are outside the input range to be present.
Example:
Old node : 0% = Okp/crn
200% = 300.0 @/cm
input 270.0 kp/cm
New node : 0% = Okp/cm
'100% = 100.0 @/ern

The value 270.0 remains as entered but now, instead of being converted by the IP to 90%, it is converted to a completely
random rnodulo value since the inner limit has beenexceeded.

==>The user must take full responsibilityformodifications of the dimensionalcharaeterisiticduring output.

623.1 Output printer

Entering "4" as the selection number in the output menu displays the print menu. This menu shown in Fig. 6.32 again offersthe user
various functions, From this menu it is possible to select the source cievice for the data to be printed. Selection of " T " displays the
2rinter parameters on the PG screen.
 6. COM 252/615 Operator Guide

6.2 PG (Programmer) Functions

------------------c------------------------

*
I * P R I H T E R O U T P U T L
I I
I ! P R I N T P A R A M E T E R f
1 2 P G f
1 3 1 P 2 5 2 I
! 4 S U E M O D U L E Z
I I
I + S E L E C T F U N C T I O N +
-----------------a----------------- --------f
Fig. 6.32 Print rnenc

6.2.3-1-1 Printer parameters

In the "Print parameters" menu (see Fig. 6.33) all parametersrequired for connecting up tovarious types of printer are grouped to-
gether.

-----------CCCCIC--__---C-C---I---------------------

*
I * P R ! N T P A R A E E T E R S
B A U E R A T E 4 0 0 I
I
I
# A X -
W A I T I
-
N U M . L I N . :
, R . t R :
7
0 0
2
5
I
1
I
-i
W A I T
B U S Y
T . R .
S I G N A L
L F :
:
0 1
N 0
0 -
I
*
• T I T L E B L O C K : N O 7
A

I 1 5 0 3 0 0 6 0 0 I Z O D X
----------------c--------------------------

Eg. 6.35 Print parameters

In the last display line the selection numbers "1" to "4" are assigned values for selecting the baud rate.

623.12 Print PG
After selecting "Print PG" by entering "2" no further sub-menu appears, except for the prompt for source of the list, as in "Input
PG". "Print PG" documents the current control loop in the PG. The documentation is printed in the following sequence: structure
switch positions, sampling time, resulting processorloading and finally the parametersof theindividual branches(see Section 6.5).

6.2.3.1.3 Print 1P 252 / submodule

After selecting the "Print IP 252" or "Print submoduie" function, the user has three alternatives (see menu "Print IP" Fig. 6.34).

Parameter tis;:

The parameter list documents a controller with structure switches, sampling time and branch parametersas in "Output PG"
(see Section6.5.).

Cross reference list:

The cross reference list documents the calling list of all inputs and outputs used in all the control loops so that muftiple as-
signments can be detected and the wiring can be documented.

Complete printout:

The complete printout is a combination of the parameter list of all controllers available on the IP 252 or submodule and the
cross reierence list.
6. COM 2521615 Operator Guide

6.2 PG (Programmer) Functions

----c--------------------------------------

I * O U T P R T I P I
I 1
I 1 P A R A H E T E R I
f 2 C R O S S - R E F . L I S T I
1 3 P R I N T A L L I
I f
I I
X . * S E L E C T
---------------------------------------v---
F U N C T I O N - I:

Fig. 6.34 -Print l?"

6.2.4 Transfer
The user selects this function by "4" in the base menu and can then select the source and destination of the transfer operation.
The control loop parameters are transferredbetween the PG and the IP 252/subrnodule packed in a data block @B). Each control
loop is assigned a fixed DB numberwhich however remains invisible to the user.
If the control loop is transferred to the 1P 252 or submodule, which is already present at the destination, then the user is prompted
as to whether he wants to overwrite the previous control loop. The same prompt occurs if transfer is carried out to the PG and a
control loop data block is present there.
Two possibletransfer menus are illustrated in Figs. 6.35 and 6.36.

1-------1----C--I------C----------------------

I * T R A N S F E R I
1 I
I 1 I P 2 5 2 - > P 6 I
1 2 P G - > I P 2 5 2 1
I 3 P G - > S U B H O D I
1 4 S U B H O D - > P 6 I
I Y I
I * S E L E C T F U N C T I O N - S

FQ.6.35 Transfer menu before scrolling

--------I----------------------------------

I * T B A N S F E R I
I
I 3 P G - > S U B H O D
- I
I
I 4 S U B M O D - > P G I
I 5 I P 2 5 2 - > S U B M O D I
1 6 S U B M O D - > I F 2 5 2 I
I I
I * S E L E C T
--------I----------------------------------
F U N C T I O N - I

Fig. 6.36 Transfer menu afra scrolling twice

 6. COM 252/635 Operator Guide

6.2 PG (Programmer) Functions

6 - 3 Delete
This Delete function can be selected by the user by entering the number "5". Afterthis, the Delete menu shown in Fig. 6.37 appears
on the PG display.

Fig. 6.37 Deletemenu

After selecting "Dekte IP 252" or "Delete submodule" the user is prompted by the PG to enter the number of the control loop to
be deleted. In "Delete PG" the lines "2 Ddete 1P 252" and "3 Delete submodule" are displayed and in line 3 after the "1 Delete PG"
. a question mark is displayed (see Fig. 6.38).This question mark is a safety prompt and should be acknowledged by entering " 1 ".

I * D E L E T E I
I I
I t P 6 ? I
I I
I I
I I
I I
f * S E t E C T F U N C T I O N
------------c------------------------------
- 1

Fig. 6.38 Safety prompt Delete PG

If "Deiete submodule" and "Delete IF" are selected, the user is prompted by the PG to enter the number of the controI loop to be
deleted.

6.2.6 Speck1functions
The menu "Special functions" can be called up by the user by selectingthe number "6".The menuwhich appearr on the PG display
is shown in Fig. 6.39.

---------cc--------------------------------

I * S P E C I b t F U N C T I O N I
I 1
I I M O D E I
I 2 D E F A U L T S 1
I 1
I I
I X
I * S E L E C T F U N C T I O N
------------------c------------------------
- I

Fig. 6.39 Special functions menu

As described in the previous sections, one enters into the "Operating mode" or "Defaults" menu by entering the corresponding
selection number.
6. COM 252/615 Operator Guide

6.2 PG (Programmer) functions

6.26.1 Operating mode

The "Operating mode" menu controls both the general IP module RUN/STOP as well as the selective control loop enable. The
operating mode menu is shown in Fig. 6.40.
In the last line of the display the decimal keypad of the PG is assigned the following functions:

The upper line shows the current module state whereas both lines underneath show whether the eigh: control loops in the IP mod-
ules are enabled or disabled.

- p - - p p - p p -

I * # O D E : I F - S T O P I
I I
I t - N R : 1 2 3 4 5 6 7 8 1
I E M A B : N N N N N I - - -
1 f
I E N A B L = Y E S D I S A B L = N O I
f I
I Y E S N O R U N I -
Fig. 6.40 Operating mode menu

After entering a selection number, a question mark appears after the selected function appears (e. g. RUN).This prompts the user
to enter the selection number a second time. This safety cheek reduces the probability of incorrect operation.
If the module is in the STOP by software initiation, then it can be put in the RUN state by entering "3"twice in succession.The mes-
sage text in the display changes from RUN to STOP.STOP appears in the last display line above the "3", i.e. the seiection number
"3"is assigned to another function.
in order to enable or disable one particutarcontrol loop the user must position the cursor to the point belowthe control loop num-
ber. Then he can change the enable/disable state of the particular control loop by pressing the selection number twice. The line
which contains the message "ENAB" gives information about the current state of the particular controller, where Y stands for
enabled and Nfor disabled or not used.

6 2 6 2 Defaults
The Defaultsmenu (see Fig. 6.41) is restrictedto the prompts bus access YES or NO.
Bus accessmeans in this case that the lP252not only uses the internalADCs and DACs but also accesses theextended peripherals
of the S5 bus. This has an effect on the syntax checking for the address assignments of the ADCs and DACs. Without bus access
only the internal addresses 0 to 7 are passible, with bus access however the addresses 128 to 254 are possible.

This "direct bus access" is only possible with the PC l15 U!

f * D E F A U L T S
I
I B U S A C C E S S :
I
1
I
I
I Y E S N 0

Fig. 6.41 Defaults menu

 6. COM 252/615 Operator Guide

6.2 PG (Programmer) Functions

La7 Information
This menu is called by selecting number "7" as shown in Fig. 6.42.

-------------------------------*----------v

I * I N F O I
f I
1 1 C O N T R O L L E R L I S T I
f 2 S Y S I D I
1 3 E R R O R 1
1 4 P R O C E S S O R L O A D I
1 I
I * S E L E C T F U N C T I O N + I
Fig. 6.42 Information menu

In this list the available control loops in the IP 252 and the submodule are listed. For each control loop the structure name and
version number is displayed.
After selecting the controller list the menu shown in Fig. 6.43 appears in which the user must enter the operating mode (online/off-
line). This influences whether the IP 252 or the submodule is used in the lower submodule receptacle of the PG 615 as the source
device for the list. Fig. 6.44 shows the actual controller list appearing after selection.

f * C O N T R O L t E R L I S T I
I 1
I 1 O N L I N E 1
I 2 O F F L I N E I
I 1
I I
f I
I + S E L E C T M O D E + 1
-------------------------------------------
Fig. 6.43 Controller list l wune selection

Fig.6.44 Centroller list

6. COM 252/615 Operator Guide

6.2 PG (Programmer) Functions

627.2 SYSlD
This fundion was introduced so that the system CPU could access its IPs (intelligent I/Os) and CPs (communications processors:
and read the version number, the date ofgeneration and the module designation for diagnostic purposes. If the "SYSID" functior
is called up undertbe "Information" function, then the menu shown below in Fig. 6.45 is displayed.

I 2 Q F F L I N E I
I 1
I I
I I
I e S E L E C T M O D E + I
...........................................
Fig. 6.45 SYSlD base menu
In this menu the user must decide whether he wants t o work online or offline. Next, the actual SYSlD mask, which is shown in Fig
6.46, is displayed.

Fig. 6.46 SYSlD menu

Only the date is t o beentered by the user in this screen form. The page number and the submodule version, in this caseV1.3M, arc
displayed after scrolhg down twice.

- *
.'; -5 '.; ?.
5
- -
.T .!. 2
--
I .. 7

Y : " ! E R Y 7 3 % :G.& -
&

6 * e
F . -3 :
-
E > f $ T E A

Z F & G E M R . c L
q =,
- 2
- T
.. -.
I S G S * , %\/=?<S: v - : <
-2. pj z
7 T
+ r>
, 4 T F - g -
L

Fig. 6.47 Second panof rho SE30 menu

 6. COM 252f615 Operator Guide

6 2 PG (Programmer) Functions

This function enables errorifault diagnostics if, for example, the IF will not enter the RUN mode.
- -
Under normal conditions no error the following menu will be displayed:

'7 +
-. -' R ". c; -
L
7
,c. L' . I
-
L

.+ -
i

d.
--
2.

I > j S -i - - F " =, " T

--
k .. & L - L
-
.L

t
-
* A
- - .
-
I _ _ _ _ _ _ _ _ _ _ _ _ _ C _ _ I_--- - --------.-------

Fig,6.48 Error form

The following messages are transferredfrom the IP 252 to the CPU control program for diagnostics purposes:
Errornumber Text on PG 615 Error caused by Reaction of IP
decimal toenor
p

00. No error on lP Basic status: "No error on IP 252" -

11. Hardware lime-out (not analog module) 'Stop"
12. Hardware Checksumof EPROMsincorrect "Stop"
13. Hardware Result of offset correction: Deviationof a DAC > 7 LSB "Stop"
14. - Hardware Errorin hardwarediagnostics program: RAM "Stop"
15. Hardware Errorin hardware diagnosticsprogram: MUART "StopU
20. Watchdog Time-out "Stop"
21. Directaccess S5 bus notenabled by SICW "Stop"
22. Analog section Wire breakage at digital input (digital tachol "Stop"
23. Analog section Powerfailure in analcg section "Stop"
30. PConStop BASPactiv "Stop"
31. Submodul Wrong or no submodule in lP 252 "Stop"
50. Analog module Tme-out or wire breakagein analog module "Stop"
51. Overload IP 252 overloaded(timing conflict) LED "F'flashing

70. RUN / STOP switch RUN/ STOP M c h on lP252setto "Stop" "Stop"

7 1. Softwarestop Stop of 1P 252 initiatedby commandfmm PG or PC "Stop"

All the messages l i e d above are recogn'd by the IP 252 operating system and can be
1. scanned with the hdp of COM 252 for the PG 615 or COM REG for the PG 635/675/685/695 via the "Info" function in the
"Errors" submenu, and
2. fetched via RECEIVE 200 from a specific RAM area of the lP252 (the dual-port RAM) bythe CPU. The error bit in questionis then
reset via RESET 200. An error b i once entered, will be automatically reset when the module goes from "SfOP-> RUN".
CONTROL 200 can be used t o determine whether a new error bit has been entered by the IP 252, and therefore whether i t is
meaningful or not to call up a RECEIVE 200.

Genemily, only the first message receivedis entered. The numbers51 and 75 to 85 are exceptions: these messages are overwritten
by all subsequent messages!
6. COM 252/615 Operator Guide

6 2 PG (Programmer) Functions

627.4 Processor loading

Afterselecting the "Processor loading" function, the menu shown in Fig. 6.49 appears. In this menu one decides whether online or
offline operation is required. After this the actual control loop loading menu containing information about the individual control
loops is displayed.
This function disptays the processor loading caused by the individualcontrol loops in the tP 252 or submodule on the processor of
the IP 252 (depending on the selection online / offtine). The total loading is given in the iast line.

-I------ ------c---------------------- - - - - W -

I * P R O C E S S O R L O A D I
I I
I 1 O N L I N E I
I 2 O F F L I N E I
I I
I 1
I I
I * S E L E C T M O D E - I

Fig. 6.49 Controller loading / source selection

Fig. 6.50 Controller loading

6.2.8 Controllertest
The wntroiler test function is selected by entering the selection number "8".Itis used for operator communication and monitoring
of the contrdler under online operation. In addition to the input and dispiay of parameters, the controllertest is also used for dis-
playing bit variables (e. g. branch enable bits or Iirnit value identifier bits), input values (e. g. PC setpoints) or intermediatevariables
(referred to as measuringpoints). AT1 values are updated several times per second by the IP252.
Forcing during controller test (W key)
The cursor is not visible during the stabs display. If a parameteris to be modified in the RUNmode, the cyclic status request is inter-
rupted by the FORCE key.The last display is frozen and the cursor appears in thefirstforceableReld or in the last forced field in this
screen. If no forceable fwld is available in the current screen, the PG searches for the first forceable field a)ter the current screen.
If no feid is found, the old screen remainsdisplayed and a correspondingfault message appears and the status is again cyciicalty
requested. Othennrisethe display scrolls until the first forceable field found appears on the display.
fn the "Force" mode, ttte cursor can be moved upwards or downwards with the cursor keys as during parameter assignment with
the restrictionthat positioning is onIy possibleon forceable fields. If no forceable field is available in the direction of thecursor kex
a fault message appears and cyclic updating is again started (cursor disappears).
If a parameter on which the cursor was positioned is t o be changed, the desired value is input and the subfield ENTER key is
pressed-ThePGthen transmits the new valueto the IP 252, interrupts the forcing mode and returns to the status dispiay mode.
Values which cannot be forced:
% Addresses
**
Measuring points
Number of tirnit values
$c EEnterpoiation/extrapolation node and setpoint numbers

When selecting the following parameters, there may be conflicts with the outer loop controller since it also accesses the same
memory locations via the dual-port mechanism:
*
PC setpoints
8 PC enable bits
 6. COM 252/615 Operator Guide

6.3 List of Abbreviations used in the PG 615 Menus

ADR Address
ADC Analog-to-digital converter
ANQ Analog output
BR01 Branch 01
Cl Controller 1
C LIST Controller list
CNO Controller number
CONT Continuous-actioncontroller
CR.W.TIME Waiting time after carnage return
D1 Dimension 1
DAT Date
DAC Digital-to-analog converter
DLM Danger firnit
ENAB Enable
HH.MM Innut format for hours/minutes
INP ~nbut
IP lntelliaent I10module (IP is often used as an abbreviation for \P252 in this manual)
IP-LOADC7 IP loading dueto contrb~ter1
Lower
Waiting time after line feed
LMV Limitingvalue
MAX.LINES Maximum number of lines
MOD Submodule
M.PG Manualvalue PG (manipulatedvariable for manual intervention)
MS Milliseconds
MS.PT-NO Measuring point number
NORM DECEL Normalizationof the decelerating current
OPM Operating mode
OUT Output
PAR Parameter assignment
PARAS Parameter assignment
PLN-CONST Planttime constant
P-NO Page number
PR1 Printeroutput
PROC.LOAD Processor loading
POSN Position(indimension designation)
S Seconds
S1 Structure 1(drive cantroller DR)
S2 Structure2 (standard controller DR)
S3 Structure3 (drive controller with self-setting DRS)
SEC Seconds
STEP Step controller
STOR Store
- ..~

STRUC Structuring (configuring)

SYSID System identification
T INTEN interval time
TLD Total loading
TS Sampling time
TS > increasingsamplingtime
TS Decreasingsampling time
U UPW.'
WARNG Wam~nglimit
WR Warm restart
X' LM Limit monitor
6. COM 252Kl5 Operator Guide

6.4 E m r messageson the PG 615

Hardware messages

NO- ERROR REMEDY

M ExternalRAMerror Replace PG
03 InternalRAM error Replace PG

Q4 Buffer overfiow Repeatf unction

05 Parity error Repeat function
06 W~rebreak Repeat function
07 Time expired Repeat function
or disconnectPG connector temporarily
08 Unknown Repeat f unction;
if required disconnect PG connectortemporarily

tocorrectoperating mode Select correct operating mode;

then repeatfunction
Block not available
Usart fault Repeat function;
if required exchange PC or interface
Unknownmessage Repeat function

Wrong key Pressright key

Unknowncommand Enter right command
Key-operatedswitch Key swc
tih must be on 11 position
No informationDB
No descriptionandtext lists
Range cannot be representeduniformly
Branch not available
Conclude subfield J key
Descriptionlist error Enter controller once again (configureand
assign parameters); itis notfunctioning
properlyas it has been generated on the
basis of an obsolete descriptionlist
No parameter inbranch
Inadmissiblenumber of steps/minimurnpulse
duration
Navalue inthedirection of the arrow / on the
page can be forced
Unknownmeasuring point

Address not allowed

Parameter overflow Enter command with the correct parameter
Parameter cannot be forced Acknowledge
Datain the selectedformat cannot be
represented Changeformat
Submoduleprogrammingerror Deletecontrotkr and re-enter/
replacesubmodule
Wrong submoduleinserted Identifysubmodule correctly
Nospaceonthe submodule
Nosubmodule inserted
 6. COM 252/615 Instructions

6 5 Output :Print PG

PRINT PG CONTR.: 02 CONFIGUR.: DRIVE VERSION: 0.2 PAGE QI

1. ConfiguringKits (structure switches):
Branch 01: Controller output 1 Branch 10: ActuaIrev/min
Conversion 0 Analog/pulse
Branch 02: friction 1 Filter
Branch 03: Periph. vel+accel 1 Zoom display
Branch 04: Increaseloop gain 1 Branch 11: Act. armaturecurrent
Inject dia. signal 1 Signal injection
Branch 05: Speed controller 1 Thermal monitor
Branch 06: Set-up speed 1 Branch 12: Limit monitor 1
Branch 07: Creep speed 1 Branch 13: Limit monitor 2
Branch 08: Set rev/rnin 1 Branch 14: Meas-socket 7
Ramp-functiongenerator1 Branch 15: Meas. socket 2
Fitter 1
Setpoint sequence l 2. SampIing tirne/lP252 load:
Branch 09: Primary controller 1
B+/B- 1 Sampl. time: 4 ms
ADClinput 1 IP252 load: 105%
N act/PG scaler 1

PRINT PG CONTR.: 01 CONFIGUR.: DRtVE VERSION: 0 2

3. Controller parameters:
LOW LIMIT -20.00%
Branch 01: Controller output NORM BRKG 0.00% IOWL 0.00%
ADR DAC 2 1 IUWL 0.00%
Branch 02: Friction FRICTION 0.00% IOGF 0.00%
Branch03: Periph. vel + accel STA. IACCL 0.00% IUGL 0.00%
Branch04: Increaseloop gain STA. 1 LOOP 0.00% SOGL 0-00%
IN3ECT DIA. SIGNAL SUGL 0.00%
BranchOS: Speed controller KP 10.00 NACTIPG SCALER
TN ZOOMS SCALER CONST 80.00%
N OS Branch 10: Actual revlmin ANALOGlPULSE
HIGH LIMIT 100.00% REV/SEC 30.00
LOW LIMIT -1 00.00% STII 00 5.00
IOWD 0.00% FILTER
IUWD 0.00% T a 20MS
IOGO 0.00% ZOOM DISPLAY
IUGD 0.00% STAND ACT '100.00%
SOGD 0.00% CAL DlSPL 0.00%
SUGD 0.00% ADR DACI
START-UP SETP 0.00% START-UPACT. . 0.00%
Branch06: Set-up speed REV/M!N 5.00% Branch l1 : Act armature curr- ADRADC4 1
Branch 07: Creep speed REVlMlN 10.00% SIGNAL INIECTION
Branch 08: Setrevlmin CONSTS€TP 22.00% STA. lARM 100.00%
SETP SECT 100.00% MERM MONITOR
ADR ADC6 2 THERM CONST f .lWk
RAMP GENERATOR THERM LIM. 89.00%
TH 1OS Branch 12: Limit monitor l NO. OF LIMITS 2
TR 15s MS. PT NO. 12
lNCREASE 100.00% LIMIT1 1.00%
FlLTER LIMIT2 -I .M)%
W 20MS Branch 13: Limit monitor2 NO-OFLIMITS 1
SETPOINT SEQUENCE MS. PTNO. 14
ADR DACS 1 LIMIT1 80.00%
Branch 09: Primarycontroller &/B- Branch 14: Meas socket l MS. PTNO. 14
ADClKEY IN A D R DAC 3 S
CONST SETP 0.00% Branch 15: Meas socket 2 MS. PT NO, 12
ADR ADC1 3 ADR DAC4 6
KP 5.00
TN OS
TV OS
HiGH LIMIT 20.00%
6. COM 2521615 Instructions

6.5 Output :Print PG

PRINT PG CONTR: 01 CONFIGUR: STANDARD VERSION: 0.3 PAGE: M

l.Configuring bits (structure switches):
Branch01: Controlleroutput Branch 02: Actualvalue
Cont/step ADCIPULSE
M. PGfADC Validity check
Standard/upgraded Averaging
Sep.d-comp. input Polygon
Disturbance inp. Branch 03: Setpoint
M.PG1ADC ADC/input
M.PG/ADC Ramp generator
Cont/"onW/"off" Smoothing
2/3-step contr. Branch 04: Limit monitor 1
Conditioning Branch 05: Limit monitor2
Branch 06: Meas. socket 1
Branch07: Meas. socket 2

Z Sampling time/lP 252 load

SampI. time: 4 ms
IP252load: 65%

PRINT PG CONTR: 01 CONFIGUR: STANDARD VERSION: 0.3 PAGE M

3. Controller parameters:

Branch01: Controller output CONTISTEP

STANDARD1 POLYGON
UPGRADED NR. VERTICES
M. PGADC START VAL.
CONST. MAN 22% CORNER
H. LIMIT 100.00% ORDINATE 1
L. LIMIT -100.00% START-UPACT
5.00 Branch 03: Setpoint ADC INPUT
IS NR. SETP.
TV OS LINEAR
CONTI"ON"1"OFF" 1 T lNTERVAL
TMlN 4MS SETPOINT 1
ADF 1.00% SETPOINT2
RSP 10.00% SHL
2/3STEP CONTR. l SLL
ADR DACl 0 Branch W: Limit monitor 1 NR. LlMTS
Branch02: Actual value ADCIPULSE MEAS PT NO.
ADRADC2 LIMITVAL. 1
H. WARNING
L. WARNING
H. DANG. LIM
L. DANG. LIM
SIEMENS

COM REG
Programmer-Software
User's Guide Order No . C7900CbB8576.C38&02

T A B L E OP C O B T E B T S

Gmrril-........ ................................. 3-1

Stzzsctare of the ................................ 3-1
Select- h e t i o n s ................................... 3-2
Eatrp Fields .......................................... 3-3
T b e s of Parameters and their Inout Formats ...........3-4
Recommendatians for the P r a c e b e..................... 3-5
Enterfng a Caneoller ................................. 3-5
Creating the Controller L i s t (only for R64) ........... 3-6
Transfer to t h e LIodtlle ................................3.6
OPline T e s t of the Cantroller ......................... 3-6
Changing the Strrrctare ................................ 3-6
Transferring t o a F i l e ................................3-6
the E P B O B ................................ 3-7
mmtatiop .........................................3-7
Possible Samces of Errars ............................3-7
Checklist for Wdleshootinq .........................3-8

4
4.1
. mi- *
Processinn the Caatralfer FB
R64..... ..........4-1
.......................... 4-1
4.2 -set ................................................. 4. 3
4.3 Hain m.... ......................................... 4-5
4.4 Irma................................................. 4-7
4.4.1 Entering a Controller D3 .............................. 4-8
4.4.1.1 Coa+roller ................................4-8
4.4.1.2 S c a ~Time ............................................ 4.10
4.4.1.3 Controller B c b a r i e u r and F3 Humber................... 4-13
4.4.1.4 m526 u p f a tiaa ..................................... 4-14
4.4.1.5 -tt&tk ................................. 4.15
4.4.1.5 farrm#tm fnprrt ...................................... 4-18
4.4.1.7 Controller Braach .................................... 4-20
4.4.1.8 A c Val-
~ Broach.... .............................. 4-21
4.4.1.9 Setpofat Branch...................................... 4.22
4.4.1.10 lipit -tor Brantb ................................. 4-23
4.4.1.11 Test Socket ..........................................4-24
4.4.1.12 Digital m e s s e s .................................... 4-25
4.4.2 Input of t h e Cantroller 'List .........................4.27
4.5 t
- ............................................... 4.30
4.6 Transfer............................................. 4.34
4.7 Delete ............................................... 4-36
4.8 a el t i o n s ....................................
S ~ ~ c ih 4.37
4.9 Information .......................................... . 39
4
4.10 -
Test ................................................. 4.40
 .
38576388-02 cm BEG

Praiect3xw Cantraller far m 5 2 ............5.1

Main H
-. ............................................5 - 4
mpnt ................................................. 5-5
Stmchrr:ing ...........................................5-7
Entering the Scan Time ................................5-8
Coatroller B e h a v i m ................................. 5-30
Spec- the Controller W e and b e a Hame ......... 5.U
Specifying the Dimension............................. 5-12
Parameter a t ......................................5-13
Ourmtt ............................................... 5-15
Transfer.............................................5-18
Delete .... ............................................ 5-20
Sbechl Fmrctims.................................... 5-21
Wormation Functions on the IP252 ................... 5-24
Controller Test ......................................5-29
As in other SIIUTIC S5 operator areas, the dialog between the user
and COX BEG is erectrted exclusively by means of a k s . All the
masks are structured basically the same:
- tsro headlines with information on the selected function and the
block which is being processed
- 19 lines of wrMng area
- three limes of function key menu for selecting fmzctims and
coatrolling the parameter bp=.

This strtrcture is flltlstrated in the "Cantroller selection" mask.

T h i s mask appears immediately after selecting " C W BEGw by means
of the (Fb/ <Package> key. All exiszing BEC: packages a r e
displayed.

In the wController selectian" mask the aser chooses the coatroll-

er he e s h e s to work d t h using t h e COM software. For this purpo-
se, the f u n c t i o n keys offer the following options:
Cantroller strrrcture R64
Closed-loop controller ff 252
Break

The assignment of the £unction keys e1>t o 6 7 > in the mask

s h m above depends on the existing packages.
Bfter a module bas been selected the preset mask is displayed.

To exit W REG press t h e break key a-. Then the command inter-
preter is loaded which ~511 display again all asailable packages.
To e x i t S5-DOS press the ftmctlon key a&. !&%S command must be
canfirmed by activathg the &ater> key.

CUH BEG is operated by means of the alphammteric keyboard, the

corsor keys, the eight function keys, the a r e a @ key, the
&ater> key, and the e d c o p p key. A l l other STEP5 specific
keys are ineffective.

men ycm press an -effective key the nessage -BX.UCXD KEYw is

dtsplayed; a f t e m r d s yau can correct the i n p t . Keyboard entries
are closed by press* the <Carriage re-. e z e r that +he =er
is prompted to enter furt=her data or, the next memu is automati-
cally displayed.

C m BEG is stmctnred hierarchically, i. e. there are different

1-1s on vhich the program may run. The upper level is the main
menu. Vhen the user selects a function from the main menu (for
erample oxatput) a neof mrm is displayed from which t h e data that
is to be outprst may be selected. Vhea t h e user selects, f o r .
eXaIIrple, *
-
P
" the third le-l f s entered. The following
diagran~shows this 3n detail:

Main menu o"m=t Parameter output

l
-t : Scan time
I
Transfer 4-e + Cantroller
Delete
I
t Phys. dimension
I
t Actual value

Special functians
I
+- Parameter
I Setpoint value
1
&€onnation !Test socket

Test
I
I- Digital peripheral

Ramally a function fs closed by pressing the f m r c t h key 4 R

(Ready) ; then the program re- to the next highex level.
The entries o r changes made are stored. Vhen a function is can-
celled by pressing a 8 > the program re- t o the next higher
level vithout staring the entries or the changes.
As d t h other operator areas t h e a r e a b key and the CCarrisge
re- a r e effective under COM EEG. Often the <BY- key *c-
tians t h e same as -%> a d the e t e r > key functions in the same
way as -7>.
Vhen the hardcopy key i s pressed the screen contents may be
output at any time via a connected printed.
 col4 BEG

3 -3 Entry F i e l d s

You enter data into the entry fields by means of the alphanumeric
keyboard and close the entries by pressing the * t e e key.
Before pressing this key yau can move the cursor within the entry
f%e.eldand correct w~ongentries.
Before you start to enter data into the entry f i e l d the cursor i s
positioned i n the leftmost position of the f i e l d . When tbe entry
field is blank, data can be entered l e f t - jrrstified. &&er you
have pressed the <Eatez, key Cm BEG displays the entry right-
justified. Vhea the entry field i s not blank pou can enter data
fn one of t v ~vays:

- You enter the new value left-justified. Since the prevLws

entry fs s t i l l displayed, right-justified, it i s not over-
w i t t e n completely. A blank m s t follow the l a s t character of
the nev entry so that COM BEG can recognhe it. after pressing
the a t e * key COM BEG accepts the nev value and displays it
right- justified. In the following example the value O1O. 5"
should be replaced by "9.5". (Blanks are represented by "-")

Before the entry is made: " 10.5"

Before pressing the a t e r > key: w9.5-5°
S e e r press* the a t e r > key: "-9 -5"

- Y o u overwrite the old value w i t h the new one in nsch a way that
the position of the decimal point i s maintained, i. e. the nev
value is entered right-justSfLed. The advantage of t h i s method
is t h a t anlp those characters that really have to be changed
are entered. In the previous example "10" i s overwritten with
=pu.

Before the entry Ls made: -

" 10.5"
Befare press* the a t e r > key: "-9.5"
Mter press* the a t e r > key: w-9.5w

When yarr wish t o enter parameters of different time d t s or data

types BEG offers possible time units sadh as m s , S , hm or
different data types such as m, XH. PV, FW h the fmncticm key
menu, during completiaa of the entry field. The default unit can
be changed by means of the appropriate function key before press-
iag the - t e a key.
B8576388-02 COM BEG

There are different types of parameters under COH BEG and for
each type of parameter anlp m i c d a r 3xtput formats are alloved.
In the following table all types of parameter are listed:
!type of Decimal
Parameter places

Controller no. 0

DB no. 0

??Bno. 0

B l t valae 0

Address 0

Fired point 2

Percent value 2

Times 1
0

3
2
1
0

2
Determination 4
of physical 3
dimenssatl . 2
1
0

as fo k t determined
detem. abwe
above
Dimensbn-dependeat parameters are parameters vith the sams unit
as the values to be cantrolled, for example the setpoint value,
the ermz signal, the setpoint value error lhits, the processed
ac- val-. Far further information see chapter 4, secclan
'Input/Entering a standard controller/Inpttt characteristic".
3 -5 Rewmwmhtions for the
You can project a controller by mesas of COX BEG accordiag t o the
steps described belov:

- Enter the controller s t r u c t u r e and parameters laze a program

f i l e.
- C r e a t e the controller list (only for controller s t r a c t u r e B64)
- Transfer the data blocks (and possibly the function blocks)
from t h e program f Lle to t h e module.
- ObLine t e s t of the cantroller; optimize the parameters.
- Change the stmcture w i t b wOatpptn, i f requtred, and t e s t it
agaiu .
- Stzore the tested controller data block in the program file.
- Program the data blocks in EPMW, if reqaized.
- For docvmmtarian, p r i n t t h e controller stracrtrre and param-
eters.

In order t o s t z u c t u r e a controller the "I1PPOTW-function is se-

lected from the main merar by pressing h e t i o n key <Fb.XP order
not to lose any data, in the event of interference, it i s ad-
visable t o i n i t i a l l y enter coatroller data bloclcs *to a f i l e and
not send them directly to the nodule. Uhesi yon enter data C m REG
guides you w i t h masks so that you can encer the data i n a mita-
ble order:
- strpctming
- determining the sampling rime l )
- d e t e r n b i n g the controller response
- deterpining the physical dimensioa
- parameterking the branches amd moaErrles that were svitcbed on
during stnlctoting
When a ctmtzoller i s being entered no values are preset by COW
REG in order to avoid e t e n d e d COrZtroller frmetions being
activated. Fox an appropriate parameterizacion of cantroller
structure B64 it i s necessazy t o enter values x 0 for the f o l l -
owing parameters:

- Scan tine 1 )
- T h e base of the cantroller list
- Upper limit (of the conaoller)
- Lewer limit (of the copuoller)
- Positive increme11t limit
- Negative increment l i m i t
- Adjustment factor on a continoarts ccmtroller witb pulse/pause

- -W=-
Gab of the actuator adjustment
Minimm p l s e duration an a step or continuous controller vith
@se/paae outpat
- -er of veztices of the polygon curve
- Distance between the vertices of the polygon camre
- Number of setpoints of the setpoint sequence
- F i l t e r t i m e constant
- Increase at t h e ramp-function generator
- m b e r o f limit values of the limit monitors
- X e a s u r i n g point number for lhit monitors and test sockets

l) H e r e , 7sampling timet and 'scan time* have t h e same meaning

3.5.2 Cros* the Itt (aaly for R64)
The system program of the processor must be informed in the
resemed data block DB2 in wh%& sequence each controller i s
called. Therefore, after t h e creation of the data blocks, each of
which contatus a ctmzroller s t r u c t u r e , the controller l i s t must
be created by COM BEG.

h order to be able to t e s t the coatroller the data block should

be transferred from the f i r e t o the module using tbe function
<F4> "TBIWSFEELn. Vhen working w i t h controller structure R64 the
function block (FB102) and the controller list (DB2) must be
transferred along w i t h the data block 3 a Tsttich the c o n t r o l l e r
structure i s stored.

dfrer starting the PC the controller can be tested by means of

the frmctfcm Q?8> "TEST*. It is recommended t o ensure that +he
c o u ~ o l l e rreceives rhe correct: valws from the input module by
selecting a test poht table where the different test point
values are d s i b l e at a glance.

You can aptfmize the parameters o n l i n e during the controller t e s t

by overwriting the cztrrent parameter using the function "FOBCE".

S-e odly the parameters my be changed daring t e s t yea h v e to

e x i t the t e s t and select the frmerian 432- aOIPPPUTm in order t o
change the stnachrre. It is reasonable to cbange the data blocks
at the module (fn STOP state) since it %S there that the parame-
ter changes, t e d t i a g fram t e s t . will be accepted, in ctmtrary
to che data block on f i r e . After a strrrctore has been changed the
processor must be restarted. The user may now change the masks
completed by "ILPPUT" . fn cmtzary t o inpat, the user von't have
to follow Che compleze segueace of zmsks, but may select directly
the masks t o be chzmged. The "Testn and "Changem steps are re-
peated until t h e BesiEed controller characteristics are obtained.

Bfter the test a l l data blocks that have been changed should be
saved %XI tbe fLle u s i n g the function CF4> "TBBF3SFEP.
 COM BEG

3-5 -7 g-P the

When you work w i t h the 32252, COX BEG offers the possibility to
p r o g r a the created data blocks into EfaOMs us* the function
-4 , wTRANSVEB". Uhen using the "controller s m c t u r e B64* the
p r o g r d r g of EPBOMs is only possible using the STEP5 program
package.

After you bave finished projecting t h e controller, the structrrres

and parameters should be printed. To do this, select 478s
OUTPUT" using the CF2> key. In addtticm to the parameters, a
cross reference list w i t h the hp~~t/outputmodules ased by each
controller can be printed.

This section attempts to list all posslble problems and sources

of errors so that you may avoid them after ha* s u e d this
section.

- If there are notes an the delivered program version at the

beginning of this manual, please pay attention to the remarks
given !

- A valSd filename shartld be preset when blocks are to be read

from or written onto floppy/hard disk. The valid form of a
'filename is: "X:PZZZZZST. S5Dw where "X" is a valid drive name
(e. g. "Au). "Yw is a capital letter and "2" a capiml letter
or a digit.
When you do not enter a filename or vhea you enter one incor-
rectly COH BE6 cancels the access to the floppy/hard disk and
dLsphys the aessage "EBBOR EXTEBXPbI. STORAGEw. If this error
occurs when you are w r i t i n g a data block this block can be
saved because the data is still in the "programmern medium,
althrmgh the input = d i m 'PSUn was selected. You can save
this data block from the by transferring it into a
=lid file by means of t h e fmrctioa " ~ S F E B n .

- When you work vith the controller structoxe R64 and the D252
you should store the d a t a block for both M c e s in different
files so that they are not lPixed PaSatentionally!

- After discounecting and reconnecting the cable betveen FG and

PC, vhes a paver failure m 'tbe PC occrrrs, or following a cold
restart of the B-Processor a transfer error o c m s that is
detected during the next commrmication between PG and PC. COE
REG then cancels the transfer and displays the message "PC <->
PG W S F E R ERRORw. When the cancelled function i s called again
the connection may be established.
- In order to increase data security each data block is almost
alvays simultaneously sent to the PG storage as you process a
data block (in-, output, transfer). It is this PG storage
that ahays contains the Last data block processed, even if it
 was input to the modtileor inta a f i l e .
When you cancel the input or output function Uaintentionally
the PC storage retains the data block u n t i l you work an a
different one; therefore the block can be saved by transferring
it from rhe PG t o t h e module or the f i l e .

- Thehput ftmctfcm offers "PG" as the target for a data block.

Because of the characteristics o f the PG storage mentioned
above this data block is overwritten without warning when you
work on another DB. Therefore yoa are adPlsed against selecting
the PG as destfnatian for input!

- When you cancel the f.rmctian "OUTPUTR (except * O ~ / P A R . A -

XBTER") not only the output of the mask but also output of the
complete data block is cancelled with the result that all other
changes (e. g. parameters) are lost. This block can only be
saved by means of the PG storage meationed above.

- The encoding switch of the printer PT88 should be set as it: was
when the printer was delivered, i. e. all switches "ONn.

Note: An incorrect printout indicates that tbe parity of the

printer interface is not set correctly.

3.7 ChPcl_UiSt for !Prcmb1-

The f o l l list
~ contains the most frequent: causes of the rnost
important possible user errors, from call of C m BeG to coutroll-
er test.

PCs are highly complex, high performance devices where mmy

frmctians must n m correctly at the same time, in particular in
the mult%tasking mode, in order to realize the required action.
The large number of available frmctiarrs m y lead to a latge
mnnbes of +possible operator errors. It is therefore reasanable to
restrict the troableshoot%ng of particularly smbborn and
apparently ineqlicsble faxilts to the necessary modules and
functions. Erperience has shown that faults are not necessarily
f d in the ftmct5aa where they appeax but in a different one.
- Does the floppy-d disk coptain a l l tools and drivers re-
w e d ?
- Were a l l tools and drivers taken frm the same ZEFV package?
- Does the floppy-rd a s k contain all Colt REG f i l e s ?
- Were all BEG ffles takes from the same COH REG pachge?

- Is there still a wong entry in the Fnprrt fteld (e. g. entry of

time base or determination of input characteristic)?
- Is it possible t o leave the mask by pressing the a r e a l e key or
the -ten key4
- Is the keyboard locked with the key srritch?

- Is t h e name o f the default program file ia the correct format?

- Is there enough space on the floppy/hard disk?
- Is the attribute of the selected program file *Read anlyw?
- Is the selected program f i l e stored fn a different Pser area?
@ser areas can read files w i t h the attribute "SYSw from user 0
but crrmat write 3nto them)
- Is the disk formatted?
- Is the disk drive closed?

-
-- IsIsIs the
the
the
defaalt of COM BEG "Online"?
PC sapplied with-ex?
plugged in?
module
- Is the cable connection b e m e n the PC and the PG correct?
- Xs the crnmeectSoncable semicable?
.- Are the correct SSDOS drivers used?

The following -@-specific notes refer to the c~ptroller

stxucrore R64:

- Far Wtipracessing : Is rhexe a valid D31?

- For mdltiprocesstng: Is the coordinator installed? Are all jun-
pers set correctly? XS the correct node set?
-- Is the c ~ p t r o l l e rf u n c t ~
block nissing?
Is a data block that was entered in the controller list mis-
sing?
- Do all accessed 5nput/01~tpcrtmodules ex%st? (Rint oslt cross
reference list!)
- Is the correct base address set for a l l modules?
- Do a l l modules receive the enable and supply voltage required?
- Axe the m d d e s plugged in correctly?

Chapter 5 In which the controller strnctore B64 i s described

gives iafommtion oa how controller faults (and acknouledgeslent
delay on controllers) can be identified and evaluated.
~ ~ i r i J l t h e ' B W 1 ' ~ k r t t h ~ I l c r d O e s ~
m-y. Then refer to the f o l l checklist:
~

- After aay traasfer/change on the module a restart must be.

carr5ed oat
- The controller be entered in the coptrol~erlist
mpst
- The controller m ~ s tbe enabled (see Specid. functions/Controll-
er processing)
- If you entered an address i n digital Inputs: Was this entry
supplied with m e a n h g f t i l tralues (by STEPS programs, CP, or
Spritdh) P E. g. , flagwrds must be filled w5tb values by the CP
or the STEP5 program, special switches carmeeted w i t h 1/0
w d d e s . Special attention is to be paid to the position of the

.
bit values for "Iahibiz controllern, "Final posftlon ON aehiev-
ed" "Final position OFF achieved*, "IIaxmal operationu, and
'Wafntain regvlating variable constant".
- The bLts mentimed above could hwe been set in t e s + .
- Are all parmeters preset w i t h ~ e a n h g f u lvalues? (see chapter
-Entering a controllerw)
- The address of an ADC (DAC) may not be maintained in a satitched
off branch. (You should activate the approprfate branch asing
the s t r u c t a r e switch to check it!)
- Do the hrpt/output d e s work correctly? Were they para-
meterbed for the correct range?
- Do the -t/output modriles work w i t h the correct data format?
~ e g a z f v eva1-S mast be represented in +roans complement!)
- Does a STKf5 program describe an incorrect data vord in the
cancroller d a t a block?

- Bot: a l l parameters map be changed chuing the rest!

- Were the parameters eatered in the correct format?
- Was an input made w i t h t h e addressing for the d i g i t a l
inpuzs?
Then the digital iaputs cappot be controlled during a e test!
4 Projeszthg the Cnntroller Sxmzbre R64
4.1 Processing the O o n t m l l e r FB
The processor executing the contsol process Ls s word processing
control processor that recognizes the common STEP5 functions and
organization blocks (OBI, OB13, etc.).
Ollry vhen data block DB2 (controller lkt) cantaipizq usable data
is available, f o l l restart,
~ will the time-controlled call-up
cycle of the controllers be started by the system program.
Each controller Ls represented by a data block. The system pro-
gram receives information from the controller list as to which
controller i s called w i t h which scan time. When calling, the
appropriate data block is selected. In data word 0 the number of
the frmctton block, which contains the control algorithm (e.g.
102 for the controller structure R64) is entered. This function
block which is called by the system program processes t h e pro-
jected coneroller s t r u c w e using the data in the data block.
During this procedare all Zaput values ( s e t p o i n t , actual value
etc.) can be taken frw the data block. The computed a-t
values (e.g. regdlating variable) are stored in the data block.
The process image (takes input values from tbe peripheral to the
data block and oatptrt v a l u e s from the data block to the peripher-
al) is produced by the system program, if there is an address
given in the appropriate parameters. The input/mutput valrzes can
also be supplied by a STEP5 program. Jn this case po addresses
nay be allocated w i t h the respective parameters so that the
system program does not erecute a process buage for these parame-
ters. The frmctian block that cantafas the controller strac-tare
must a i s t only once for all cantrollers because all controller

-
specifLe data is stored in the data block.

--
1 102 1 1
-
7

3nptl.t
P

Output d u e s

Thase times not marked for coacroller processing are available to

the STEP5 program. During these times, optional STEPS programs may
rrm to process input and outpat wal.aes of controllers. Thus
mlti-loop control systems may be created.

The higher the processor load, i. e. the more controllers that

are entered in the controller list, +he longer the cycle time of
the STEP5 program. The STEP5 programs zun asynchranically cam-
pared d t h tbe controllers.
B8576388-02 COH BEG

!l%e following blocks must be awailable in order to enable a

cuntrol procedure :

- DB 2 controller list
- DB X a controller data block (3 5 x 5 255)
- FB 102 fmrct%on block ntth the cantroI algorLthm

Since a STEP5 program always runs in the background (idle cycle

if no program was input) the operating s y s t e r ~executes tbe pro-
cess image for the digital peripherals (E% 0 ... PB l27). When
the control procechrre uses iqmt/au+pat devices whose addresses
are less than 128, the process image of the STEPS program over-
writes their process a g e s . h order W avoid t h i s a DB 1 that
does not assign input or output to the STEP5 program should be
entered in the processor. In order to execute a control procedure
vithotzt STEPS software and without any knowledge of -5, a
DBla which prevents the cyclic STEPS program frcm access-
h g peripheral addresses < 128 is delivered together vith the
controller stmctare R64.

Note: - The f i l e wBEGB64ST.SSD" contains the cuntrol algorithm as

function block FB102. When you already use an m102 on
youz system you can assign another block n-r to the
.
delivered one wing COlI BEG or * L 0 CSF STLw You should
enter this new name in t h e controller data .block.

- In the follwwing sections the processor is also called

" W e m following the conventions of CaM W .

You can f h d mare detailed information on the processor and its

system program in the User's Ctlide for the processor and in the
descriptioa of the controller stnzc-e 364. .

~ ~ p a r t i e r i l r r a + t C n + i m + o t b r ~ t h n ~ e g i p m
i a + h c ~ I l c r ~ ~ ~ ~ ~ a n l a + o t h e e r g ~
t i l m o f a l t r e a s ~ b y ~ ~ ?
4-2 Preset
After S5aOS i s s t a r t e d and COH BEG is selected (see section
"Starting COH BEG") COW B E G displays the preset mask.

* sam#kt.: Block : S-
* - - - - - - - - - , , , , * , , ~ - , , , , , , , - - - - - - - - - - - - - - - - - - ~ - * , , " *

Select the operating mode and the program f U e from the Preset
mask.

- wOBLIHE" neans that the PG can communicate directly w i t h the

module. You can select fhis operating mode only w h e n t h e module
Ls ready t o operate and rhea it is connected w i t h t h e PG. In
the oaliPe m d e , catrollers can be projected directly t o the
aabdale .
If no PC i s ptovided, the coutroller data blocks can be created
using COEl BEG and stored in a program fue. In this case, you
should select the operating mode wOFFUNEn.

- COM BEG can store data and faactLan blocks in a program f i l e .

A l l follcrvfng accesses to external storage (floppy or hard
disk) refer t o the blocks in the specified program file. P m
can enter the program f i l e name after you hzve pressed the -6>
key. The fozmat of t h e filename is "X:YZZZZZST.S5Dw where mXm
is the drive name ( e . g. "A:", "B:", or "C:"), "Yw i s an q p e r
case and '2" aa ripper case letter or a d i g i t . The name should
have the number of characters specified above, otherwise it i s
f i l l e d vitb *gm. The entry i s completed w i t h <CD.
 -le: wB:E;IU102ST.STDw
lPbe name of the program file should refer t o the project. In
the specified program file, STEPS DB, EB and controller DB and
FB can be stored together.
By pressing t h e £unction key m you cap exit the preset mask
and enter t h e m a b m m . To re- to the modale selecttan press
4?*.
* *
k :R-APc. Strud. : f
** FUNCTION- SELECT -.: Blodc :
, - - - - - - - , , , * , - - - - - - - - - - - - - - - ~ " ~ - - - - - - - - - * * -
*
*
* *
* *
* *
* *
* *
* *
* *
* *
* *
* k
* *
* *
* *
* *
* *
* *
* *
* *
* *
* F1 ! F2 I F3 ? F4 ! F5 ! F7
! F6 ! F8 *
* l I r !SpeciaL !
I t *
* test .~e!Delete!fu&xhl!m !Break *
* *

The main menu is the highest mask level of Col¶ BEG. From there
9- can select the follovirrg functions:

- enter cmtroller data blocks

- eater the
the coatroller list

- change the eristing controller data blocks

- change the d t h g controller list
- print +he controller structure
- pr5nt the cross reference l b t

TEST - test controllers anlirre: startbg-pp,

operat-
ing, monitoring and changing the parameters

TUXSF'ER - transfer the data blocks and function blocks

betveen the e e (programmable controller),
program file and block menory of the PG

- delete data and function blocks in the module

and program file
- deleze the program file and all blocks vithin

SPECIAL FUNCTIONS - cold restart of the processor

- warm restart of the processor
- stop the processor
- compress the data blocks in the processor
- change the presetting
- controller processing

- list of contents of all control loops on r h e

W e , program file or sPbmodule
- SYSID module
- =ID spbmodule (frame number, version)
 cm BEG

Us* the ftmctLon "INPIJTm you can project controllers by creat-

ing a controller data block. Additionally a controller l i s t (DB2)
can be created using the function "IHPVT".

After se1ect;loa of the ftmction "IEFUTmby pressing the function

key <P1> the m a i n menu offers t h e possible destinations where
entries may be stored automatically:

-L> program f i l e
a 4 > module
a 5 > programer (PG)

Note: - It i s addsable, even h oaline mode, that the eatxies

a r e stored in t h e program f i l e first and then transferred

PC (e. g. anintentional removal of the module etc. )

the data is s t i l l available.
.
t o the meddle so that In t h e case of disturbances at the

- You s h d d never enter t h e data directly into the P G be-

cause its data block storage can only hold one block, as
described by STEPS. The block stored in the PG is l o s t
dthout warning tube= you wzk on the next ooe (e. g.
.
input, o u t p o t , transfer)

In the following mask inpt of a cantroller data block and a

controller list i s o f f e r e d :

-l> ccmcroller data block

a& controller l i s t

It is only r e a l i s t i c t o create s ccmtzoller list after the crea-

tion of all controller data blocks. F011OPOlpg t h e inpuz of a
conrroller data block or the controller list, described below,
the mask f+c d-layed again so that you can make further entries.

Note: If COII EEG realizes +hat an entered data block already

e x i s t s an the specified d e s t k t i o n medirrm the following
question is displayed: EXISTING DATA BLOCK?
(YFI)". If parr do not vish to overwrite tbe existing data
block, you can save the newly created one. It s t i l l exists
in the PG memory even though you specified the program f i l e
or t h e modole as destination. In order t o save the nev data
block enter "LPw and copy the &ta block from the PG t o t h e
progran file or to t h e m o d u l e by means of the fanction
wTraosferw. The &ta block nrmdber may also be changed
during tbts procedure.
The f i r s + step an entering a controller DB consists of specifying
a data block number Semen 3 and 255. A coptroller DB entry is
generally carried out in a L i n e a r way, i. e. all inputs are
recpested one after the o+her, Vithmt branching, in che fonn of
masks. EntrLes are offered in the folloviag order:

- entry of stxuc#re
- entry of scan t h e
- entq of controller b e h a v i m
- entry of ftmctian block number
- may of controller and area name for CPS26
- definition of dimensions and pmaerical range
- parameterizaticm of selected branches
Note: Farameterbation offers only those branches and modules
that have been selected during the preceding smcturing
operatSxrP. If you realize b i n g parameterbation that you
have forgotten a module when s t r r r c t t l r i n g the controller,
exit the b p x z t and change the structare using "OUTPUT", in
order to be able to parameterize the desired module.

After eater- the data block number the s+ructuriag nask is

displayed. By mesas of the str\rc+ariag fnactitm, you can estab-
lish an indi-dually required corstroller strrtcture by setting the
satore-switches. Based on the givea primaxy structare you can
activate specsic cmtzoller hanches .
The strrrctrtte-svitches have the functions of either on/off or
change-over switches. 'Phe s w 3 t c h e s can only be set by eneering
"0" or "lW. Tr, case 02 on/off switches (e. g. "ramp-function
geoeratorw) , e a u y of "1" causes the module t o be activated. Uhea
eater* "0" the module remains switched off. Cbgpgeover mritches
are marked h the texf by a slash W/" (e. g. mccmtinwus/step"),
where one o f mm selections is possible: "0" for the alternative
preceeding the slash or "1" for the altesnative follouhg the
slash.
* 4F m :R--. SPlrcE. :cztzzmz. *
* STRUCTURING Salizc~m.:File Blodc :B 003 *

ffter each entrp of *On or "lw the cmrsor shows the next log%A
switch, i. e. orrly switches of branches that have been a c t i v a t e d
can be -d. Tbos, you are spared asmecessasy and confusing
entries. If you select, for pramale, the continuous controller
"standardnby * 0 ' the cursor will never point t o the item 'inter-
ference fnptrtl s h c e the latter i s optional only for the -graded
controller.

The cprsor may also be maved to the respective switches using

the foot cursor keys. Since the list of switches is longer than
the available space, the list can be scrolLed ap or down as-
the fnnctian keys -4> and eB.
Notes: - If t h e sv%tcbjadicated by the cursor position is preset
to WO* and yioa do nat wish to m e it, you are never-
theless recommended to enter "0". & a result, the
cursor i s positioned t o the next logical sw5zch by the
program. Entering the digits m e or zero exclrrsively
prevents you from actisating a switch several times or
not at all. If gm move tbe cursor us* the cursor keys
you do t h i s vithout prompting f r a the program!

- The change-over switches "Manual Value PG/ADCw and "Ana-

Log/Digftal O u t p u t " are given several times in the list
for reasoris of program structure. However, COX BEG sets
the cursor t o the r e s p e c t i v e svitch only once, depending
on the specified s t r a c t u r e .
 - The branches "Controllerw, " A c h l a l Valuew and 'Digital
Addressesm cannot be switched off, thus they are present
in each controller.
- When saractrrring you can only set srrocture-switches,
digital inputs may not be set. Belays can be cantrolled
dur- d i n e test only.

In order t o show the relationships between the s t r u c t m f n g mask

and the svitches of the controller block diagran, a list with the
carrespoadiag assignments is provided in the description of the
controller s t m h v e R64 (chapter 3, Tables).

S t r r r c t u r i n g operatLns are teminated by pressing the #unction

key a> after which the next entry mask is displayed. Entry can
be cancelled by press- -S>; a l l preceding entries are lost.

k t e : If t h e entry is not cancelled dur3ng s-msring but at: a

later point Ln time. CCN EEG attempts to store +he data
block along with previous entrf es at the destination me-
dim! Odly if a data block vith the same &er exists the
qaestim "Block x overvrite (Y/N)" is displayed.

4 . 2 Scan m
lChe "scan the" mask enables you to enter individual scan t i m e s
for each cantroller.
lIbe scan tire is the period of time in w h i c h the input values
(ac-X val't~e, s e w - , etc.) are read in once and the oatput
d u e s (e. g . manipulated variable, limit) axe evaluated and
output to the process.
*
*
*
-
SCAN-TIME
Ndtze :B - h . Stnrt. :GzltzPI.
a u c e / & ~ . :F i l e B- : 003
*
*
*

The scan t i m e may be entered after pressing the function key

&b. The notes on the sequence of keys during entry, given in
the s e c t h "at t
fLeldsw should be obsetrved. The folloving
po2nts are bprtant for the nm~ericalvalue:

- Ia, the quasi-'continssous controller. outline, the recamended

scan t h e value amarmts to 10% of the daminatjag tfme canstant
of the system to be controlled.

- The scan time mnst be an integer mnltSple of 10 m s , i.e. each

at least 20ms.

- For step controllers and conthwus coptrollers w i t h pulse/

pa=e outpat, the scan time kt be an integer multiple of the
puls b a r i o n .

- A processor can process a amxinmm of eight different scan

tines.

- The smaller the scan time the higher the processor load. There-
fore, fever controllers can be processed at the same time. In
other words tbe cycle time of a STEPS program fn the backgrotrnd
is becoming longer.

- In the controller list vhfch is to be entered later, the maxi-

wnn cornman divisor of the scan times of a11 caatintrous control-
lers must be entered as time base. If an mmsual value is
specified for the scan time it should either be corrected
later, or the time base should be selected to be unnecessarily
 small causfag an increased processor load and STEP5 programs t o
be processed more slowly.
(It is nor. possible, for example, to enter a controller d t h a
scan time of 30 m . and anorher w i t h a scan time of 50 ms into
the cantroller list at the same time; the ntaxbum common divi-
sor is 10 zns while the m i d m m time base marst be 20 rms.)

- Bfter changing the scan time t h e controller DB in DB2 mast be

switched off, then on again. Then, a cold restart is to be
erecoted for the processor.
@urCher infomtion can be fa\md in the descrtpzian of the
controller l i s t and the contxoller s t r n c t a r e R64.)

U s e function key Oh to t e m i n a t e entry of scan time and step to

che nert entry mask. EntrJs may be cancelled by pressing G 8 > ; the
data block is then created.
B8576388-02 COK BEG

This mask requires four entries. The cursor may be moved by use
of the keys <ccrssor op> and <carsor dowro. Yes/no ennries are t o
be made by means of the function keys <F1> and -3>. The Eunctian
block &er should be entered v i a the keyboard and terminated by
pressing the <Carriage Re-.

mu? :R--. S W t . : Ccatral. *

Sorae/lkst.: File Blozk : m ern *

With the PG you can s w i t c h on and off individual ccmtmllers

chaing operatfan withaut inflaencing the other controllers (Spe-
cial functions/controller enable). For this status and for the
"STOP" status of t h e processor you can specify, w i d t &e first
entry, if in case of a controller stop all outputs of the con-
rroller s h d d be set to zero ar if they are to remain in the
same states ss before the cantroller stop.

By means of the second err-, you may spec* whether the can-
troller output is to be updated immedhtely follouiag the can-
troller processing, or time cuntzolled, i. e . together w i t h the
controller input.
In the f i r s t case, dead t3me is short but not caastaat due t o a
variable program executton time. In the second case, dead time i s
constant but o f the same length as the scan time. This entry i s
rel-t for those controlled systems where the time constant i s
abmt the same duration as the scan time. You then have to decide
which entry t o select, depending on the controlled system.

W i t h the analog input m o h l e s 6ES5-460-4U and 6-5-465-4U, the

measur5ng range 4 . ..
20 BA i s not mapped t o 0 ...
1003, but to
25 (10008) ... 125% (SOOOH).
You may select a suitable adaptation via the cantroller. 25% are
then subtracted Erom all ADC inpt values of this cantroller.

Entering the function block mnaber informs the processor which

fmrction block contains the control algorithm. Therefore this
entry i s mandatory. (The controller stracmire R64 i s supplied
w i t h the function block number 102.)

Ress the function key G 7 > to terninate this entry and step on
to the next entry mask. Entry can be cancelled by use of -8>;
the data block is then created.

4.4.1.4 GP526 Adaptation

*
:R-Aoc. Struct. : Cantral. *
Saace/aesr.:Fife Block :LB OL13 *

This mask should be c-leted only if ycm wish u, operate and

monitor the controller =ing CP526.
Entries f o r controller aad area name a r e nsed for display build-
ing of GP526 and they are stored b the data words 192 ..
199 af
the data block. The entry ccmprises of eight characters maximum;
letters, digits, spaces and underscores ("-") are allowed.

Press the function key <F7> to conclude the entry and go on to

the next entry mask. The en- may be cancelled by pressing a 8 > ;
the data block is then created.
B8576388-02 COlrI BEG

U o g inpPt/output modules work w i t h aormalized signals. e. g.

pitb 4. .20 mlL for the analog part and w i t h the range of values of
.
000Oh. .4000h on the digttal part. With a temperature of 300 O C
a transducer p-des a current of 12 W. The analog input module
transforms this current into a hexadecimal value, e. g. 2000h.
This is the value +hat the controller structure R64 receives from
the -log input. In order to work w i t h CEM =G using the actual
mmerical -1-S and rmfts you S-d t e l l the coatroller by
means of this mask how to interpret the -decimal value of
ZOOOh, i. e. the characteristic of the inpat range should be
determined.

The cantroller stmacture R64 assumes that the input/output mod-

ules represent the positive range of d u e s of 0. -100% as d i g i t a l
value of 000Oh. .4000h. Negative valws are expected in two's
complement (for 4.. -20 mB = 100W.. .5000U see chapter 4.4.1.3).

Thee e n t r i e s are required in order to specify the characteris-

tic :

- physical dimension (6 characters -%mum)

- numerical valtte of the controlled condition to be provided 0 %
(400Oh) by the cantroller in the data format
- numerical value of the controlled condition to be provided
l00 % (4000h) by +he controller in the data format .

Notes: Maay analog input/ontput modules have a resolution of 2048

.
d t s On the digftal part the w a d e s work FPIth 16-bLt-
words where +he three least siPnificant bats are not
evaluated or s e t , i . e. the units that correspond to the
analog value are shifted 3 bits to the left (multiplied by
8 ) . Therefore, for a resolation of 2048 tmits, on the
digStal part is represented by 16384, corresponding t o
40OOh.

Erample l: range of ac-l value: -50 .. 150 Degr-C

traasdncer pravides 4 .. 20 mA
-og *t provides ooooh .. 4oocm
0 .. 2048 - i t s
controller interprets 0 % .. 100%
During the work w i t h CO1I BEG, in the Wit- position
the following emtries (hi t a l i c s ) apply:

D h e n s i o p D1 : D e e
0 Percent corresp. -50.0 Degr-C
100 Percent COrresp. 150.0 Degr_C
* &F HxkAk :K - A a . sfmct. :GZzm1. *
* PARRHETER Smmem. :F i l e Bkek :116 003 -R

Both ispnt values that specify the characteristic of the input

raage detexmine the nmrhr of decimal places w i t h vhich 111
dimensicm-dependent parameters are input and output. The follow-
ing values apply for the valid hput q e :

The five formats, shown above, have the maximum resolution, i . e .

the greatest possible nmnber of d e e m places. The user may
Agmre a pet of the resolution by specify* l e s s decimal places
than p e d t t e d for this farmat. For -1e 1, t h e entry of
-%..l50 Degr-C would also be correct. Since most of the analog
input modules can also process negative carrat and voltages the
b p u t rartge in example 1 is -250. ,150 &-C.

M e : - The algaritlnn specified 2n the input characteristic, w i t h

which the coatroller is to process the input/autput, is
v a l i d for all diDension dependent parameters. Therefore,
all inpnt/outptlt modales should have the same data
format.
* *
* Pfdde :R - h . Sasrt. :&zavl. *
* PARAMETER Saltzem.: F& Brcrfc : EB OQ3 *
* - - - - - - c - - - - - - - - - - - - I - - - - ~ " ~ * - - - - - - - - * - - . * - - - - * *

The first mask of the parameter input contains a list of all

active branches and their numbers. Since you can select the
branch you wish to par-terize first. the linearity of the input
5n t h e function "Parametet inputRis interrupted. This is realiz-
ed by the indep-e of the inpat for the pasteterking of the
cmtroller branches, 5 . e. t h e order of inpPt is unimportant.
T h i s program strpemzre enables the user to aodify a b m c h +hat
2s already parameterized, tpi-t learhg the functlon *Parameter
inpntw.
The cmtroller branch to be paranezerized is selected erception-
ally by entering its number by m&w of the alphanumeric keyboard
and thep pressing the <Carriage Re-. T b h procedzrre enables
COM BEG t o also process controllers w i t h more than eLght
(= number or function keys) baoches.

You can exit t h e branch selection merm by pressing the function

key eh.The data block entered i s stored at the specified
destination medium.

For parameter input, note +he following:

- Vhen you make the f-st parameter input you always should
select branch 1 first, COM BEG then guides you (function
key m>mt be a c t i v a t e d ) through all branches. Only when you
u%shto enter Hlodifications should yau d i r e c t l y select the
branch to be modified.
B8576388-02 COM BEG

- For several parameters no input may be required (e. g. the

danger Limit of the actual value need not be entered d e n the
corresponding bit is not mltlated) . Wader particrtlar c-cum-
stsnces complete controller branches can be jm~pedwithout
input (e. g. the branch d i g i t a l address when neizher dLgital
input or digital outp~stis intended).

- Izr addition t o the input fields the masks also contab output
fields that show the selections made when stJ-rtctarfng.The
cursor can be moved to the inpttt fields odlp by t s i n g che keys
<cursor u p and <earsor darra>. Vhen parameters are eatered the
procedure recammended in the section "Input fieldsn is to be
considered.

- Slnce several prameter l i s t s need more space than provided on

the screen, these lists should be scrolled pp or down (automati-
cally) whfle the aser completes them. Pressing t h e function
keys -5s nScroll downw and (F6> uScroll itpm has the same
effect. In order to shw the end of a list the message "List
end is reached !" is displayed when the last entry is crans-
ferred. T h h message must not be interpreted as an error
message referring to the Last entry!

- Vhea an entry h made in the address of an ADC, W , W or D1

(i. e. inpPt/outpllt module) the corresponding parameter (e. g.
ac-l value, setpoint, digital -t, etc .) is described when
the controller is aperazed by the system p r m creating the
process profile. When iPpat val- are not by thr
inplltmduleskrt:bytheCPartheP6tobetested(e. g.

- -

d o e is m u e tk
m by W.('he default pro-
vides " P P for each address. An entry is only accepted if this
.
abbreviation (resp "IRF. "W, W ) is followed by a number.
Entries may be deleted by ~08miting this mmrber vith fhree
blimks.

a the-follwing sections the peculiarities of each c-oller

branch are briefly discussed.
 c m BEG

*
*
*
*
-
PARAHETER
:R - h . senrt. :L22Ztm1.
!am@esc.:File Blodc : B 003
*
*
t

-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - * * *
* *
* Brarrh 1:-ller *
* *
* *
* -m 0 *
* 0 *
* MazzwJ v a h A;/. 0 *
* lhstart-. & 30.00 8 *
* *
* High Limit 1w.m 8 *
* L~erlimit -100.00 8 *
* P~pxZbdvdue l .23 9
* -actimtiEe 2.m sgl *
X Mvative aci5m eb= 0 see 2
.* *
* -.m-- 0 *
* *
* *
* *
* F1 ! F2 ! F3 ! F4 ! F5 ! F6 ! F7 I F8 *
* m- ! !Bass ! ! SXvU! S c r a Z L f l J a o ! M *
* -!-IHirutes! ! h ! q !U!-*
* *

In order to pmt a contfrmcnrs ccmtraUer -to operation, the

-=S entered for parameters 'gigh limitn and "Irruez limitm
ntust.not equal zero, otheraise t h e regulating wtriabre is
U n i t e d t o zero.

The same Ss oritid for the parameters "POS increment limitw and
increment limitmof t h e upgraded controller, i. e. the
values sbould not be zero.

ff an actsrator adjustment is projected the gain may not be zero.

*
* PARAWETER

* start-up d value
*
*

The parameters for the w a r n i n g limit and the danger limit need
not be entered if the corresponding b i t s in digital output
word are not evaluated.

If a polygon curve was entered cknhg strcrctusbg the &r of

vertices in t h e mask for t h e parameterizing of the ac- value
branch is preset w i t h zero. Only when a nuniber between one and
ten is entered w i l l the corresponding mnnber of lines be dis-
played. which is reqaired for parameterizing the ordinal values
of t b e polygon curve. Al- WIII 3EG wmld accept t h e defazllt
&er of zero vertices, +his rmmber is illogical; it must be set
to a value betueen one and ten.
 cm BEG

* kPLtt
* PARAMETER

The parameters wSetpoiat high limLtW and "Setpoint lower limitw

do not Limit the setpoint but a bit is set in the d Q i - l output
vord when these l W + s are exceeded. When these bits are not
evahated these parameters need not be entered.

When a setpoint sequence vas entered h i n g s t z u c t u r i n g the

default namber of setpoints in the mask far the paraaeterizing of
tbe setpolnt b-ch is zero. Only when a mnmber between one and
ten is entered -1 the correspondjag number of lines be dis-
played, wbich k s repPired for pararaeterizing the setpoints of the
setpoint sequence. Althoagh COH BEG vorrld accept the default
namber of zero setpoints, tbis &r is i l l o g t c a l ; it rmut be
set to a value between one and ten.

Note: When the stmctpre key S8 is set to "1". i. e. wben the

setpoint is specified by a STEPS program or the setpoint
sequence, and a mbdrrle address was entered in the address
of BDC1, the specified input module shodld exist, although
the values are not used.
 COH REG

* W=
* PARAMETER

~ a f l i n d s ~
l%suxhgpint&
Liazit 01
Glnit 02
i&it 03
Limit 04
lhlir 05
hzit i x

The nrrmber of limit valaes is preset to zero; it may be increased

t o 6 anrinrrrm. All l W t values of ths limit monitor branch refer
t o the same mea- poiPt. Uhen a positive or negative limit
value is aolated, t h e correspandhg bit o f t h e d i g i t a l output
word is s e t . The l i m i t monitors can only refer to active me--
ing points.
*
*
-
PARAMETER INPUT
Pmde :R--*
SaPPe/Dest.:FiLe
Struet* : G3lcm1.
B M : D GC23
9
*

The test sockets enable the =er to ourput internal cantrollex

values to external recording izrstnments. By m e a n s of the SW-
taneous output of the read setpoint and the processed setpoint on
a recorder, the fmrctions of a l l nodales of the setpolipt branch
may be checked ( t h e same refers CO the actPal value branch).

In contrary to t h e ADC address, the measuring poiht xrumber can be

modified adline daring the test.

m e : Before a test socket can be switched off us* the s-c-

m r e key, the ad&ess of the ADC should be overwritten w i t h
blanks ; otbeffise, t h e system program attempts t o output
the cantents of the measuring poipt to the ADC. This means
that the ADC should d s t phpsically, else t h e processor
passes into the STOP state s i g n a u i n g a controller fsdt
(see chapter 3 , description of controller sertrcttae R64.
* *
* Isprt &ide :R-APc. Saur. : -1. *
* PARAMETER Sam!@sc.:FiZe BIodc : D m3 *
* ---,------,--,,,,,,,,-------*-*--*-"------**---- *
* *
* IhUil 8: D i g i t a Z z&es€s *
* *
* *
* ~ . r d d i g i t t Z o u t p l t I X 3 0 1 fW 2 *
* A d d r . a E d i g i ~ ~ D T 0 1AJ *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* F1 ! F2 ! F3 ! F 4 F 5 ! F6 ! F7 ! F 8
? k
* 3,lxqmc! ,I ! ! S e r P l I ! M! m!Bzadz *
*am.-! qJ ! I/D ! d ! ! q !Rtay3,ISelertigl*
* *

The description of controller structure B64 shows that the con-

troller has a d i g i t a l output word ( W ) and a digital input
vord (Df) .
The output word output out the statuses of the limit monitor and in
p a r t i e r the status of the s t e p ccmuoller outputs ("Openwand
wClosew) and the continrtons c o n t r o l l e r w i t h Pulse/Pause output.
When t h e regulating variable is t o be output digitally the ad-
dress of a digital output module s h d d be entered into the mask.

Use one of the following o p t h to control the d i g i t a l inputs,

for i n s a c e , +he "End posit- open reachedm."Eud posi-
tion closed reachedn, "=bit controllerw, "Dead zone effect-
ive", "Upperw,"S.uwerw, "Deletewetc. :

- fmen the address of a digftal input module is entered for the

iapat "Address D1 01" the digital Squt word is read in auto-
matlcally by the operating system and stored in the particular
d a t a word.

- When a (interprocessor cimnuunication) flag i s entered for the

input "Address D1 01" the input word may be s p e c i f i e d by a
STEPS program or by a CP vhere t h e defined flag i s described.
- The d i g i t a l Saput word can also be specified directly by a
STEPS program -re the data word 180 in t h e controller data
block is described.

- The b i t values of the dLgital input vord may be controlled by

the PG k i n g test.

In the last tvo cases data should not be entered under any cir-
crrmstances for the input "Address DI 01" since the digital i n p u t
word i s everwritten by the operating system when the process
image i s created.

*-Note: - !thedig%tal inprrtropdumtahsmaay i m p r k m t

bitvalueS. ubmareofthesebitvalmes i s in
8 a l ~ ~ t h e ~ e Y E . . r m a t c c m -
tm (e, g. t 3 bft
~ ~"-2t can-
troller*)-
- RhenthemserldfrPIan~intheaddress
for the digital i n p m t tbe specified address.
msspectively tbe specif+ed flag s b t d d supply a
defined raloc.
 COM REG

4.4-2 .7
- of tbe -ller I;Lbt

&xue :R-Prrrc. SPrux. : *

Saaee/Ikst.: F i l e B k k : IIB 002 fi

The entries in the cantroller list detexmine tbe calling sequence

of the controllers.

The cantroller l i s t shows clearly t h e method of working and t h e

loading of the processor:

The processor is able to manage a maximum of 8 different scan

t i m e s , corresponding to the eight caltmrms of the controller list.
The processor processes +be columns one after the other selecting
m l y ane controller per col-, then steppiag on to the next
column. Tbe time wlxLch passes after m e controller of a col- is
processed until the n e s one in the same colmnn %S processed, is
called time base which is to be entered into the head of the
mask. When the t h e base, for example, is 100 ms the processor
should process a cmuoller every 25 m s wbea there are 4 lists;
when there are 8 lists, a coptroller of a list should be process-
ed every 12- 5 ms. S-ce fbe processing t i m e of a cantroller is
2.5 ms mazimam, 22.5 ms or 10 ms respectively, are available for
the processor to execute a STEP5 program b e m e n m controller
processes, in the example above.

When, for thts example, a list is processed eve- 100 ms it may

contain a controller e t h a scan time of 100 ms. When the scan
time of the controller of this column is 200 ms it should be
called in every second column. Therefore. zhfs column may contain
two controllers w i t h a scan time of 200 ms each. The mrmber of
B8576388-02 COM BEG

controllers per column is derived f r o m the quotients of the

controller scan time of the coltfmn aad t h e time base. The number
of controllers, howewer, i s limited t o 8 since storage, not time,
is restrkted. A l l scan t W s (niaimnm pulse d t u a t h ) of the
projected controllers (see description below) s h d d be aa inte-
ger multiple of the tine base so that the quotient is an integer.
The cormnon divisor of a l l scaa tirres (minimam pulse
duration) should therefore be entexed for the t i m base.

If a colmm does not contain any cantrollers or if the mariwrm

number of controllers per colam is not reached the operating
system detects t h i s and may possibly execute an exist* STEPS
program instead of a controller.

For step and continuous caatrollers w%th a pulse/pa.use output the

regulaf variable i s converted -to the &er of pulses. In
order to output a pulse. v i t h the leagth of the parameterized
pulse duration the controller s t m c e e B64 should be
called at least a c e duriag the mi.n.ianrra pulse doratLort t o enable
t h e bit of the d i g i t a l controller outpat t o be s e t or r e s e t .
This i s ?hy the mhimum ptilse duration is decisive far entry of
step and continuoals controllers with palse/patse -ts into the
cantroller list.

Vhen the controller l i s t i s processed the time base is to be

entered first. The following t w o conditions should be met:

- It should be a lpoltiple of 10 m , at least 20 ms.

- It should be +he maximrmr camon d i e s o r of che scan times (re-
spectively the m i u h u m pulse .duration) of the controller to be
processed. Uhea a smaller scaa time i s selected the processor
loading increases because o f mmecessarg admbisrratian work.

It is only possible to leave the entr~rfield when a v a l i d tfme

base was entered. The function keys are assigned the folkm5ng:

-
Qrl,Enter DB
Bembve D0
G3> Time base
h*
-S& Break

Ia order to enter the controllers i n t o the co~ltrollerlist, press

+he m c t t o n key m,eater the dam block rromber, and conclude
the lnprrt by pressing UAuriage Re-. Ia order t o simplify
+he attry COlI BE0 does n o t re- t o the previous meno brrt re-
quires the entry o f a new data block orraber. This 5zxput loop may
be broken by pressing the a r e key.

After the data block m b e r is entered the program reads the scan
time (nhimm ptrlse duration) frcm the part%crrlsr data block of
the selected destination medLtm and attempts to enter the con-
troller into the controller list. During this proce-e the
erisriPg colurnas wfth t h e same scan time are f i l l e d before a nev
colam is opened. If tpe scan time ( m i n 5 m m pulse duration) i s
not a d t i p l e of f h e time base the controller carmot be entered
and +he time base or the scan time (mhtinnm! pulse duration) must
be mudif fed. The r-l o f individual controllers from che con-
troller list i s also carried out i n form of a loop that i s t o be
terminated by p r e s s b g the area- key.
hfter the f t m c t i o n key (PS is pressed the time base may be
d i f i e d . However, the new value is only accepted if it i s an
integer divisor of all cantrollers cantaizted in the list. The
value is not d e l e t e d before a walid valrre i s entered. If there is
no -er value, which meets a l l conditions for the rime base,
the old value should be entered again so that the user can leave
the inpat field. If the modification was successful the con-
troller list is updated.

The input of the ~ b o l l e lri s t may be termhated by pressing

(Fh: the DB2 that was created is stored. By pressing the
input is terminated; the entries are lost,
By means of the fmrctlon "Output* an already existing controller
data block or the cantroller list may be checked, amended or
corrected. Additionally all contzoller data and a cross reference
list may be printed out using a print fuaction. The only d i f f e -
rence bemen the frmctions 'fnprst" and "Ooqxttw i s that. in
coutrarg to the rigid operator prompting in the input function.
the mask the user wishes to complete may be directly selected ip
the ou+plst frmcticm.

After *Outputm is selected from the maia menu the user may select
the m e d i a on which the data block to be processed is stored. The
pript ErmctLon may be branched t o frcm this menu.

<F1> Aogram f i l e
-4> Module
G 5 > Programmer (PG)
4?* PrfPt

After t h e medium i s selected and the data black mmrber i s entered

the mask selection menu is dtsplayed. When dam block tvo i s
selected t h e controll.er list may be processed. The controller
list is output the same way as it was input.

The follcwing description applies to centroller data blocks, not

to the controller lht.
B8576388-02 COH BEG

Vhen the user presses frmctioa key m.<pp, or -S4>,the asso-

ciated mask is dhplayed and may be dizectly completed; however,
when function key G 3 > is pressed, mother menu is displayed,
from tDbich the user may select the mash, co11traller respanse/FB
h r or CP526 a d a p t a t d . When function key 8 5 > is pressed, the
memu dLsplayed for the controller h c h selection is the same as
for Snput displayed.

Uhen the masks are terminated by pressing 'geady" C m BEG

re- to the mask sbolsn above. When a mask is te-ted by
pressing *Breakw the -er leaves not only the processing of
the mask but also the complere outppt of the data block. The
progmxm retarns to that level where the user i s requested to
enter the &+a block mnhr. In order to save changes already
made, the d a t a block which is in PG block memozy may be nartf-
ferred to the module or program file by means of the frmction
wmmsmr"'

Flhen +he user leaves the batput nenrr by pressing G'?> "Store
controller". CC,H BEG overwrites tbe o l d data block w%th the new
one once the prompt =Block x owemite (Pp) is answered. If
-is prompt is -red vith "K" or if the 00-t is left by
pressing G 8 > "Break" the modified data block can s t i l l be saved
from the PG m e m o r y .

Note: - When a s t r u c t n r e svitch is modified by means of the

frmction "OUTPUTw, WE BEG changes t h l s switch only, not
the parameters that become invalid by this procedure. For
example, when the polygon a m r e is mitched off w i t h the
B8576388-02 COH BEG

corresponding strrsctpre d t c h the paranetas for the

polygon curve are maintained in the data block so that it
need not be entered again when the polygon curve is
reacthated. Another consequence f s &a% the ADC address
is s t f l l stored h the data block a f t e r the t e s t socket
was switched off w i t h the stmzctrrre switch or a f t e r the
setpoint was transferred fronr the ADC to the setpoint
sequence. A s already described, t h i s existing address
input requests the s y s t e m program t o read cyclically
the particular mriable of the input module. This means
that the i,uput module most exist although the variable
read i s not eoaluated. tbc address of each ADC
orMCtborrldbeovexmritten~%~b~br?foretbe
~ r f t h t h A R C @ b C ) i s ~ o f f b y ~ o f a
s u u c t m r srit~h!M t e x the rddruur rss switched o f f -eh
t b e ~ ~ i t ~ b e d e l c t e d b e e a t r s e i t Z s
ao b m g e r o f f e r e d f o r ~ ~ t

- When the format or the d r of dec-l places i s modi-

fied during entry of the input a a c t e r i s t i c , a l l d i -
mension dependent parameters are falsified by the decimal
power that corresponds to the modification t o the nmpber
of decimal places, L. e. a l l dimepsion-dependent param-
eters should be entered agah.

A f t e r the format of the ipprrt characteristic was

modified t o aae decimal place the upper l i m i t of
the setpoiat is f a l s i f i e d .

0 3 corresponds t o 0.0 V

-
100 % carresponds t o l0 .O V
Setpoint high limit 12.3 V
As described above, the fanctirm "OUTPUT" also contains the
option to print O I I ~the controller data entered. After the *c-
tion "Printw is selected by pressing function key of the

-
first outptrf menu the folloving frmctians are offered:
a frht a rxm+toller data block
a > R* all
-6s Print cross reference list'
Break

After being selected all three functions request infozmation on

uhich medirtm (program file/mdule) the &+a to be p r a t e d is to
be read. Whea only one cmfxoller data block i s t o be printed the
block~mambershould be entered. M course, a prbtex ready to rrm
should be connected t o the modale. Uhen the "S- PT8SW
printer is used, all DIL svitches should be set t o "ONw.
The cross reference list looks like this:

The cross reference list shovs the controlLers and the inpPt/out-
pat m o d d e types and the. requized addresses, whether addresses
are accessed twice, and the channel of mochiles not yet assigned.
. .
When t h e function " P r i n t aUn i s selected fie
cmtroller list and
all controllers entered are printed. The representation of the
eaaaoller d a t a corresponds to the representatkm of +he can-
troller input.

Vhen the f u n c t i n " P r i n t a controller data block" is selected

one single controller may be prated.
B8576388-02 COX REG

By means of the functtoa "Transfern any (i. e. also STEP5) data

and function blocks may be txaasferred between the media "pro-
gram filew, "moddew, and "PGn.

*
* Ransrr~ce : File -oT kdde
* File nalE :B : a m z z m . s D F& m :-------
* BloEk :DB Blodc : ZB
* Bladcm. : 3 BLockw. : 3
*

Ia order to transfer data the souxce meaum & o d d be selected by

pressiag the corresponding functioa key. Phen the program file is
selected as saetrce the name of the preset program ffie is dis-
played aatomatically. *erwar& the user specifies t h e block
tppe (DB or FB) to be transferred by pressing fmtction key -SD
or -B. If all blocks of the selected type are to be transferzed,
fimctian key G1>-d be pressed in place of the entq of a
block number; otherwise the block number must be entered. The
destination medi= may also be selected by means of the function
keys. Vhea che program fire was selected as destination, the aame
of the destinatiwn file may be entered according to.* c m -
t h u s described in section "Presettingw. The destination file m y
be i d a i c a l to the source file. This is oelp mefdl when the
block number is modified during the transfer procedure. When the
user wishes to change the block ppmber, frmctton key 6 3 > "Chaage
block no." should be pressed and the nev number entered. .
Vhea all entries are .correct the frmc+ion key < F h "Transfer" may
be pressed. The entries nay only be corrected after -5> is
pressed. The ctrxsor is moved over each input line uhich may then
be corrected or acBpoVIedged by means of aarriage Re-.
The input may be terminated at any time by pressing function key
e8>.
Notes: - "PGn is t h e term for rbe block memory of the progra-
mer. I+ may contain only one block and is over-
written each time a new block ki created.

- When blocks are transferred from the program f i l e to the

module they are inftially stored in the plog-in RA?!l
module of the processor. Vhen E b f s storage i s occupied
other data blocks, ercept function blocks, may be stored
iP the data block storage of the processar. Therefore.
it is advisable t o transfer the frmction block(s) fLrst
eo the xtodule.

- Vhgn no more blocks can be transferred to the module

because there f s not enough free memory the function
"Compress PC" tsay possibly pr-e the memory required.
By means of the £unctLon "Deletew s i n g l e data arrd function
blocks, or the complete progtam f i l e may be d e l e t e d . After t h e
function i s called the function key menu offers t h e following:

(P- D e l e t e single blocks from the program file

4 2 > Delete the urmplete program f i l e
Q#> Delete single blocks from the llodole
4'b Break

Fmeo single blocks are to be deleted, the block type 0 3 or E3)

and the block mmber should be selected by pressing fmrctian key
(F1> or e 2 > . Uhen a program f i l e i s to be deleted, the aame of
thfs file shorrld be entered. By means of this funcr5.on not only
the preset program fUe may be deleted but also each program f2l.e
in t h e current user area of the =er's d i s k (hard disk).

The funct5on "Delete" m y be texmjnated at any time by press-

the (Btealo key.
4.8 Special wens
f f t e r the "Special ftmctLonsn key is pressed the following m e w
is dLsplayed:

Each f r m c t i o ~ ,except "Resetw may be called if an operational

processor is conuected to the PG and if Wnlinemwas selected
when COM BEG was preset.

- =Cold restart" has the s a n e function as the mama1 r e s m o f

&e B-Processor. "Cold restart" causes a new i n t e r p r e t a t i o n of
the controLler list and the acceptance of the modifications of
the controller stmctxzre or nodificatians of the mtsabez: of
~ ~ ~ z r o l l e rThe
s . cold restart deletes all internal caacroller
-fables (e. g. a large integral-action cozupnepent &Lch vas
created an the bash of a long-range controller deviation).
The cold restart o f the PG can be erecuted an17 ff +he operat-
ing mode d t d h o f the processor is set to " R D P .

- The 'Warn restartw causes the processor to contiaPe the cycle

w i t h all previous values after it was stopped by means of
"Stop*. A uann restart may be executed only if the operating
mode svitch of the processor i s set to "RWK".

- "STOP" will interropt the rmmlng processor. The processor

sets the digital output modules to zero by using the "command
output i n h i b i t " ('BASP*) signal.
B8576388-02 COX BEG

- U h e ~blocks a r e
deleted from the processor the storage contains
gaps that cannot be used because new blocks transferred are
always stored after the already allocated storage. The function
"Compress PCw campresses tbe blocks fa the processor so a t
the gaps disappear and the canrimsous free storage increases.
"Compress PCw may be called dux* operation.

- G6> calls the presetting mask descrLbed in the chapter "Pre-

s e t t i n g w . By means of this function t b e program file-e
may be
cbsnged for example.

- The function "Controller processingw enables or disables each

caatrollet of the module. -I> (Yes) errables, 4 2 > (No) dis-
ables the controller. The cursor may be moved to each con-
zroller by m e a n s of the a s o r keys. The response of each
disabled cantroller regarding the outputs may be determined for
each controller when t h e mask "Controller response* Ls complet-
ed.

Note: Odly those controllers *bat were entered i n the con-

troller list may be enabled or disabled. The function
"Controller processing" may be called only if t h e
processor contains a correct c0ptroIler list.

The user nu9 exit the lserm "Special funcEiansW wtthaat an entry
being made by pressing me a r e key.
B8576388-02 COM BEG

When the function *Infom %S called, the list of contents refer-

ring ro data and frmction blocks of the preset program f i l e or
t h e module i s displayed. For purchased function blocks the l i b -
rarg number is displayed in addition to the block mrmber.

ffter "Info" is c a l l e d the user s e l e c t s - after press- <F2> -

between program f i l e by press* m d module by pressing
-4,. The block type i s then to be specified by pressing the
function keys -1> and (pp.

The function "Xafo" =y be d t e d at any t h e by pressing the

4 x e a b key.

M t e : Hot only the blocks created using CUM BEG are displayed bat
a l l blocks contained cm the selected medLum.
The confroller t e s t enables the user to test operating and m i -
torllng of the controllers in adline mode (operating mode of the
module: "RULO"). This function enables the user +a

- start-up the system

- control t h e d i g i t a l i n p u t s
- change and optimize the paramerers
- obtain an ovenriew of a l l fmportsnt controller statuses.

m addltian to the correctable parameters the different masks

also display the stmctrrre swLtch posit-, the input values, the
averaging (measuring points) , and the output valaes .
Each walae is requested several rimes per second from t h e module
snd updated on t h e screen.

After the frmction "Test" i s selected and the data block ynimber
of the controller t o be tested is entered, the branch selection
mask 2s displayed. This mask coataias only the active branches as
in the parameter input. In addition, a start-up branch and a
measuring point table are available.
After the branch nrrmber i s entered a l l data of the selected
controtler branch i s displayed and permanently updated on the
screen:

Note: The measuring points of the 1-t monitors can also be

changed In test operation. If you want to dhaage measuring
p i n t s of different dimensions (erample: MP4 regulating
-able given as 8 , HP1 actnal value d ~ ~ i dependent).
o n
it may be necessary to re-enter the lMt walues fn order
to obtain a correct i n d i c a t h of the l i m i t monitor bits.
B8576388-02 COX BEG

* *
* mwe :R--. istzuct. : -1. *
* CONTROLLER TEST 5wm$kst.:KxM B h k :D3 IU)3 *
* - - - - - - - - - - - c - - - - - - - - - - - - - - - - - - - - - - - - - - - - * *
* *
* 1: *

-
had2
* *
* *
* M P i U r ~ L Z e r ~ 0.0 -
-
C *
* *
* - . 0 *
* 0 *
* &.udrnfiie R;/m 0 *
* tkseatm3l. d u e 30.00 % *
* *
* 0 *
* H P l 0 : ~ V d u e 0.m % *
* ca&tvIlerdisable 0 *
* ~aPerfZorm 0 *
* kverovetflmlD 0 *
* *
* *
* *
* F1 ! F2 ! F3 ! F 4 ! F5 ! F6 ! F7 ! F8 *
* ! I !sbv11 !StxvU I ! !3zztmh *
* ! Force I !rq, !&m I I&zuzdl *
* *

Daring t h e status display the function keys are assigned the

f ollovlrrg :

a Force
CF4> Scroll pp
e 5 > Scroll doem
eB Next branch
Branch selection

Vben +he list requhes more space on tbe screen thaa is available
t b e display mty be scrolled up fe4>) or scrolled duwn (Qr5>).
The aert branch i s selected by pressing -h;w h e n the user
presses G 8 > he i s l e d back to the memu f a branch selection.
After the function key is pressed the cyclical s t a t a s d i s -
play i s frozen an +he screen sPd the cursor may be moved by
means of the cursor keys to the i.nput fLeld reqdred. As sooa as
the nev paraabeter d u e i s enterd and the (Carriage Re- is
pressed the aev value is sent to the module by the PG arrd shown
in the new cyclical status display. Since the ~alrredisplayed
comes fram the module, it i s confixned that the modale has accept-
ed the d u e .
The f o l l variables
~ may not be cantrolled and thus must be
changed by means of the frmctian "Olrtput" :
- structure switch
- addresses
- nttmber of limits
- number of vertices of the plygm curve
- number of setpoints for the s e t p o i n t sequence

The reastrrw point: table is the past -ant a i d for providing

an ovemiw of a l l important controller data. It supplies t h e
follodng inforaatioa:

- Do the input modules sopply the carrect valaes?

- Po the output output the correct
modules values?

- Does the controller run? (the modified setpoint or actual value

shaald be displayed at latest after scan
the the)

- By compariag the fed and processed actoal valoe (setpoint) the

function of the processing modules may be tested in the corre-
sponding branches.

- Are the controller parmeters c o r r e c t , does the controller

output +he q c t e d regulating v a r b b l e l

k lwJze :R-&* Stnrt. : cazcmz. *

* CONTROLLER TEST &m=e$ke.:W Bkdc : 003 *

Note: Vben a data block is transferred from the module to the

program f i l e after test, the positions of the d i g i t a l
inputs are also transferred.
B8576388-02 COM BEG

5 Projecting -11- for -52

The previous chapters (COH BEG) descrfbed how WM-softvaze is
loaded and bosr the user s t e p s from load* to the paint where
he msy decide whether to use the CO?!¶ BEG software to operate
either the R64 controller of the PC 15-1350 or the controller
device IP252. me controller selection menu is nap displayed.

* *
* F f ! F Z ! F3 F 4 ! F S ! F 6 F 7 F8 . *
* C$tt!4lltl! !E52 ! t I I *
* m52 ? a ? m u G I
!S-m! l 1 !Break *
* *

Fig. 5.1 Caatroller selection

In t h e camtroller selectfolr the user specifies the module he

vishes to operate ?sing the COM safmrare. The function keys offer
the f o l l options
~ :

GI> : Controller stmactm:e R64

-2> : Wtrol CPU S5-ll5V
a 3 > : Closed-loop control d e IF252
 CON BEG

-4> : Closed-loop control module IP252 with grsph5c parameter-

fiation sof-re
: Break

The assignment of the function keys a l.>to <F7> of +he -k

shown above depends on t h e exisring packages.
After the controller selection the presetting menu is displayed.

kcue :XP 2s S t n r t . :
-. : Block:

*
* Rug2an file : B:Z?25aSr.SSLJ
*

This -.is stmctrrred the same as a l l other mesms of this C W

package and is an -le of the priPcfple stmctofe of memss.
The structtxre ccmtists of a header area. foot area, and inbetween
tbe particu3.a.r bqu't: and outpat f i e l d .

In t h e l e f t part of the header area. the fmrctim W be executed

is displayed Ce. g. presetting, inprrt, etc.) The right part of

"Block:". -e:"
:".
this area contains information aborrt entries already made. This
information i s : "Ndule:". "Sorace/Dest. "Struct.", and
g 5 v e s information about whether the user has
selected the c m t r o l l e r s t r a c t a r e R64 or the IP252.
wSource/Dest. " shows from &ere the output data vas read or vhere
t h e input data is stored. The folloving entries are possible:
program file, snbnmhle, modtzle or PG. In the foot area rhe
function keys a r e assigned the corresponding iunctions; the par-
ticular Snpnts and m t p u t s are made in the area betveen header
and foot area.
The presetting has the follwing defaults:
Operating mode: O f f line
lbdule : : IP252 in SS-115U, -135U, -1500 withcmt access to
backplane bus
AIL/= memory submodule

Itr the presetting the user specifies how t o operate the module
with this WH sof rxare The funct.fxm keys offer the following
optioos:

e1>: om?xmE
-2, : O m m E
<P& : Selection
-6> : Program file
aR : Finished
G 8 > : Break

The operating mode depends on whether the user dshes to w r k

offline f i z s t , i. e. programmfng into the PG, the submodule or
the disk, or whether he wishes to program directly t o the module
<o->.
The fmactions IP252 w i t h or Pithout bus access refer t o the
direct bus access. The direct bus access means that the IP252 is
not restricted t o its eight analog hputs/~lttputsbut that it can
additionally .trse the analog peripherals of the central control-
ler. In this case the IP252 behaves as a CO-processox and leaves
the bus adahistration to the CPU. Hovwer, the bus can be
accessed only in the S5-115U programmable ccmtroller.

The aser snho&le wbich contains the stmcmres "AES/SRw sup-

ports the connection of control loops 1 to 8 w i t h master and .
servo controllers. Uherever you find ADC n in the doamentation
projecting (chapters 8.2 tmd 8 . 3 , laaatral IP252) yam can enter
the follaPing pcrrameters:

e . g . ADC 6 = 0 ... 7 internal ADC chaxmels

128 ... 254 backplane bus addresses o f the
PC S5 analog peripherals:
for PC SS-ll5U only
C-=, here means the cantroll-
er numbers 1 to 8 and HP-rmr.
the point pmpber of
this controller stnxctrae

It is thos passible to a s s i p , for example, the processed

acttlalvalue f r a m controller no. 2 to controller no. 3 as a
setpoint valae. The f olloving value f s eptered v i a the PG
into the entxy f i e l d of ADC 6 (of branch 8 of controller
no.3):

Use the G 4 > fmrction key to c a r r y out these presettings.

Pox the description of the following masks a standard controller

w i t h memory submodule ARISR is taken as an example.

Vhen t h e 6 7 > key is pressed the main merm fs displayed.

5-3
5.1 Main Menu
The main is the starting mask for all functions: the user
can reach it frcm each posittoo of the program by pressing the
Break key once or several tfmes.

*
*
*
*
*
*
*
-- Mdde
szum@kz.:
: IP252Stllret. :

----------,,,,-,,,--------,,------------------------------------------------------
Block:

*
*
*
*
*
*
*
*
*
*
*
*
-k
*
*
*
* F1 ! F2 ! F3 I F4 ! F5 ! F6 ! F7 ! F8
* I t ? Eans- ? !specia! t

** fnnr+ !CLrtpd!Ten !fer ! I k l e S e ! ~! B r~e a k~

P*. 5.3 H a i n merm

S t a r t i n g from this -fa -, the oser steps +a the sab-menus by

pressing the respective function key. The selectable fmrctiaps
are :

#l> : Inptzt (see chapter 5.2)

br2> : Oaqnat (see chapter 5.3)
: Test (see chapter 5.8)
4'b : Transfer (see chapter 5.4)
<F5> : Delete (see chap~er5.5)
e 6 > : Special func+iops (see chapter 5.6)
m: Info (see chapter 5.7)
: Break
B8576388-02 Col¶BEG

me term "IPputWdescrtbes each step for specifying the control

loop. In order no step is onitted daring the inftial input the PG
Leads the user in a linear manner, i. e. without branches,
through all input functions.

Input sequence : Select the destination medium

I
I
Enter the control loop nmnber
f
I
Select the s+rrsctme
I
I
Stnacmzre
X
I
Enter the scan time
I
I
SpecLfy the Stop behadoar
I
I
Specify t h e dimension
I
I
Parameterize the branches

Mter the fPpot function is selected the P6 replies by displaying

the niem in figure 5.3.

ThLs ~srequests tbe input of the aedium a r e the data to be

input should be stored. This information i s entered into the
field ~Samrce/Dest.:" in the header area. The following e n t r i e s
are permitted:
-l> : Program fLle
472> : ----
-3s : Subnaodrrle
G 4 > : Bodule
e 5 > : Programmer
-6> : ----
am : ----
-S> : Break
* *
** Maue : P 252 M.: *
-.: Black : *
* - , - , - - - - - - - - - - - - - - - - - - - - - - , , - - - - - - - , - - - - * * ~ *
* *
* *
* *
3 *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* *
* F1 ! F2 ! F3 ! F 4 ! F5 ? F6 ! F7 ! F8 fi
*&qpuz! l 1 t I l I *
* f i l e ! !&hmIMeILloduLe ! ! t !Bt-Bak *
* *

Pig. S - 4 Menu for destiaation hput

Htez the & s t i w t i . o n is selected the controller strpcture is

selected 5n the saore way. The functin keys are assllgaed the
fo l l : ~

u?b Standard cantroller

C
Fa Prim coatroller
ee Break

At this st;rge the PG requests the carrel loop Prrmber. Since

TP252 i s able to process up to eight: control loops, the entry
L. .8 %S peraitted. Thrrs the data entered 2n the following proce-
dure is allocated to a specific cmzroI loop.

Each entry made appears in the right part of the header area.
Uhen the oser has entered the c
-
1 loop attmber and transferred
it by pressing the Retarn key, the stmscmming mask (figure 5.5)
is displayed.
S+rrsctPring means that t h e software switches that exist between
a e permanently assigned branches, are set according to rbe
application. That m e a n s that the switches of the branches re-
w e d are closed (=l) and those of the branches not required are
apen (4)-
The s t z u c t r a i n g switches may function as an-off svitches as well
as changeover svitches. For on-off s v i t c h e s *OU means No and "1"
means Yes. Changewer svitches are marked vith a slash "/" in the
tert and are used to select one of two sub-branches. "0" iS
assigned to the ffrst and "lw to the second alternative.

The structmring switches are subordinated hierarchically and

assigned to correspondjng levels. These divisions are indicated
by the indentations of the particular subordipate stmttsze
s w i t c h terms in the structuring mask.

* a!= m :m 2 Stnrt. :slzldd *

* STRUCTURING Saoce/aest.:m Block :ChtZ 003 *

F i g . 5 -4 Stractaring mask

Since nor, all the structure svitches of a controller s t r u c t t t r e

can be displayed at a time, the contents of the screen may be
scrolled up or down.
These functions can be executed by pressing the function keys
a 4 > or -5s. The function key -5> is assigned the function
Help; by pressing -ST, the entries made are transferred. by means
of G& the processing of the mslc i s teminated and the main
men-; ::.S displayed.

8 4 > : Scroll up
a 5 > : Scroll down
<F6> : Help
a : Beady
G 8 > : Break

The cursor $S ~d on the screen by of &e cursor keys.

The user structrrres the branches and -branches by entering a
"l". The branches not selected are suppressed.

h soan as the branches are set the aser has defined the fioal
control loop s t m c m r e . Vhen he is satisfied w i t h it he may
terminate the projection by pressing che frmction key <F7>
(R-*)

After the controller suucmzre is d e f h e d in the l a s t step, the

scan t h e i s entered. The user should note that the scan time may
only be a two's sqw.re d u e between 4 ms and 32 see.

In the mask shown in figure 5.5, a rough formula i s offered for

select* the scan tine; t h e possible range is indicated. Below,
the set or the default scan time is displayed (default is alvays
!U = 4ms). IP the bottom line the PG pravides inf-tian on the
processor loading according t a the selected scan tine, for t h e
s m t u r c selected for the control loop. The tmit i s percenz (%l,
100 % indicates camplete loading of the processor.
* lk&L? :E?!%?
Strrrt.:st3z&d *
* SCAN-TIME Sapce/Dest.:FlZE BZadc :QrL OM *
* - - - - - - - - - - - - - - - , , - - - - - - , , , - - * - - - - - - - - , , , * * *

~ i g .5.6 Scan t h e m-

-
The menu offers the folloviPg ftmction keys:

a2> : mput

By press*
: m*
: Break

Eunction key the default scan t h e can be modi-

fied. The keys <FRand 48, are assigned the same functions as
in the previous mmzs.
To vbich eat the cantroller vorks stably w i t h the scan t h e
selected is the respo~sibi.Y.ityof the =er. He is also responsi-
ble for the adaptatlap of coatroller pararaeters to the modified
scan time.
When function key 6h is pressed the mask for setting the con-
troller behadour (see figure 5 . 7 ) is displayed. .
B8576388-02 C
m BEG

In this mema rbe user specifies the controlLer behaoLour in the

case of a controller stop (e. g. When power failure occurs).
For such a case three entries are necessarp respectively t h r e e
quest%a~s have to be answered. The &fanlt is "Yes" in a l l cases.

a) Should the cmtroller outputs be set t o "OR when t h e control

loop i s not executed?
b) Should the system restart, automatically, vfth resuqtian of
parer ZPPPLY?
c) Is a restart condition to be obserwed when +he system i s
started automatically (for a d e w f l e d description of this
condition see sections 3 . 1 and 4 . 7 ) ?

*
&dzle :m32 Stnd.:Staodud *
samx@st.:TPE Block :Qltl m3 *

* ~ ~ ~ p r e r
Yes - ~ ~
* merestartcaditicnisdicr: Yes
*
*

* *
* *
* F1 ! F2 ! F3 ! F4 ! F5 .! F6 ! F7 ! F8 *
* I I I I f t I *
* Yes-! m ! I IR€i?tiy!heak *
* *

Fig. 5 . 7 S e t t i n g the controller behaviour

The &sprayed responses may be cbanged by press- fmsctian key

-l> or <F*. The fwiction keys are assigned the following:

a1>: Yes
G P : No
G 7 > : Beady
a 8 > : Break
assigned a -
After specifying the controller behavhvr and pressing the
"Ready" key <P7> each controller mo. 1 Zo 8) of the IP252 can be
name and comprising each nor more
thaa 8 UCII characters. Input in this mask, however, is useful
only if contzollers of the XP252 are to be operated and monitored
via a CP526 or a s W l a r device.

tW.l.Ze :TP252 Stnrt. : Staxiad *

-.:FIE Block : W m *

P i g . 5.8 Adaptation to GP526

At this s a g e , note t h u t there is a difference between standard

copbollers and drive controllers. W i t h the drive ccmtro1ler, ac-
t i m ~ h gthe G 7 > key -1 lead directly to the parameter assign-
ment, fiereas the standard controller still requests an interme-
diate step.
In this intermediate step, the dimxwicm and characteristic is
specifLed.
When the staadard stractrtre cantairis values w i t h physical dimen-
sions the user may specify an ASCII s t r i n g and a characteristic
of the dimepsiop before parameterizatian. The default ASCII
s t r i n g w i t h 6 characters cantsins "0"; the 0% value contains "On,
and the 100% pal- contains "10Ou.
The specification of the dimensim caksbts of enter-
- the ASCII string,
- the characteristic.
The me- for these entries Ls shown in figure 5 . 9 .

*
* JQ-
* PARAHETER

* D h ~ n s i mDl: QWC
* 0-P mrresp. 15.0 aAD-C
* m Percenr c~nesp. 50.0 m-c
*
*

F i g . 5.9 Input of the phys5cal dimension

In the first line of t h e mwnr *DirPens%an D1" the =er may enter
the d5siensLox-i x c e s s a r y for the conaol loop, w i t h an S C X I
s r r i n g up u, 6 ch+rac+ers long 5f the defatrlt does not match.
Afterwards the -or j w s to the next line and the % sign in
the characteristic lines is replaced by the -ion entered.
Thea the "0 %" valtre and the "100 %" value are assigaed a numeri-
cal valoe.

When tbese values are entered the PG checks vhether f h e decimal

places are identical and vhether the characteristic entered i s
positive, i . e. *ether the 0% value is less than the 100% value
(see section 4 . 4 - 3 ) .
The last step of t h e input i s t o enter the parameters of the last
stractured controller. Bere the PG offers only those sabfanctians
(branches) activated in the previous stmcttuSog mode, for para-
meterizing.

The parameterizkng starts with the PG displaying a list of the

cormected brancbes &ere each bxanch is assigned a selection
nwnber which fs identfcal to the bxapcb number (see figure
5.10). By means of the selection nzmtbe~the user may call the
parameter list of the sobfrmctions r o be p a r a t e r i z e d . After the
selection mmrber is entered lihe branch selection is terminated by
pressing the a t e r > key.

*
*
*
PARAMETER

F i g . 5.10 Parameter Inptst/Bre overpiev

After a branch is selected the corresponding parameter list i s

displayed. Only the parameters of the selected -branches are
dhplyed.

After the branches are parameterized each entry should be termi-

nated by pressing <Carriage Return>, whereas the complete param-
eter list of each branch i s terminated by pressing the
-er> key. Thea the parameter list of the nsrt branch is dis-
played =til all branches are parameterized. Figure 5.11 shows
the parameters of branch 3 of the standard controller when the
memory m e AES/SR is ased.

* *
* a== )(rrbllP Scarct.;Srndard *
* PARAWETER -.:m Block :a272 003 *

F i g . 5.11 Parameter iaxpnt

Pollovfng this procebre the PG redisplays the list of all

activated branches. This enables a e user to correct the entries
later. Vhen a l l the d u e s are modified the 0 ke.y is pressed
and the data, entered so far, is transferred. Uhen the destina-
tion dewice already contains a data set w i t h the sarne controller
nuntber the pr-er displays a merm rrhich prompts the user
whether the data set stored in the PG may be deleted.

The aser must answer +he prompt "Controller X m e m i t e (YFJ)".

Be does tbSs by pressing the function key "lesw or "h". Vhen
Tes" is messed the data set just entered is stored and the data
set ia the destisatian meditnn is m e m e t e n ; when T o w is press-
ed t h e new data set i s lost.
When the user selects tbe function "Output" fa the main menu by
pressing function key <F2> the output merm as shown i n figure
5.12 i s displayed after entry of the destiaation medium and the
control loop number. By means of this frrnctiwn an already e x i s t -
ing control block may be checked, amended or corrected.

Contrary to t h e linear prompring during kuput, the desired masks

may directly be selected i n the output function. The screen masks
" S T B u m G R . "SCAN TIME", "COHTBOLLER BEHCLVIOUB". "PHPSICAL
DIKERSXOP, and "PAUHCEREINGw are handled in the output
function as descrikd in the previous section.
After each step the pragram retorns t o the output menu. If the
are- key or the a t e r > key i s pressed this menu i s left and
t h e saving d b l o g started.

Fig. 5.12 Outpot menu

In the submenu t o

the softkeys
G 3 > Behaviour
CF4> Adaptation to GP526

are displayed (see also figures 5 . 7 and 5 . 8 ) .

P i g . 5.13 Submenrr to Ermctian "BESY parsmeter"

CBUT10a:
When the caatroller is parameterized the set dimension is, if
necessary, dLsplayed W t i a l l y aad may be e i e d in the hetput
frmctioa. The user should note that t h e modification of the
characteris+%cdoes not cause another check of the valves pre-
-17 entered. H t e r the characterstic i s modified the new
values may exceed tbe ipppt range and lead to undefined szates.

When the user presses function key QrD in t h e main memu the
a t p u t mode is called. Vhen at this stage the " P r i n t m frmct5.m
key is pressed, tbe mRint" meaa shown in filpre 5 . 1 4 ir; d i s -
played.

a this raeno the aser may select the following priraonts:

-B : Print block
<PS> : Print a l l
<F6> : Cross reference list
<Fb : Break
B8576388-02 COB! BEG

The cross reference list contains a list of all i n p u t s and out-

puts used for each cantrol loop. This documents the interconnec-
t i o n and multiple allocations may be avoided.

With the frmction =Rimblockw the cattroller s t r r r c t u r e s , scan

t i m e and a l l parameters are printed for ane selected control
1-F.
With the func+ion "Print a l l n the cross reference list, con-
troller stractare, scan time and a l l parameters of all control
loops are printed.

M t e r the program is s e l e c t e d the i q u t of the source medium is

requested; d e n the function "Print blockw is s e l e c t e d , the c m -
trol loop mrmber should also be entered.

Uhea the a r e - key is pressed the user re- to the mab

menu.

F i g . 5.14 Print mena

5.4 Transfer
WLth the function mTransferw the blocks are transferred to the
IudivZdtzal medh; however, only one block can be transferred at
a time.
When the function b y a 4 > is pressed in the main menu, the user
is prompted to enter the source and the destfastion medium. The
~ c t i o akeys are assigned the following:

-1> : Program file

-3> : SubmodPle
a 4 > : liodule
C F U : PG
C F b : Break

The user should additionally enter the block (parameter set) that
is to be transferred. When an asterisk (*) is sntered all blocks
are transferred.
Mteroards the PG displays the memr shown in fSgrrre 5-15 where
the fanctian keys are assigned t h e follovlng:

-3, : Cbaage block marher

-SS> : Correct
Qh : Transfer
-S8> : Break
Ftg , 5. L5 Menu for block transfer

Change block mrmber This fnnction enables the user to

change +he block e r s . The ipput of
t h e n e w nrrmbers is to be texmiaated by
pressing CCarriage Re-.

-S> Correct This function enables the oser to

correct incorrect entries. When for
erample the data s e t 5s to be trans-
ferred not t o t h e selected M c e
(medi-) but to another one the aser
may change this e!nwby means of +his
£unction.
!i!his function enables the transfer in
the selected -er. If a block w i r h
the same number is alxeady s t o r e d in
the destination device (medium) the
user is prompted "Overwrite module?
(WQ"
-S8> Break This function tenrtinates the function
without transferring the data.
5.5 Delete

The user may call the Delete function by pressing function key
-5s in the mais menu. Then the PG displays the Mlete menu shown
in figure 5.16.

The following delete functions can also be called up by frmctton

keys :

-D- Delete block from file

An individual block of t h e activated
program ffle ziay be deleted.

(F3> Delete block krom srrbmodnle

Indiedual controller data s e t s may be
deleted fzom t;he memory modrile. When
an asterisk <*)i s entered instead of a
controller number all controllers of
t h i s memory module are deleted.

-S4> Delete block from module

h d i e d u a l cantroller data sets may be
deleted from the module. Uhen an aste-
risk (*) is entered instead of a c m -
troller number, all controllers are
d e l e t e d from the module.

Q?8> Delete coslrplete prog. f %IQ

A program f i l e is delezed completely
fra~ the disk or the Winchester. Thtrs
all b l o b are deleted Ezam this ffie.
Fig. 5.16 Delete menu

5.6 Special
The special fmrctimns &dh the user selects from the main menu
bp pressing a& offer the following:

eT>S t a r t
This function that cmly runs d i n e , sets
t h e operatiag mde ?&mwfor the modPle.

4?4> Stop
T h i s ftmctian that only rtms d i n e , sets
the operating mode * S t o p w for .the module.

d 6 > Preset
From this meap that is showa in figme 5 . 2 ,
the operating mode a d the progran f i l e may
be selected. When the operating mode i s
prompted the user should enter, o f f l k e , if
programmer and progranunable controller are
not connected. .
The user i s offered tpoo alternatives vhea
operating t h e -252:
-
"IP252 without bus accessn [G3>)
-
"IF252 vith bus access" (<F4>).
 COE BEG

The rerm " w i t h btts accessw respectively

"vithaut bus accessn means that the IP252
may behave liae a CO-processor; if " w i t h bus
accessR is selected the IP252 may access the
perLphera1, plugged isto the same central
processor, wLehaut increasing the CPU load-
ing. Tbfs direct bus access ts described in
d e t a i l in section 4 and is restricted to
the IP252 in the SS-ll5U.
The cantroller block may be stored together
in a program f i l e on an external storage
atedim. The file name is optional; the user
should enter it into this presettbg mask,
r o hfoxm t h e program. The filename consists
of 6 characters -; vhetl it is smaller,
the remaining plsces are filled ~ 5 t h"@"
signs. Uhen no drive is selected the default
drive is assumed.

-ST> Controller processing

V s b g this function which rmrs cmly online,
the user is able to individually enable or
drsable the control loops of the module.
This i s shown in the memr in fignre 5.17.
Pig. 5.17 Cantroller processfng lneprr

The cursor may be mowed to the indivi,dual control loops in this

m. The function keys are assigned the following:
<F1> Yes
The canlzol loop cm which the cursor is posi-
t i o n e d is enabled.

e 3 > No
The control loop on ubich the cursor is posi-
+ i d is disabled.
-mipmems
Vben this function key is pressed the main meam
is displayed.
5-7 Information Rmctions on the -52
Vhea the user presses the function key -R ip the maLn menu the
menu "Infommtian" is displayed. The function keys are assigned
the folloving :

GB Directorg:
After the souxce device is selected, the
progr-er supplies a lfst of contents of all
cantrol loops of this medium. In addition to the
control loop &er the structure, the version
namber, and the processor loadfng are displayed.

G 4 > SPSID Module:

<FS> -ID Submodale:
These functions that lead to the menu shown in
figttre 5.18 inform the user about the plant to
be controlled, the module, the submodule, the
versicm number of the f-re, and the bus
addresses.
hput is possible in fhe fields
"Plant from : datep a d
"Frame no.: X" (X = 0 to 2 5 4 ) .
These functions were introduced in order t o enab-
l e the CPV of a prograamable coutroller t o ope-
rate its IPs and CPs and in order to read the
data descr5bed above for diagnostic purposes.
*
* SPSID

F i g . 5.18 SYSID menu

-6% IP252 fault

Uhen a faolt occurs in the I5252 this functLon
displays an error message con&* error d r
and description. Cmly one error message is d t s -
'played at a time, even if s e ~ r a ertors
l should
have ocnsred. See figure 5.19 fox the error mes-
sages.
Vben +he "lafo" ftmctiaa in the submenu "Error" is actioated
If252 outputs t h e following messages for error dhgnoais. The
preceding fault numbers are stored as error code in the hal-poa
(see also chapter 5 , -I 1-52).
 cm BEG

Error code T a c t dirplayd Error k r i p t i m b r i m

(decimal) a t the PG of IP

do- no error Normal state: errot in IP252' -

11. Hardrare Timeout (except -log Wle) oSfOP"
12. *re C k k w a of EPR(IIS i s not valid *SW1
13. Ilar&are Offset deviatim of a WC znSB 'STOPu
14. Itarchre Error i n harrberr test prograa3: W! mEIm"
15. E m i n h a d r e test ~rogr;rm:W T *STP

0. mc
h dog Monitoring tie elapsed nSTBR
2l. Dir. Lus access S5tUrismtenabtedIySBU .STP
P. Uire beak a t d i g i t a l Cpm c i m - t at digital i n p t mSfOP"
irprt Cd%gitalcscho) *SOPR
P. Errw i n anaLog sec. V o l e w l y of anatog sec. has fat led =SiOPI1
30. PC STB Ifhibit caaanj outpR C)- i s active %mF"
31. error Y m m srharrdule i n W252 aSTOPU

50. Ertor i n malcg -Le T i m or apen circuit in analog module gSOP1l

51. OvwlDad I P 252 overl- Ctiae d l i c t ) LED LF"

flashing

m. STOP w i t c h SmP suitehof IP 2S2 i n STOP position =STOPn

n. software s ap stopof t P a a < c a s e d ~ ~ o r ~ ) =STOP*

The foLLwing mssages only apply for the m stMure

E. Prepare self-setting nane
76. S e l f s e t t i n g active mne
?7. S e l f s e t t i n g arrprc- none
f u l l y ttrrirrated
7a. strueturiw llOne

i n i t i a l i z i n g ermr
79. Invalid a r t 1 rumfaer lrwalid c ~ n h a l l e rno. (no. 1 or 2 only) mne
LI]. Sep. time too \mg m i n g tie too l m g C TW W 8 s mly) mne
. 81. Load t#que too high mne
83. Illqgl p c e s k e mne
86. Dptimization f a i l e d Paraetcrs could not k e n calarlated m
B. SFealrbyPG/PC Breakcausedbypmgrg~~ mne
86. S5 s o a n i c a t i m error S5 ammication aror with IP 240 none
87. 55 n're brcak Open c i r w i t in I? 240 d l e rwe

Fig. 5.19 Error messages of IF252 for error diagnosis

All laessages listed above are recognized by the operating system

of the m 5 2 and can also be fetched by the CPU from a specific
W area o f the IP252 (dual-port M)by means of RECEIVE 200.
A fault entry w i l l aatomatically be deleted uhen the modale
passes fram "STOPu t o "BUHR.

Rormally only the message vhich has been signalled first is

entered. Message nrrmbers 51 and 75 to 85 are an exception to this
m l e : Tbese messages are overwritten by each folloving m e !
 < F h Rocessor loading:
dfter the source M c e is w e r e d this ftmctlon
supplies a list of all control loops together
w i t h the version number, a controller stnactme,
the description list, and the processor load-
of each control loop (IP252 load*). The total
load of the individual modules must not exceed
the 100% limit. See figure 5.20 for processor
loading.

-
W
&cl
1 n.0
2 n.0
3 m-0
me
Dzh?
Drive
m.0
V1.0
m.0
l5 %
L5 %
62%

Fig. 5.20 Processor loading

The c m t r o l l e r r e s t frmction vhich the user calls by pressing
function key -3s in the main me=, enables the user to operate
and monitor the controller in d i n e mode; in addition t o the
lnpat and the display of parameters (in control mode) t h e con-
t r o l l e r t e s t shows actual b i t values (e. g. enabllng branches or
l i m i t valtre identification), input values (e. g. PC setpoints) or
iatermediate results of the algorithm (so-called measwring
points). A l l values are requested and updated by the -252 seve-
r a l times per second.

This function i s suitable, in particular, for the start*-up

procedure, e r r o r diagnosis and optimizatiun of control loops.

Bfter the user has selected the function "Test" (63>) and enter-
ed the control loop e r , the branch selection menu i s display-
ed which is identical t o the branch werviev shown in figure
5.10. In additian t o the branches offered for parameterization,
there s r e the t w functions %eamzring point tablem and
"Smrting-upu in t h e control test. W L t h i u the individual
branches, b i t values and svitcb positions a r e displayed in
addLcion t o t h e data displayed f o r parameterization. Bfter t h e
user has selected a branch, a mask is displayed as shown in
figure 5.21. for example.
mte: The measuring points of the 1-t manitors can a l s o be
changed in t e s t operation. If you wish t o chatlge
measuring po-ts of d-erent dlmensions (example : m4
regulatiug variable given as %, MP1 actual value is
dimens--dependent). i t is necessary t o re-enter the
l M t values ip order to obtafn a correct indication of
the limit manitor bits.
 COX BEG

* !&Me :m 3 2 e.
: Ssndard *
* CONTROLLER TEST Scuree/Dest.: HZ Bfadc :W 003 *

* F1 ! F 2 ! F3 ! F 4 ! F 5 F6 ! F 7 F8 *
* I I !SCrpU !SCrpff ! IN80 !M *
* ! Farce ! ! u p ! b ! !mIseZectim *
* *

F i g . 5.21 Controller t e s t menu

During this controller test ihe user may change each value except
the stractare svitches. These changes should be made by of
the "Forcew mode.

Canrrollipg in the controller test

Dtrrfag the m0ma.l ccmtzoller test the cursor is not visible. If

the nser wishes to aodify a prameter during IUIH he may M-
tiate it by pressing the "Forcemkey. The restitt 2s that the
cyclical s t a f o s request is termhated and t h e last display is
frozen. Thea the cursor appears on the first field that can be
accessed Flrith the "Force" key respectively an the f i e l d tbat was
accessed last in U s section. IQ the "Forcewmode, the curses
control is the same as in parameterhation made, except that
+he cursor can olrly be moved to maccessfblem fields;

Whetr 8parameter, on wbich the c u r s o r i s t o be mrrrred, s h d d be

changed the e x b t h g value %S o v e m % t t e nby t h e new one and the
entry is reminated by presshg the Betcsra key. The PG transfers
this new value immediately to the -252, cancels the control mode
and retarns to the cyclical scatus output.
 COH BEG

19on-carraollable values: addresses

measuring points
number of limit values
number of vertices/setpoints

The following parameters may cause conflLcts in the overlayed

control of the IP252 since these paraaeters also may access the
same lines a dual-port-- operation:
PC s e q o i n t s
PC enabling
 SIEMENS
SlMATlC S5
IP 252 General-PurposeClosed-Loop Control Module
8.1 Configuration sheet: Drive controller

Configuration-sheet: Drive controller

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
StMATlC S5
tP 252 General-Purpore Closed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 1 : CONTROLLER OUTPUT

CURRENT SETPOINT

from Branch 10

DAC
n 2
m

Description Value Phys. unit

S 1-1 Structure Selector CONVERSION

CON 1.1 SCALing DeCeLeration Value 1 1 %

DAC 2 ADdRess

REL 1.1 BREAK ENABLE

MP 6 IBR Deceleration current
MP 9 l SOL Current setpoint
M P 12 N-ACT Actual speed

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 2: FRICTION

from Branch 8

v
to Branch 1

Description Value Phys. unit

CON 2.1 FRICTION value

REL 2 .l FRICTION ENABle

M P 14 N-SET Setpoint after ramp generator

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 3: PERIPHERAL VELOCJTY AND ACCELERATlON

Acceleration
L

8.TA 1

t A
W ~ d v f d f d
L

from
9MP
14

Branch 8

Peripheral velocity

to Branch 5

Description Value Phys. unit

CON 3.1 SCALing ACCeLeration

BIT 3-1 INTegtater ENABle
REL 3-1 SET Start VALue
VAR 3.1 INTnal DlAMeter

MP 7 DVDT Acceleration
M P 12 N-ACT Actual speed
M P 14 N-SET Setpoint after ramp generator
MP15 D Diameter
MPl 6 V-ACT Actual speed

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controlter

BRANCH 4: LOOP GAIN

to Branch 5

8 . TA 1

f torn Branch 3

Description Value Phys. unit

S 4.1 Structure selector INJECT DIArneter SIGNAL

CON 4.1
ADC 5
SCALing LOOP amplification
ADdRess .B %
%
MP 8 K Gain
M P 15 D Diameter %

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 5: VELOCITY CONTROLLER Page 1

SPEED CONTROLLER

Description . Value Phys. unit

CON5.1 STart-UP SETPoint

CON5.KP Proportional value
CON5.TN Integral-adion time
CON5.N Derivative-action time
CON5.B + Controller HIGH LIMIT
CON 5. B- Controller LOW LIMIT

CONTRoIler ENABIe
High OVER FLOW (identifier)
Low OVER FLOW (identifier)

REL 5.1 STart-UP DerivatioN ENabie

REL 5/9 DlRect TENSion CONTRol

MP10 1*1 controller output

MP11 DN-ACTcontrol deviation
Controller No: Date:
Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
tP 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controller.

BRANCH 5: (ROTATIONAL) SPEED CONTROLLER Page 2

Branch
Branch
Branch
Branch
Branch

Branch 3
QC
I Actual value

Description Value - Phys. unit

CON 5.SHL Setpoint High ~ i m ~ Speed

it,
controller
CON 5.SLL Setpoint Low Limit, Speed
controller
CON 5.AHW Actual value High Warning limit,
Speed controller
CON 5,ALW Actual value Low Warning limit,
Speed controller
CON 5.AHD Actual value High Danger limit,
Speed controller
CON 5,ALD Actual value Low Danger limit,
Speed controller

BfT 5.SHL SHLS VlOLated

Brr 5.SLL SLLS VlOlated
BIT 5AHW AHWS VlOLated
BIT 5.ALW ALWS VlOLated
BIT 5-AHD AHDS VlOLated
5 IT 5-ALD ALDS VlGLated
Controller No: Date:
Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 6 : SET-UP SPEED

to Branch S

Description Value Phys. unit

CON 6.1 Set-UP SPEED

REL 6.1 SET-up Speed ENABle

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATtC S5
IP 252 General-PurposeClosed-Loop Control Module
8.1 Configurationsheet: Drive controller

BRANCH 7 : CREEP SPEED

REL
I
7.1

to Branch S

Description Phys. unit

CON 7.1 Creep SPEED %

REL 7.1 CREEP speed ENABle

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SlMATlC S5
1P 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 8: (ROTATIONAL) SPEED SETPOINT, VELOClTY SETPOINT

Description Value Phys. unit

S 8.4 Stnrct. sel. RAMP GENERATOR
S 8.2 Struct. sel. SMOOTHING
S 8.3 Struct. sel. SETPoint SEQUENCE

CON8.1 CONSTant SETPoint

CON8.2 ,SETPointSCALER
CON8.TR Ramp-down time
CONS-TH Ramp-Up time
CON8.INC INCREASE
CON8.TZV Smoothing time constant

ADC 6 ADdRess
DAC 5 ADdRess
BIT 8.hi HIGHER
BIT 8.LO LOWER
BIT 8.ERA ERASE

REL 8.1 PGIPC- SETPoint

REL 8.2 SETpoint ENABLE
REL 8.3 ADCANPUT
VAR 8.1 VARiable SETPoint

MP 12 N-ACT Actual speed

MP14 N-SET Setpoint after ramp generator
MP t 7 N-SET Setpoint before ramp generator

Controlter No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC 55
IP 252 General-Purpose Closed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 9: PRIMARY CO~TROLLER Page 1

Description Value Phys. unit

Struct. sel- Limit choice B +I&
Struct. sel. Setpoint selection AOCnNWT
Struct sel. multiplier select N-ACTffi XALER
COM9.1 CONSTant SETPoint
CON9.2 SCALer CONST.
CONQ-KP Proportionalvat ue
CON9.W Irrtergral-actiontime
CONS-TV Derivativeactiontime
CON9.B + Controller HIGH UM1T
80W9.B- ConWIler LOW UMIT
ADC1 ADdRess
ADO ADdRess
m C.E CONTRoller EWA3le
BITS*ov + High OVERFLOW (identifier)
BIT9.0V- Low OVERFLOW (identifier)
REL9.1 VARiable SETPoint
RUS19 MRectTENSion CONTRol
vAR9-1 VARiaMe SETPoint
MP1 ACTUAL Actual value at controller
MP2 SET m i n t at controller
MP3 MFF Deviationat controller
MP4 CORR Cotredion value at controller
MW2 N-ACT Actual speed

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC SS
lP 252 General-PurposeClosed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 9: SETPOINTfACTUAL VALUE MONITORING Page 2

L

Setpoint

Ii
Actual value

I
I
I I

Description Value Phys. unit

Setpoint High Limit, Position controller
Setpoint Low Limit, Position controller
Actual value High Warning limit,
Position controller
Actual value Low Warning limit,
Position controHer
Actual va!ue High Danger limit,
Position controller
Actual value Low Danger limit,
Position controller
SHILP VlOLated
ALlP VIOLated
AHWP VtOLated
ALWP VtOLated
HDP VlOLated
ALDP VlOLated
MP1 ACTUAL Actual value at controller
MP2 N-ACT Setpoint at controller

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
iP 252 General-Purpose Closed-Loop Control Module
8.1 Configurationsheet: Drive controller

ANCH 10: SPEED ACTUAL VALUE

S10.2

Description Value Phys. unit

S 10.1 Struct. sel. actual value ANALOGPULSE sensor

. S 10.2 SMOOTHtNG
S 10.3 EXPAND (flicker eliminator)

CON10-1 ACTual SCALing speed

CON10.2 STart-UP ACTual value
CON10.3 CALibration DtSPlay
CON 10.4 Rated speed REV/SEC
CON 10.5 Line numberdlU0 (NU100)
CONIO.NZ Smoothing time constant

ADC 3 ADdRess
DAC 1 ADdRess

REL 10.t Start-up ACTual ENABle

M P 12 N-ACT Actual speed

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IF 252 General-PurposeClosed-Loop Control Module
8.1 Configurationsheer: Drive controller

BRANCH 11:ACTUAL ARMATURE CURRENT

2.TA
to Branch 5

Description Value Phys. unit

S 11-1 Struct. sel. THERMal MONlTORing

S 11.2 Struct. sel. Armature CURRent INJECTION

CON 11.1 THERMal LlMit

CON 11.2 THERMAL CONSTant
CON 11.3 SCALing ARMature current

ADC 4 ADd Ress

BIT 11.l THERMal ALARM

MP 5 l*R Correction value at actual current

MP13 I-ACT Actual armature current
Controller No: Date:
Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Ciosed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 12: LlMlT MONITOR f

Description Value Phys. unit

CON 12.1 LlMlT 1

CON 12.2 LlMlT 2
CON 12.3 UMIT 3
CON 12:4 LIMIT4
CON 12.5 LIMIT 5
CON 12.6 LIMIT6
CON 12-7 Number OF LIMITS

BIT 12.1 LIMIT IDENTifier 1

BIT 12.2 LIMIT IOENTifier 2
BIT 12.3 LIMIT tDENTiiier 3
BIT 12.4 LIMIT IDENTifier 4
BIT 12.5 LIMIT IDENTi'rfier 5
BIT 12.6 LIMIT lDENTifier 6

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-LoopControl Module
8.1 Configuration sheet: Drive controller

BRANCH 13: LIMIT MONITOR 2

Description Vaf ue Phys. unit

CON 13.1 LIMIT 1

CON 13.2 LIMIT 2
CON 13.3 LlMlT 3
CON 13.4 LlMlT 4
CON 13.5 LlMlT 5
CON 13.6 LIMIT6
CON 13.7 Number OF LIMITS

BIT 13-1 LIMIT IDENTifier 1

BIT 13.2 LIMITIDENTifier2
BlT 13.3 LIM!T lDENTifier 3
BIT 13.4 LfMfTlDENTifier4
BIT 13.5 LIMIT IDENTifier 5
BIT 13.6 tlMlTlDENTifier6

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
51MATIC S5
!P 252 General-PurposeClosed-Loop Control Module
8.1 Configuration sheet: Drive controller

BRANCH 14: MEASURING SOCKET 1

Description Value Phys. unit

M?NR MEAS. Point NurnbeR

DAC 3 ADd Ress

C~ntroll er No: Date:

Module MO: Handled by:
clant.
SIEMENS
SIMATIC 55
IP 252 General-Purpose Closed-Loop Control Module
8.1 Configurationsheet: Drive controller
- p - - - --

BRANCH 15: MEASURING SOCKET 2

Description Value Phys. unit

M P NR MEAS. Point NumbeR

DAC 4 ADdRess

Controller No: Date:

Module No: Handled by:
Plant:
 I

Branch 1.2 ST 3 Branch 1,3

Continuous-action Actuator
ST 2 controlfer adjustment
Upgraded-Version
Branch 3
Setpoint
Branch 1.1 Branch 1.4
L Continuous-action Mark-space
? ST 1
a-
controller

U Standard version output

Branch 2
Branch 1,5
Actual value Step-action
b controller with
W A pusle output
, .A

\i;,
i ,<E<
'<
,, Branch 4
-=a
-b Digital
rr Limit monitor 1 addresses
ST4 p

Measuring
Limit monitor 2 socket 2
ST 7

ESTE 324
STANDARD CONTROLLER --------
CONTROLLER
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.2 Configurationsheet: Standard controller

BRANCHE 1.1 : CONTINUOUS-ACTION CONTROLLER

(STANDARD-VERSION )

MANUAL INPUT

to Branch 1.311-4

Description Value Phys. unit

Struct sel. Manual input PG/ADC

CON 1 .l,MA CONSTant MANual value

CON 1 -1.KP Proportional value
CON 1 ..TN
l Integral-actiontime
CON 1.l .TV Derivative-actiontime
CON 1.l.B + Controller High LlMlT
CON 1-1.B - Controller Low LIMIT

ADC S

REL1 .l.l AUTOmatidMANUAL(mode)

BIT 1.1.CE CONTRoller ENABle

BIT 1.1.OV + High OVERFLOW (identifier)
BIT 1.l,OV - Low OVERFLOW (identifier)

MP 3 Deviation
MP4 Controller output
MP10 Manuaf valzle

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-PurposeClosed-LoopControl Module
8.2 Configurationsheet: Standard controller

BRANCH 1.2: CONTINUOUS-ACTION CONTROLLER (UPGRADED VERSION)

Description Value Phys. unit

Manual input PGIADC
Struct. sel. DlSTURBANCe INPut
SEPARate D-l NPUT
CON 1-2.MA CONSTant MANual value
CON 1.2.KP Proportionat value
CON 1.2.R Additional gain
CON 1-2.N Integral-act~ontime
CON 1.2.W Derivative-actiontime*
CON 1.2.A + Positive increment l~rnlt
CON 1.24- Negative increment limit
CON 1-ZB+ Controller High UMlT
CON 1.2.8- Controller Low MMlT

ADC3 ADdRess
AM4 ADdRess
ADC 5 ADdRess

B l t 1- 2 . n COWRoller ENABle
BIT 12.MV CONrtarrt MANlPulated VARiable
BIT 12.IR ReaVideal PID controlier
BIT 1-2.OV + High OVERFLOW (identifier)
BIT l.ZOV - Low OVERFLOW (identifier)
REL 1.2.1 DISTURBante ENABIe
REL 12 2 AUTOmatidMANUAL (mode)
Deviation
Controller output
Separate D-input
Disturbance input

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC SS
lP 252 General-Purpose Closed-LoopControl Module
8.2 Configuration sheet: Standard controller

BRANCH 1.3: ACTUATOR ADJUSTMENT

A
' 1 h
F

from Branch
1.111.2 v

I + DAC
C
v +) r
ACTUATOR ADJUSTMENT
S1 -3.1

OFF

Description Value Phys. unit

S 1.3.1 Struct. sel ACTUATOR ADJustment

CON1-3.GAI GAIN

CON1- 3 . 0 F F OFFSET
DAC 1 ADdRess
MP5 Manipulated variable

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.2 Configuration sheet:Standard controller
- .. p-
--

BRANCH1-4: MARK-SPACE OUTPUT

4
l1 -2
from Branch l .l

Y
only for R-Processor
I
Description Value. Phys. unit

51.4.1 Struct sel. 2/3-POlnt CONTRoIler

r---------------------------
51-4.2 ANAlog/DIGltalloutput
LI-III~I----~~I-I-I---------J
...only for R-~roceaot

CON 1A.TMIN Minimal Pulse duration TMlN

CON 1A.RTH ResponseTHreshold
CON 1.4.ADF ADaptation Factor

DACl ADdRess
DAC 2 ADdRess
------------------------c--

DOI ADdRess
L DO2
I - - - - - - - - - - - - IADdRess
I---ILII*----J

BIT t .QPP Positive PULSE

BIT 1-4.W NEGative PULSE

MP 6 Positive mv output
MP 7 Negative rnv output

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATlC S5
IF 252 General-Purpose Closed-Loop Control Module
8.2 Configurationsheet: Standard controller

BRANCH 1.5: STEP-ACTION CONTROLLER WITH PULSE OUTPUT

Description Value Phys. unit

S1 -5.1 Struct. sel. Manual input PClADC
r-Ll..--I--I..---I-I-.---. l
S1-5.2 ANA~oglDlGltAloutput
LILI.II-III--I---I.I)Q~QI--J
... only for R - P m s o r
CON 1.5-MA CONSTant MANual value %
CON 1-5.KP Pruportional value
CON l.S.TN Integral-actiontime
CON 1- 5 . N Derivative-actiontime
CON 1.S.TM ACWATOR runtime
COM t.5.0N ON THRESHold
CON 1-5.OF OFF THRESHold
CON l.5.TMIN Minimal pulse duration lMlN
ADC 5 ADdRess U
DAC 1 ADdRess
DAC 2 ADdRess
~ - l - . - - - l l l - - l - L I I . - l I I I L - -

D01 ADdRess
I OA2 ADdRess ...only for R Processor
LI----~.---.----~~--~---.~A
REL '1-5.1 AUTOmatidMANUAL(mode)
BIT 1.5.CE CONTRol let ENABle
BIT '1-5-06 Dead Band ACTIVE
BIT 1-5.BC Position OPEN REACHED
BlT ? -5.BZ Position CLOSED REACHED
BIT 1,S.OPN OPEN
BIT 1-5.CLS CLOSE
BIT 1-5.MEN MANUAL ENABle
MP 3 Deviation
MP 6 Positive mv output
MP7 Negative mv output
M P 10 Manual value

Contro!ler Ni)' Date:

Godule No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
I? 252 General-Purpose Closed-LoopControl Module
8.2 Configuration sheet: Standard controller

BRANCH 2: ACTUAL VALUE BRANCH Page 1

Description Value Phys. unit

Struct sel ADCIPULSE

Struct. sel. VALIDITY CHECK
Struct. sel. AVERAGING
Struct sel. POLYGON (generator)
MAX. Permiss. DiFFerence
NUMB. of VERTICES
S T A ~ VALue
T
VERTex SPAcing
ORDINATE 1
ORDINATE 2
ORDINATE 3
ORDINATE 4
ORDINATE 5
ORDINATE 6
ORDINATE 7
ORDINATE 8
ORDINATE 9
ORDINATE 10
ACTual Start-up value
ADC 2 ADDRESS

Start-UP ENABle
Actual fed value
Processed actual value

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC SS
1P 252 General-Purpose Closed-Loop Control Module
8.2 Configurationsheet: Standard controller

BRANCH 2 : ACTUAL VALUE MONITORING Page 2

Description Value Phys. unit

CON 2.HWL High WARNING limit

CON 2.LWL Low WARNING limit
CON 2.HDL High DANGer LlMit
CON 2.LDL Low DANGer LlMit

BIT 2.HWL HWL VlOLated

B I T - 2 . 1 ~ ~ LWL VIOLated
BIT 2.HDL HDL Violated
BIT 2,LDL LDL VlOLated

MP 9 Processed actual value

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMAT1C S5
IP 252 General-Purpose Closed-Loop Control ModuIe
8.2 Configurationsheet: Standard controller

BRANCH 3 : SETPOINT BRANCH Page I

Description Value Phys. unit

Struct. sel. ADUINPUT
Struet sel, RAMP GENERATOR
Struct. sel. SMOOTHING

NUMBER OF SETPOINTS
INTERVAL time
SETPOINT 1
SETPOINT 2
SETPOINT 3
SETPOINT 4
SETPOINT 5
SETPOINT 6
SETPOINT 7
SETPOINT 8
SETPOINT 9
SETPOINT 10
Rampdowntime
Rampup time
INCREASE
Smoathingtime constant
ADdRess
PC-setpointlSETPoint SEQUence
SFfPo~ntEAlABle

B1T 3.HI HIGHER

BIT 3.LO LOWER
BIT 3.ERA ERASE
BIT 3.1 UNEAR (rectangularfinterpol)

Fed Setpoint
Processed Setpoint
Deviation

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC SS
1P 252 General-Purpose Closed-Loop Control Module
8.2 Configurationsheet: Standard controller

BRANCH 3: SETPOINT MONrrORlNG Page 2

Description Value Phys. unit

CON 3-SHL Setpoint high iimit

CON 3 . S U Setpoint low limit

BIT 3.SHL SHL VlOLated

BIT 3.SU SLL VlOLated

MP2 Processed Setpoint

Controller No: Date :

Module No: Handied by:
Ptant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control ModU1e
8.2 Configuration sheet: Standard controller

BRANCH 4: LIMIT MONITOR 1

Description Value Phys. unit

CON 4.1 LIMIT 1

CON 4.2 LIMIT 2
CON 4.3 LIMIT 3
CON 4.4 *LIMIT4
CON 4.5 LIMiT 5
CON 4.6 LIMIT 6
CON4.7 NurnberOFLlMlTS

BIT 4.1 LIMIT tDENTif ier 1

BIT 4.2 LIMIT lDENTSfier 2
BlT 4.3 LIMITlDENTifier3
BIT 4.4 LIMIT IDENTifier 4
BIT 4.5 LIMIT IDENTifier 5
BIT 4.6 LIMITlDENTifier6

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
1P 252 General-Purpose Closed-Loop Control Module
8.2 Configuration sheet: Standard controller

BRANCH 5: LIMIT MONITOR 2

Description Value Phys, .unit

CON5.1 LIMIT1
CON 5.2 LIMIT 2
CON 5.3 ' LlMlT 3
CON 5.4 LIMIT4
CON 5.5 LIMIT 5
CON 5.6 LIMIT 6
CON 5.7 Number OF LIMITS

BIT 5.1 LlMff IDENTrfier 1

BIT 5.2 LIMIT IDENTifier 2
BIT 5.3 LlMlT IDENTiqfier3
BIT 5.4 LlMrr IDENT'rfier 4
BIT 5-5 LlMlT IDENTiiier 5
BIT 5.6 LIMIT IOENTifier 6

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
!P 252 General-Purpose Closed-Loop Control Module
8.2 Configurationsheet: Standard controller

BRANCH 6 : MEASURING SOCKET 1

Description Value Phys. unit

MP NR MEAS. POInt NumbeR

DAC 3 ADdRess

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-PurposeClosed-LoopControl Module
8.2 Configuration sheet: Standard controller

BRANCH 7 : MEASURING SOCKET 2

Description Phys. unit

M P NR MEAS. POlnt NumbeR

DAC 4 ADdRess

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC SS
!P 252 General-Purpose Closed-Loop Control Module
8.3 Configurationsheet: Drive controller with self-optimization (DRS)

Configuration sheet: Drive controller with selfsptirnization

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-PurposeClosed-Loop Control Module
8.3 Configuration sheet: Drive controller with self- optimization (DRS)

BRANCH 1: CONTROLLER OUTPUT

CURRENT SETPOINT

from Branch 10

Branch 2
++
Branch 12
+
Branch 5
+

Description Value Phys, unit

S 1.1 Conversion structure switch

CON 1.l Standardization

deceleration value

DAU 2 Add ress

REL 1.1 Break enable

MP 6 Deceleration current
MP 9 Current setpoint
MP 12 Actual speed

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMAT lC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controller with self-optimization (DRS)

BRANCH 2: FRICTION

from Branch S

1
to Branch 1

Description Value Phys. unit

CON 2.1 Friction

Friction enable

Summated setpoint

Controller No: Date:

Module No: Handled by:
Piant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configurationsheet: Drive controller with self- optimization fDRS)

BRANCH 3: PERIPHERAL VELOCITY

Peripheral velocity

Branch 5

CON 3.1 Treshold value

CON 3.DUG Diameter, lower limit
CON 3.TID Integral action time constant

ADC 7 Add ress

BIT 3-1 Integrator enable
REL 3.2 Set start value
VAR 3.1 Initial diameter
MP 7 Acceleration
M P 12 Actual speed
MP15 Diameter
M P 16 Actua! speed

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control ModuIe
8.3 Configuration sheet: Drive controller with self-optimization (DRS)

BRANCH 4: LOOP GAIN INCREASE

to Branch 5

from Branch 3

Descriptioc Value Phys. unit

S 4.1 Structure selecto: injecc: diameter signal
S 4.2 Field current mor itor
S 4-3 Interface
CON 4.1 Standardization field current
CON 4.2 Start-op loop gain
CON 4.VER Gain
CON 4.OFF Offset
ADC 5 Add ress
REL 4.1 Start-hp relay
MP 8 Gain
M P 15 Diameter
M P 18 Field current

Controller No. Date.

Module No: Handled by:
Plant-
SIEMENS
StMAT1C SS
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configurationsheet: Drive controller with self- optimization (DRS)

BRANCH 5: VELOCITY CONTROLLER Page l

SPEED CON1ROLLER

Description Value Phys. unit

CONS.1 Start-up setpoint
CON5.KP Proportional value
CON5.TN Integral-action time
CQN5.N Derivative-action time
CON5.B + Controller high limit
C O N5.B- Controller low limit
Controll er enable
High overflow
Low overflow

REL 5.2 Start-up setpoint enable

Controller output
Controller deviation
Actual speed l velocity
Summated setpoint

Contr-ller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SlMATlC SS
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controlter with self-optimization (DRS)

BRANCH 5: (ROTATIONAL) SPEED CONTROLLER Page 2

t
Branch 5
-~~w 1-
Branch 6
* ++ r)
L
.+
'+
Branch 7 Setpoint
Branch8 I
Branch 9 b I4
I
Branch l 1 h i
i
Actual value
f
1
Branch 3/10

Description Value Phys. unit

I I
CON 5.SOGD Setpoint high limit, speed controller
CON 5-SUGD Setpoint low limit, speed controller
CON 5.10WD Actual value high warning limit,
1 i%
%

%
speed controller l i
L

CON 5-IUWD Actual value low warning limit,

speed controtler
I%
CON 5-IOGD Actual value high danger limit, %
J
speed controller
CON 5-IUGD Actual value low danger limit, %
speed controller

BIT 5.5060 SHLS violated

BIT 5.SUGD SLLS violated
S f f 5.10WD AHWS violated
BIT 5.1UWD ALWS violated
BIT 5-10GD AHDS violated
BIT 5.1UGD ALDS violated

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
1P 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controller with self- optimization !DRS)

BRANCH 6: SET-UP SPEED

to Branch S

Description Value Phys. unit

CON 6.1 Set-up speed

REL 6.1 Set-up speed enable

Controller No: Date.

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-PurposeClosed-Loop Control Module
8.3 Configuration sheet: Drive controller with self-optimization (DRS)

BRANCH 7 : CREEP SPEED

to Branch 5

Description Value Phys. unit

'CON 7.1 Creep speed %

REL 7.1 Creep speed enable

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC SS
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controller with self-optimization {DRS)

BRANCH 8: (ROTATIONAL) SPEED SETPOINT, VELOCITY SETPOINT

from Branch 1013

Description Value Phys. unit

Struct. sel. RAMP GENERATOR
Struct. seI. SMOOTHING
Struct. sel. SETPOINT SEQUENCE

R
CON8.I Constant setpoint
CON8.2 Setpc; .scaler
CON$-TR Ramp-down time
CON 8.TH Ramp-up time
CON 8.ZUW l ncrease
CON8.TVZ Smoothing time constant

ADC 6 Address
BIT 8.5 HOE Higher
ESIT 8.6TlE Lower
BIT 8.7 AUT Automation mode
BIT 8.8 NUL Move setpoint to 0 %

REL 8.1 PGIPC-setpoint

REL 8.2 Setpoint enable
RE1 8.3 ADC / input
RE18.4 Isolated mode
VAR 8.1 Variable setpoint
MP 12 Actual speed .
MP 14 Setpoint after ramp generator
MP 17 Setpoint before ramp generator

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
StMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8-3 Configuration sheet: Drive controlter with self-optimization (DRS)

BRANCH 9: PRIMARY CONTROLLER Page 1

Description Value Phys. unit

Interface structure switch
Struct. sel- setpoint selection ADUlNPUT
Struct. sel. multiplier select. N - A O P G SCALER
Filter structure switch
Constant setpoint %
Constant factor
Proportional value
Integral-action time
Derivative-actiontime
Controller high limit
5 %

Controller low limit 'Y

Gain
Offset
Filter time constant
Address
Address
r"l
BIT 9.1 RF Controller enable
BIT 9.UE + High overflow (identifier)
BIT 9.UE- Low overflow (identifier)
REL 9.2 Variable setpoint
VAR 9.1 Variable setpoint
MP 1 Actual value at controller
MP2 Setpoint at controller
MP3 Deviation at controller
MP4 Correction value a t controller
MP12 Actual speed

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SlMATtC S5
IP 252 General-Purpose Closed-Loop Controt Module
8.3 Configuration sheet: Drive controller with self-optimization (DRS)

BRANCH 9: SETPOINTfACTUAL VALUE MONITORING Page 2

Setpoint

BIT BIT

I t

Description Unit Phys. unit

KON 9.SOGL Setpoint high limit, position controller 'I

KON 9.SUGL Setpoint low limit, position controller %
KON 9.10Wt: Actual value high warning limit, %
. position controller
KON 9.IUWL Actual value low warning limit,
position controller
I %
KON 9,IOGL Actual value high danger limit, 1- %
position controller
KON 9.IUGL Actual value low danger limit,
position controller
I %
BIT 9.SOG L SH ILP violated
BIT 9.SUGL ALiP violated
BIT 9.10WL. AHWP violated
BIT 9.1UWL ALWP violated
BIT 9.iOGL HDP violated
BIT 9.IUGL ALDP violated

MP 1 Actual value a t controller

MP 2 Setpoint at controller

Controller No: Date :

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 ~ o n f i ~ u i a t i osheet:
n Drive controller with self-optimization (DRS)

BRANCH 10: ACTUAL ARMATURE CURRENT

Description Value Phys. unit

S 10.1 Struct. sel, adual value ANALOGIPULSE sensor
S 10.2 Smoothing
S 10.3 EXPAND (flicker eliminator)
5 10.4 Structure selector internal pulse capture1
external IP 240 counter module
CON10.1 Scaling speed actual value
CON10.2 Actual start-up value
CON10.3 Calibration display
CON 10.4 Rated speed revlsec
CON 10.5 Line numbers/100 (NU1 00)
CON1O.?VZ Smoothing time constant
ADCC 3 Address
DAU 1 Address
ADR-K 110 address Channel No. of the IP 240
REL 10.1 Actual start-up value enable

MP l 2 Speed actual value

M P 21 Actual speed display

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
lP 252 General-Pu rpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controller with self-optimization (DRS)

BRANCH I 1: ACTUAL ARMATURE CURRENT

to Branch 5

Description Value Phys. unit

Struct. sel. thermal monitoring
Struct. set. armature current injection
KON t 9 .l Thermal limit
KON 11-2 Thermal constant
KON 11.3 Standardization armature current
ADU 4 Add ress
Thermal interrupt

Correction value at actual current

Actual armature current
Temperature

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-PurposeCl OS&-LoopContfol Module
8.3 Configuration sheet: Drive controller with self-optimization (DRS)
- .-p

BRANCH 12: ACCELERATION COMPENSATION

to
4 A
P

branch 1
to
Branch 5 Ii
j

Description Value Phys- unit

KON 12.1 Acceleration standardization

MP 7 Acceleration

MP 20 Sumrnated setpoint

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controller with self-optimization (DRS)

BRANCH 93: LIMIT MONITOR 1

Description Value Phys. unit

MP NR Measuring point number

CON 13-1 Limit 1

CON 13.2 Limit 2
CON 13.3 Limit 3
CON 13.4 Limit 4
CON 13.5 Limit 5
CON 13.6 Limit 6
CON 13-7 Number of limits

BIT 13.1 Limitidentifier1

BIT 13-2 Limit identifier 2
BIT 13.3 Limit identifier 3
BIT 13.4 Limit identifier4
BIT 13.5 Limit identifier 5
BIT 13.6 Limit identifier 6

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATlC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configurationsheet: Drive controller with self-optimization (DRS)

BRANCH t 4: LIMIT MONITOR 2

Description Value Phys. value

MP NR Measuring point number

CON14.1 Limit1 ii %
CON 14.2 Limit 2 i ] %
CON 14-3 Limit 3 1 %
CON14.4 Limit4 i %
CON14.5 Limit5
I j %
CON 14.6 Limit 6 i 1 %
CON 14-7 Number of limits
'
1
BIT 14.1 Limit identifier 1
BIT 14.2 Limit identifier 2
BtT 14.3 Limit identifier 3
BIT 14-4 Limitidentifier4
BIT 14.5 Limit identifier 5
BIT 14-6 Limitidentifier6

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controller with self-optimization (D%)

BRANCH 15: MEASURING POINT OUTPUT

Description Value Phys. unit

S 15.1 Smoothing
MP NU Measuring point number
CONt 5.1 Standardization
CON15 . N Z Smoothing constant
DAU 3 Add ress
R E 1 15.1 Measuring point enable
MP22 Measuring point output %

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SlMATlC S5
1P 252 General-Purpose Closed-Loop Control Module
8.3 Configurationsheet: Drive controller with self-optimization (DRS)

BRANCH 16: ARITHMETIC

Controller No: Date:

Module No: Handled by:
Plant:
SIEMENS
SIMATIC S5
IP 252 General-Purpose Ctosed-Loop Control Module
8.3 Configurationsheet: Drive controller with self-optimization (D=)

BRANCH 16: ARITHMETIC (Parameter)

Description Value Phys. unit

Forming t h e sum
Summated setpoint
Forming the product
Forming the quotient
Forming the unsigned value
Forming the reciprocal value
Conversion
Comparator
Conversion

CON 16.AN Upper response threshold

CON 16.AB Lower response threshold

. ADC 8 Add ress

ADC 9 Address
ADC l 0 Add ress
ADC 1l Address
ADC 12 Add ress
ADC 13 Add ress
ADC 14 Add ress
ADC 15 Address
ADC 16 Add ress
ADC 17 Add ress
ADC 18 Add ress
ADC 19 Address
REL 16.1 Switch enable
Switch result
BIT 16.1
2.B Branchhit-number z
Summated value
Difference value
Product value
Quotient value
Unsigned value
Reciprocal value
Converted value

Controller No: Date:

Module No: Handled by:
Plant:
 SIEMENS
SIMATIC S5
IP 252 General-Purpose Closed-Loop Control Module
8.3 Configuration sheet: Drive controlier with self-optimization (D=)

BRANCH 17: SELF SETTING

Discription Value Phys. unit

CON17.DV Double ratio factor 96

CON17.2 Maximum permissible armature current 1 max. 1 %
CON17.3 at speed N 1 %
CON17.4 Maximum permissible armature current I max. 2 %
CON17.5 at speed N2 96
CON17.6 Maximum permissible armature current 1 max. 3 %
CON17.7 at speed N3 %

BIT1 7.1 .POS Setpoint step changes in positive direction?

BIT17.2.NEG Setpoint step changes in negative direction?
BIT17.3.LAG Position limit monitoring enable?
BK17.4.OPT Self-optimization
REL17.5.UEB Accept calculated value?
CON17.KP Controller gain UP
CON17.TN Integral action time TN
CON17,lVZ FiltertimeconstantTV2

Controller No: Date:

Module No: Handled by:
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9.4 Firmware-Overview
EPROMs for IP 252

Location Label Module

1

Operating system I IP 252 processor card

on IP 252

Operating system
on
I
mixed-memory
submodule

EEPROM
I
1
7

COM 252 / 615

Df

D2
A: Drive controller structure
S : Standard controller structure
9.5 Abbreviations

ADU Analogldigital converter

BASP Command output disable
CP Communications processor
CPU Central processing unit
DAC Digital/analog converter
DIMOS Diagnostic and Monitoring System
DR Drive controller
DRS Drive controller with self-optimization
F5 Function block
1F lnterf ace
IP Intelligent IIO module
KON Delay time constant ( =TVZ)
KP Proportional gain
LM Limit monitor
PS Microseconds
PB Program block
PC Programmable controller
PG Programmer
SS-DOS S5 Disk Operating System
SR Standard controller .
TN Integral-action time
TS Sampling time
TV Derivative-action time
TVZ Smoothing time constant ( = KON)
 Controller loading of the IP 252
The following list states the approximate percentage loading imposed on the processor by each branch at a
given sampling time of 4 ms. The percentage values given are halved when the sampling time is doubled
(8rns). I t i s intended as a guideline for the user in ascertaining the maximum number of control loops he can
implement on the lP 252 for his particular purpose.
COM 252KOM REG initialization software gives the current total percentage loading of the processor in the
"Processor loading" submenu of the "Info" function. If thisvalue islessthan TOO%, the sampling time TA of
the control loops i s automatically extended by 4ms. This extension applies until the time discrepancy has
been etirninated. In this way, the operating system of the IP 252 can control all overloads and, in this case,
can still be operated via the programmer or the SS-CPU.

Drive controller Standard controller

Branch 1 : Controller output * Branch 1 : Controller
a) Without conversion a) Step controller with analog output 54%
b) W ~ t conversion
h b) Continous-actioncontroller without 48%
controller output
Branch 2: Friction * c) Add~tionalfeatures of extended 5%
version of the continous-action con-
Branch 3: Circumferential velocity and' 5% troller, without separate D input
acceleration and without disturbance input
d) Separate D input 5%
Branch 4: Loop gain e) Disturbance input 5%
a) With field current measurement 5% f) "On"-"Off" output with digital 7,S%
b) With injection of diameter signal t% output
g) "On"-"Off" output (two-step 5%
Branch 5: Speed controller * output)

Branch 6: Setting-up speed cannot be Branch 2: Actual value

measured a) Branch without funclion generator,
Branch 7: Inching speed cannot be averaging and plausibility checking
measured b) Function generator
Branch 8: Speed setpoint C) Averaging
a) Branch without ramp-function 7.5% d) Plausibility checking
generator and smoothing stage
b) Ramp-function generator 1% Branch 3: Setpoint
c) Smoothing stage 1% a) Branch without ramp-function gene-
rator and without smoothing stage
Branch 9: Outer loop controller b) Rampfunction generator
a) Positionsetpoint from PC 8% c) Smoothing stage
b) Positionsetpoint from ADC 10% d) Setpoint sequence

Branch 10: Actual speed value Branch 4: Limit monitor 1

a) Branch without smoothing stage
and expanded scale X Branch 5: Limit monitor 2
b) Smoothing stage lO
h
t*
C) Expanded x a l e Branch 6 ; Measuring socket l

Branch Il: Actual armature current value 4% Branch 7: Measuring socket 2 3%

Branch 12: Limit monitor 1 l ?4n

Branch 13: Limit monitor 2 1%

Branch 14: Measuring socket 1 3%

Branch 1 S: Measuring socket 2 3%
" This load is part of the base load of the drive controller; with a sampling time of 4 ms SS0!.
t
These loads are negligible.
*** The loads of these branches are accounted for in the base load specified for branch la) and branch 1b).
9.7 Controller loading of the IP 252
Drive controller with self-optimization (DRS)

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