B 84DB E67abf26bbc8

EM 253 Position Module Programming Wizard
 Generates the PLC code from user’s inputs.

 Actually makes motion configurations easy!
 Allows user to complete the entire EM253 motion
module setup parameterization in just minutes.
New in
Micro/WIN
Version 3.2
 Included with the PLC Programming SW

 No add-on tools to purchase
 Also includes a Control Panel online interface
to optimize and adjust after the wizard
configuration has been downloaded
Slide 1
STEP 7-Micro/WIN V3.2 EM253 Motion Wizard March 2002
Tutorial for Configuring the EM253 Position Module
 PART 1: System Settings
 PART 2: Machine (Drive) Data
 PART 3: Setting Reference Point Search (RPS) Sequence
 PART 4: Profile Definitions
 PART 5: Wizard Results (Data Areas and PLC Code )
 PART 6: EM253 Control Panel
 PART 7: EM253 Configuration FAQ’s
Slide 2
Launch the Position Control Wizard
 Launch the wizard from the

icon in the Tools menu
 The following slides take you through each EM253 wizard screen, explaining all the
input parameters, their meaning, and the significance of each one.
Slide 3
PART 1: System Settings
Select the EM 253 Configuration
PLC on-board PTO/PWM
PLC with EM 253 Module
F1 Press F1 for help on any Wizard screen.
Slide 4
Intelligent Module Rack Position
If connected to online PLC,

Press ‘Read Modules’ button to
automatically read intelligent
module’s rack position.
Manually setting the Intelligent Module Rack Position (in offline configurations):
Example: Digital 1 Analog st
2nd
CPU I/O EM253 I/O EM253
Physical Position: - 0 1 2 3
Intelligent Module Number: - - 1 - 3
CPU Digital EM253 Analog EM253 Intelligent Modules include: EM 241, EM 253 and EM277
I/O I/O
Slide 5
Select a Measurement System

A measurement system is
selected by the user, based
on the user’s preference.
Engineering Unit Selections:

 inch
 foot
 millimeter
 centimeter
 degree
 radian
 any user-defined unit
The default ‘units’ are based on the

project’s ‘Regional Settings’ from
the Micro/WIN Options menu.
 The measurement system, Engineering Units or Number of Pulses, selected on this screen is
used throughout the wizard configuration.
 The motor’s Data Sheet specifies the pulses per revolution.
 Specifying units is convenient because the wizard handles all conversions for the user.
Slide 6
Advanced I/O Options (1 of 3)
EM253
LED’s:
STP RPS LIM - LIM +
Activation
Level
Settings
Inputs:
STP RPS LMT - LMT +
Module Reference
Settings:
High - a logic 1 will be read when current is flowing in the input.
Low - a logic 1 will be read when there is no current flow in the input.
A logic 1 level is always interpreted as meaning the limit has been reached. The module LED’s
will be ON if there is current flow to the corresponding input, regardless of the active level
configured.
Slide 7
Input Filter Time for EM inputs

(applies to LMT+, LMT-, STP)
Filter Time for the RPS input
Selection Range:
 0.20 – 12.80 millisecond
 ‘None’ is also an option
Input Filter Time is delay time. The input must remain at the new state for the
duration of the delay time in order to be accepted as valid.
Purpose: The filter rejects noise impulses and forces input lines to stabilize before
the data is accepted.
Slide 8
The Pulse Type is determined by the nature of the device.
Linear Rotary
Left to right CW
Positive
Direction
Right to left CCW

Negative
Direction
An estimated 90% of users will use

devices with this default setting.
Slide 9
PART 2: Machine Data
Set up how the H/W inputs will Respond
Choices for each response are:
 Decelerated Stop.
 Immediate Stop.
 No action. (Ignore input)
These settings should not

be substituted for an
Emergency Stop (E-Stop).
Choices: Descriptions:
Decelerated Stop : decelerates to a stop and indicates LIMIT reached (LIM activated).
Immediate Stop : stops by terminating pulses and indicates LIMIT reached (LIM activated).
No Action : ignores input condition.
Slide 10
Use the Motor’s Data Sheet

Certain Motor parameters are vital in setting up the next wizard screens.
You must gather information from the Motor’s Data Sheet.
Motor Speeds: Data Sheet Example:

Max. torque
Typically found as a waveform on the data sheet:
For MAX_SPEED, on the motor’s data sheet, find: Max. torque for
the Application
(1) Maximum torque
NOTE:
(2) Determine the Max. Torque for the application If it’s a guess:
Pick a range where application will most likely -The Curve Knee
work. This is NOT the same as maximum motor is good place to
torque. start.
(3) Speed at which that torque can be achieved - Pick from a
approx. range
(This is the MAX_SPEED to input in wizard)
and experiment
For SS_SPEED, on the motor’s data sheet, find:
(1) Start Speed (also called “Pull-in”)
(2) Stop Speed (also called “Pull-out”) Max. Max. Pull-in:
SS_SPEED is the minimum of these 2 values. torque torque ~ 80 Step/sec. (pulses/sec)
speed speed
for the
Typically, a useful SS_SPEED value is 5% to 15% of application
the MAX_SPEED value.
Click for More Details NOTICE: As load inertia increases, the curve drops.
Slide 11
Set Motor Speeds
To achieve maximum resolution

at higher speeds, range
checking is enforced: the
EM253 selects a time-base to
work with based on the
maximum speed. With this
strategy, the EM253 calculates
and enforces a minimum speed.
Notes about SS_SPEED:
 if too high, motor can ‘stall’

or ‘overshoot’
 if too low, motor can ‘cog’.
Start-Stop Speed (SS_SPEED) is the guaranteed speed at which motor can start and stop. It
is the speed plus the application’s ‘load’ factored in.
SS_SPEED value must be greater than the minimum speed displayed from your specification
of
MAX_SPEED. Click for More Details
The SS_SPEED is a mandatory setting.
Slide 12
Set JOG parameters (for manual debugging)
Achieved by constantly enabling the Jog command
Achieved with a 1-shot Jog instruction

- or- with one click on the Jog button
Jog Commands are enabled from (1) the Control Panel or (2) an EM253 pre-defined profile
or (3) a Micro/WIN Motion instruction (these are described in more detail in later slides ).
JOG_INCREMENT is the distance you want the tool to move with each JOG Command.
JOG_SPEED is the maximum speed that can be obtained while the JOG command remains
active. When the JOG command is de-activated, the EM253 automatically executes a command
that causes the tool to decelerate until it reaches STOP.
Slide 13
Set Acceleration & Deceleration Times
ACCEL_TIME: Time required

for the motor to accelerate
from SS_SPEED to
MAX_SPEED.
DECEL_TIME: Time required for
the motor to decelerate from
MAX_SPEED to SS_SPEED
Note About Defaults:

1 second default should
work for most
applications. Typically,
motors can work with less
than 1 second.
MAIN POINT TO REMEMBER:
The motor’s Acceleration & Deceleration times are strictly determined by trial and error.
Times set too short can cause the motor to stall.
Slide 14
Acceleration & Deceleration Times

Practical Way to input the Values: Data Sheets show a
(theoretical) example:
‘THEORETICAL’ vs. ‘PRACTICAL’
 Theoretically, the values could be calculated (as on
data sheet)
 ‘Trial and Error’ approach is the efficient way of setting
the values.
USE TRIAL & ERROR

 Approximate values should be entered on the wizard
once. Specifically, start with a large value in the wizard
setting to get the application going.
 During the start-up phase, adjust the values as needed
with the EM253 Control Panel (EM253 Control Panel is
explained later).
 Optimize these settings for the application by gradually
reducing the times until the motor starts to stall.
How the values are used by EM253:

Based on the wizard inputs for the times and motor speeds, the
EM253 calculates the Accel and Decel rates (number of pulses to
accomplish the target speed).
Click for More Details
Slide 15
Set ‘Jerk’ Time parameters
 Jerk time provides smoother

motion control by reducing the
“jolt” (rate of change) in
acceleration and deceleration
parts of the move profile.
 Reducing “jerk” improves

position tracking performance.
 “Jerk” time is also known as

“Jolt” or “S-Curve” profiling.
 Jerk Time can only be

applied to simple 1-step
NOTE:
profiles. (Profiles are
A good first value for JERK_TIME is 40% of ACCEL_TIME.
explained later).
Slide 16
PART 3: Setting RPS Sequence
Reference Point
The Reference Point (RP) is only for applications using Absolute moves (moves that are
relative to a specified RP)
If you select not to use the Reference Point, the wizard dialogs for setting RP will be skipped.
In a subsequent wizard screen, the user will select a ‘Mode’ for the tool movements.
Unlike all other modes, the Absolute ‘Mode’ is based on a Reference Point setting.
Note: ‘Homing sequence’ is a term often used interchangeably with Reference Point.
Slide 17
Reference Point Seek: A Working Example
 Seek RPS Zone to the Right

 Measure RPS Zone Width RPS
RP Seek Direction
RP Approach Direction LIMIT
Active Active
 Approach RP to the Right Work Zone
 50% of the RPS Zone is in the

Work Zone, RP is in its Middle 1 2 3 4
Note: This is a working example of how a RP Seek would work in an application. As described on following slides, this is only one of many RP
seek sequences available; the different RP seek sequences are selected depending on the specific application
Slide 18
How the RP (Reference Point) is used

Wizard settings for RP are used in a ‘Seek Sequence’.
A ‘Seek Sequence’ is executed (is command driven) when a tool abnormally stops or
malfunctions (when the exact location of the tool is unknown).
Workspace
- LMT + LMT
RP Offset
Zero Position RP
The tool is present, although it’s location is unknown
The EM253 uses pre-defined searches to locate the tool to a known position in the
workspace.
The tool is located according to a RP Seek Sequence that is selected by the user (the PLC
programmer).
The wizard allows the user to select the Seek Sequence that will fit best their application, and it
enhances the optimization of the user’s system.
Slide 19
Reference Point ‘Seek’ Parameters
RP_FAST
Speed
RP_SLOW
RP_SEEK_DIR
Direction
RP_APPR_DIR
Purpose of inputs on this screen:

RP_SLOW – search slows down as it approaches the target point, and will not miss it (~ SS_SPEED).
RP_FAST – search speeds up to expedite the search (typically this will be 2/3 the MAX_SPEED)
RP_SEEK_DIR – direction that the application’s searches generally move in most of the time; this
avoids switching directions often, which would ultimately slow down the overall search.
RP_APPR_DIR – same direction as the normal work cycle proceeds in; this reduces backlash and
provides more accuracy
Slide 20
Advanced RP Options
Workspace
- LMT + LMT
RP Offset
Zero Position RP
RP Offset (RP_OFFSET) is at a
fixed, constant location, at an
exact distance from the zero
position.
Backlash compensation would be

used when a tool is not moved in the
same direction ( not for constant
back & forth motion).
Note: When appropriately used, Backlash compensation allows the use of a lower cost equipment (such as worm gears).
Slide 21
Setting a Reference Point Search (RPS) Sequence

4 possible Seek (Mode) Sequences:
MODE 1: The reference point is where the

RPS input goes active on the approach from
the work zone side.
MODE 2: The reference point is centered

within the active region of the RPS input.
MODE 3: The reference point is located

outside the active region of the RPS input.
MODE 4: The reference point is located within

the active region of the RPS input.
The graphic shown is dependent on

your previous wizard inputs:
(a) Seek Sequence ZP (Zero Pulse) input count is the number
of pulses issued after the home search trigger
(b) ‘Direction of RP Seek’ condition is met.
(c) RP_APPR_DIR
Note: There are 4 possible Reference Point (RP) definition. With RP_SEEK_DIR and RP_APPR_DIR settings, there are 16 different sequences.
Slide 22
PART 4: Profile Definitions
Setting the number of User Profiles

 A Profile is created from a A ‘Step’ is a fixed distance for a tool to be
set of parameters associated moved, including distance covered during
Speed
with a tool’s movement. acceleration & deceleration times.
 A profile is shown
graphically as a function of Distance / Number of Pulses
One ‘Step’
speed and distance (see the
diagram)
 You input the number of

profiles to be defined for this
EM253 project (25 is
maximum profiles allowed)
 This Q-memory area is used

to trigger commands that get
executed by the module.
Note: The programmer defines number of profiles for the project on this screen. Parameters for each profile are specified on a subsequent screen.
Slide 23
Start address for the wizard configuration data
 You input the starting

PLC memory address of
where the profile data will
be placed into the PLC
memory (34 bytes for
each profile)
-or-
 Press ‘Suggest
Address’ button and
Micro/WIN inserts the
start address of an
unused, available area
Slide 24
Examples of ‘Workable’ Profiles
(a.) 1-Step Profile (b.) 1-Step Profile

The only thing changing will be Accel. & Decel.
rates. At minimum, this profile requires the
Wizard profile configuration to set the ‘type’.
(c.) 4-Step Profile (d.) 4-Step Profile

Different colors represent the different steps. Refer to the notes in figure (a.)
These are not the only profiles allowed. There are many other combinations.
Slide 25
Understanding the profile ‘Mode’ selections
Desired ending
position from the Desired ending
0 (Zero Point) Zero Point. Zero Starting position from the
Point Point Starting Point.
Absolute Position Relative Position
Controlled by your program until another Target Speed RPS signals Stop
command (such as ‘Abort’) is issued
Single-speed Continuous Rotation Single-speed Continuous Rotation with Triggered stop.
Target Speed with Target Speed with

RPS Inactive RPS Inactive
Two-speed Continuous Rotation

Slide 26
Create Profile Definition(s)
1. Select a mode for

this profile.
2. Input parameters to
define the step:
(a.) Target Speed
4. Press to define
another new step in
(b.) Ending Position
the current profile.
3. Click ‘Plot Step’ 5. Repeat 1 – 4 for

button (Step appears in each step (up to 4
the window). steps) in each profile.
6. Repeat entire
You can assign a name process for each new
to each profile. profile definition
(max. 25 profiles)
Note: Based on the programmer inputs for ‘Target Speed’ and ‘Ending Position’ for defining the step, the resulting, calculated units of
measurement will be displayed (as read only field) beneath the input parameters.
Slide 27
PART 5: Wizard Results
Completing the Wizard Configuration

 The wizard screen now explains
what changes will be made to your
Micro/WIN program.
 When you complete the wizard by

clicking the ‘Finish’ prompt:
(1) the indicated changes are made
to your Micro/WIN project.
(2) The instructions are added
under the ‘Call Subroutines’ folder
of the instruction tree.
(3) A Symbol table containing
EM253 project symbols is added to
the project
Slide 28
Summary : Your Inputs into Motion Wizard
This is a review of the input fields on the wizard screens:
System Intelligent Module Position in the PLC Rack

Settings Select Measurement System & Engineering Units
Module Response to LIM+/- Switch & Stop Input

Machine Data Motor Speed (Starting, Maximum, Jog)
Motor Acceleration & Deceleration Times
Seek Reference Reference Point Seek Speed & Direction

Point Settings Advanced Reference Point settings (Optional button)
Reference Point Search Sequence
Profile Definition
& Data Areas Number of Profiles & Address of QB Command Byte
V-memory Start Address of Data Block Locations
Profile Definitions (Mode and Steps for every profile)
Finish
Last Screen shows summary of EM253 project entries
Slide 29
Review : What the Motion Wizard Generates

Data Block values One Q byte location is SBR’s for Motion Instructions
(V-memory): set as the EM253 are placed in the Micro/WIN
‘Command Control’ Instruction tree under ‘Call
60-BYTES IN Byte: Subroutines’:
DATA BLOCK
(FOR MODULE Q-MEMORY BYTE POS0_CTRL (SBR1)
CONFIGURATION
SETTINGS) POS0_MAN (SBR2)
POS0_RUN (SBR3)
40-BYTES FOR POS0_SRATE (SBR4)
PROFILE #1 A Project Symbol
POS0_GOTO (SBR5)
Table containing
POS0_DIS (SBR6)
EM253 Settings:
(OPTIONAL) POS0_LDOFF (SBR7)
40-BYTES FOR
PROFILE #2 GLOBAL POS0_LDPOS (SBR8)
SYMBOL TABLE
CONTAINING POS0_RSEEK (SBR9)
THE POSITION POS0_CLR (SBR10)
... MODULE
PARAMETERS POS0_CFG (SBR11)
40-BYTES FOR
Each EM253 configuration created will place
PROFILE X
a set of instructions (one for ea. module in
(MAX: X = 25)
your rack). For example:
EM253 configuration 1 = POS0_ …
Multiple EM253 configurations are possible. EM253 configuration 2 = POS1_ …
Each configuration will have it’s own set of EM253 configuration 3 = POS2_ …
DB values. Etc.
Slide 30
Instruction Descriptions (1 / 3)
POSx_CTRL POSx_MAN GOTO POSx_RUN
Control Manual Mode Run Profile
Enables and initializes the Commands the

Position module. Ensures Position Module to
that your program calls this Puts the EM253 module go to a desired
instruction every scan. Use into manual mode. This location. Commands the Position
SM0.0 (Always On) as the allows the motor to be run module to execute the
input for the EN parameter. at different speeds or to be motion operation in a
jogged in a positive or specific profile stored in
negative direction. You the configuration/profile
can enable only one of the table.
RUN, JOG_P, or JOG_N
inputs at a time.
Slide 31
POSx_RSEEK POSx_LDOFF POSx_LDPOS
Seek Ref Pt Position Load Reference Point Load Position
Offset
Initiates a reference point

seek operation, using the Change the current
search method in the position value in the
configuration/ profile table. Establishes a new zero position Position module to a new
that is at a different location value. You can also use
from the reference point this instruction to establish
position. a new zero position for any
absolute move command.
Slide 32
POSx_SRATE POSx_DIS POSx_CLR POSx_CFG
Set Rate Turns DIS output Pulse Reload
of EM On or Off CLR Output Configuration
The POSx_DIS instruction Commands the Commands the Position

Commands the Position
turns the DIS output of the Position module to module to read the
module to change the
Position module on or off. generate a 50-ms configuration block from
acceleration,
This allows you to use the pulse on the CLR the location specified by
deceleration, and jerk
DIS output for disabling or output. the configuration/profile
times.
enabling a motor table pointer.
controller.
Slide 33
PART 6: Control Panel
EM 253 Control Panel (for start-up & debugging)
 Runs independently of the user’s program
 Selected as separate icon under Tools
 Verifies wiring of EM253 is correct
 Verifies EM253 is configured correctly
 Allows minor adjustments to be made to

the EM253 configuration
 Prompts user if adjustments should be

made permanent to the EM253 configuration
 PLC should be ONLINE and in STOP

mode, to perform the commands or change
parameter settings.
NOTE: An online EM253 module is required to execute the Control Panel.

Slide 34
‘Operation’ tab
Select Module
Module Status
Command
Manual Profile
Operation Status
Slide 35
Profile & Module Status
EM253
Step 3
Step 2
Step 4
Step 1
Profile Module
Examine the Status Status
individual
profiles.
Slide 36
Select a Module Command

List-box of 13 Module Commands
Each command selection is different:

• Necessary fields and buttons are enabled.
• Instructions for the selected command are displayed.
Enable Manual Operation Run a Motion Profile Seek to a Reference Point

Use Manual controls to place the (1) Type in a profile number, and (2) Click Execute starts the EM command
tool. click Execute. EM253 runs that to search for a Ref. Point using the
profile one time (includes all steps). algorithm configured for the EM253.
Load Reference Point Offset Reload Current Position Activate/Deactivate DIS output
(1) Use Manual controls to place the (1) Type in the position to set, and (2) Click Execute to activate the DIS
tool at a new Zero Position. (2) Click press Execute to initiate the move. output.
Execute to save this as the
RP_OFFSET .
Pulse the CLR output Teach a motion Profile Load Module Configuration
Click Execute to pulse the CLR (1) After setting profile number and Loads a new configuration by
output. step, (2) use Jog buttons to position commanding the EM module to read
the tool, (3) then press Teach button the configuration block from the V
to save it. memory.
Move to An Absolute Position Move by a Relative Amount Reset the Command Interface
Moves to a specified position at a Move a specified distance from the Clears the command byte for the
target speed. Before using this current position at a target speed Position module
command, you must have already (Positive or Negative distance). and sets the Done bit.
established the zero position.
Slide 37
Manual Operation
This portion of the screen changes depending on what ‘Module Command is selected.
Used to reset, and set

different values while
Determines how fast the command is running.
tool will move with
manual operations. Used to toggle the EM253
between Start and Stop
Determines whether tool

moves backwards or Only possible in STOP
forwards. mode.
Hold down the Jog button

Click once on Jog button to reach JOG_SPEED.
for JOG_INCREMENT
Slide 38
‘Configuration’ tab allows real-time user inputs
Determines
whether screen
fields can be
Edited or are
Read-only
Reference Application
Point Parameters
Settings
If pressed,
NOTE:
causes the
Upon exit of the
Control Panel, the screen values to
user is prompted be written to the
about whether PLC data block.
changes should be
permanently written
to the EM253
configuration.
Slide 39
‘Diagnostics’ tab has Module Information
Whenever
Error(s) occur,
the Diagnostics
Module Tab flashes:
Information “New Error In
Module”
This Error
Displays information indicator is then
about EM253 such visible from any
as: screen in the
Control Panel.
- Position of EM in
I/O Chain
All Error codes
- Module Type Are found in
- Firmware Version The S7-200
Systems
- Command Byte Manual.
- Error Codes
Slide 40
PART 7: EM253 Configuration FAQ’s
EM 253 Configuration FAQ’s (1/2)

QUESTION: If user has already finished configuring the EM253 module with the wizard, how can subsequent
changes be made to the configuration?
ANSWER: Re-run the wizard, or use the EM253 control panel.
QUESTION: Can the PLC programmer program the EM253 without using the EM253 wizard?
ANSWER: Yes, although this is not recommended because of the number of required data fields.
QUESTION: If user has selected engineering units, can the user change to different engineering units or to
pulses/revolutions later in the configuration?
ANSWER: Yes, although no conversion will take place. However, on a re-edit of a configuration, the user cannot
change between engineering units and pulses.
QUESTION: If user has more than one EM253 module, can the wizard be run for each module?
ANSWER: Yes. The user can run the wizard multiple times as long as sufficient memory is available. The
programmer must set the start addresses so that multiple EM253 configurations do not overwrite one another.
QUESTION: A user has two EM253 modules and the user needs to copy the first configuration in order to
make minor modification for the second EM253. How can the configuration be copied?
ANSWER: When existing configurations are present, the wizard can move a configuration to another slot. No copy
is provided.
QUESTION: Can a PLC use the on-board PTO/PWM and the EM253 at the same time?
ANSWER: Yes. The wizard is run twice (once for the PLC’s onboard PTO and once for EM253).
QUESTION: Can the Accel. and/or Decel. Times be changed ‘on the fly’? How?
ANSWER: Yes. From the EM523 Control Panel, or by using the POSx_SRATE motion instruction.
Slide 41
PART 7: EM253 Configuration FAQ’s
EM 253 Configuration FAQ’s (2/2)

QUESTION: Does the EM253 support ‘micro-stepping’?
ANSWER: Yes, up to the maximum speed of the module (200 KHz). To configure it in the wizard, increase the
pulses required for one revolution.
QUESTION: Can each profile have a different mode?
ANSWER: Yes.
QUESTION: If I have 2 profiles that need to be run back-to-back, will there be a delay between the 2 profiles?
ANSWER: Yes, since it must stop & then start back up; length depends on: (1) whether the profile is ‘buffered’ and
(2) PLC scan time.
QUESTION: Is it possible to enter a RP (Ref. Point) without a “home sequence”?
ANSWER: Yes. An instruction, POSx_LDPOS, is available for doing this.
QUESTION: Can I synchronize 3 devices in one system (PLC, motion data, position counter) ?
ANSWER: Yes. This would be done with the PLC logic (not done automatically with the EM253).
QUESTION: Can I use an HMI to control or monitor my motion module status?

ANSWER: Yes. Use HMI to control memory area associated with the EM253 inputs and outputs, or the motion
instructions’ inputs and outputs.
QUESTION: Can I link the execution of more than 1 profile without stopping?
ANSWER: No. The EM253 must stop after each profile. A profile always starts with motor stopped, and always
ends with the motor stopped.
QUESTION: Where can I find out more details and information about configuring the EM253 ?
ANSWER: The new S7-200 Systems Manual (Chapter 9) covers the EM253 Position Module
(Manual Order No.: 6ES7 298--8FA22--8BH0)
Slide 42
The End.
The End.
Thanks for your Attention.
For further information about the EM253:

Refer to the S7-200 Systems Manual,
Chapter 9
Slide 43
Use the Motor’s Data Sheet – More Details
Selection of the MAX_SPEED parameters is not always easy. Users typically do not know what the
‘Torque for the application’ is going to be.
If you have no idea, then guess by picking a value near on the waveform’s ‘knee’, and then adjust it later.
“MOST IMPORTANT” is shown in bold on the slides that discuss (1) Motor speeds and (2)
Acceleration/Deceleration times.
Why? These parameters are most critical in getting the EM253 set up to work properly.
In general, if a user can set these parameters with reasonable data for his/her application, then the
EM253 will basically work with the application.
All other parameters are also important in getting a system to work optimally. However, in the initial start
up phase, the parameters (marked as ‘MOST IMPORTANT’) are most critical.
If customer has a motor whose data sheet parameters are not sufficient for the what the application
needs, then the customer probably needs a bigger motor.
If the “start-speed” is given in ‘steps/sec’, and user is using units other than pulses/sec, then user will
need to convert from pulses/sec to units, such as inches.
Example:
If 1000 pulses = 1 inch
Then 80 step/second will be 80/1000 inches/second
Return To Slides
Slide 44
Set Motor Speeds – More Details
The SS_SPEED is mandatory.

All other calculations (In subsequent screens like when specifying Profiles, Jog parameters,
Accel/Decel parameters, etc.) the SS_SPEED is used by the module in calculating and making
the programmed moves.
When you set MAX value, the EM253 selects the range for you as seen in the MIN_SPEED, which
is a read-only field. It means that the pulse rate will not go any lower than the calculated
MIN_SPEED.
SS_SPEED cannot be lower than MIN_SPEED, and this is enforced by a range check performed
by the wizard.
The EM253 module supports the following ranges:

12 PPS to 2K PPS
60 PPS to 10K PPS
300 PPS to 50K PPS
1200 PPS to 200K PPS Return To Slides
Slide 45
Acceleration & Deceleration Times – More Details
It is theoretically possible to calculate the Acceleration/Deceleration times from inertia,

friction torque, etc. as shown on a motor’s data sheet.
However, 90%-100 % of average users are not able to obtain or calculate these values. (It
is too scientific, data such as ‘inertia’ is unknown, etc. )
This is where the Micro/WIN Wizard & Control Panel makes it easy for the users!!!
As stated on the slide, the practical way to set up the Acceleration/Deceleration times is
with “trial and error” in the initial set up:
• Start with a large value.
• After you get the application going, start gradually reducing the time until motor stalls.
Return To Slides
Slide 46
How the RP (Reference Point) is used – More Details
Absolute Move - A position move relative from a specified reference point or "zero position."
Relative Move - (incremental move) where the position move is relative from the current position. The two settings
(INITIAL & APPROACH) can be set opposite. For instance, ‘initial’ direction can be opposite the ‘approach’
direction.
Relative Move - (incremental move) where the position move is relative from the current position.
NOTE: The slides show ‘linear’ motion (‘rotary’ motion is also possible with EM253)
WORKSAPCE AREA: EM253 applications take place within a Workspace area.

BOUNDARY LIMITS: The workspace has boundary LIMITS on each side.
The LIM boundaries are typically sensor devices that provide inputs to the EM253.
The application reacts to LIM inputs based on the LIM responses.
ABSOLUTE MOVES:
To perform an Absolute Move, the important positions are:
1. A known Tool Position (not shown) that can be in or out of the workspace area.
2. A Reference Point (RP) is used as the target of the tool’s movement (for initialization).
3. A Zero Point (ZP) is at a fixed, constant location
Why does seeking need to be time efficient?

Seeking is typically used between an application’s transition between builds, or at the beginning of work cycles, etc. The
seek sequence reduces time and effort needed to place the work tool in the correct starting position. Otherwise,
manual intervention to move the tool could be required, which would require extra man power and would cost more
time.
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Slide 47
Reference Point ‘Seek’ Parameters – More Details
The tool will start the seek at a faster speed because seeking needs to be time efficient. This is called
RP_FAST. It is used in positioning the tool (As Quickly As Possible) near the RP.
Since the tool can only stop at certain speeds, it must be going that speed when it reaches the RP.
This is called the RP_SLOW (NOTE: This speed must be less than SS_SPEED).
The two settings (INITIAL & APPROACH) can be set opposite. For instance, initial direction can be
opposite the approach direction.
SEEK BEGINS with:
RP_SEEK_DIR - For each seek, will the initial seek direction be positive (right) or negative (left)?
RP_FAST – (consider motor size & SS_SPEED) How fast should seek be set?
During the SEEK :
(1) The tool begins to move. Tool will move towards the RP -or- towards a LIM, depending on set
direction.
(2) If tool reaches a LIM, tool movement reverses and continues in the other direction towards the RP.
(3) Tool speed is reduced (to the settings below) as it approaches the RP and prepares to stop.
SEEK FINISHES with:
RP_APPR_DIR - will the seek direction be positive (right) or negative (left)?
RP_SLOW – (consider motor size & SS_SPEED) how fast should seek be set?
APPLICATION NOTE: Normally, with linear moves, the application direction and seek direction will be opposite. With
rotary moves, they will be the same.
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Slide 48
The profile ‘Mode’ selections – More Details
Execution of commands shall cause the module to perform the motion operation specified in the MODE field of the Profile
Block indicated by the command_code portion of the command. The specifications for Interactive Block motion operations are
not cached, so they are read each time that the module receives this command.
In absolute position mode the motion profile block shall define from one to four steps with each step containing both the
position (POS) and speed (SPD) that describes the move segment. The POS specification represents an absolute location,
which is based on the location designated as reference point. The direction of movement is determined by the relationship
between the current position and the position of the first step in the profile. In a multi-step move, a reversal of direction of
travel shall be prohibited and shall result in an error condition being reported.
In relative position mode the motion profile block shall define from one to four steps with each step containing both the
position (POS) and the speed (SPD) that describes the move segment. The sign of the position value (POS) shall determine
the direction of the movement. In a multi-step move, a reversal of direction of travel shall be prohibited and shall result in the
reporting of an error condition.
In the single-speed, continuous speed modes, the position (POS) specification shall be ignored and the module shall
accelerate to the speed specified in the SPD field of the first step. One Mode is used for positive rotation and the other mode
is used for negative rotation.
In the single-speed, continuous speed modes with triggered stop, the module shall accelerate to the speed specified in
the SPD field of the first step. If and when the RPS input becomes active, movement shall stop after completing the distance
specified in the POS field of the first step. One Mode is used for positive rotation and the other mode is used for negative
rotation.
In two-speed, continuous speed modes the binary value of the RPS input selects one of two continuous speed values as
specified by the first two steps in the profile block. One Mode is used for positive rotation and the other mode is used for
negative rotation. The SPD controls the speed of movement. The POS values shall be ignored in this mode. The following
table defines the relationship between the inputs and the step within the profile block.
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Slide 49

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EM 253 Position Module Programming Wizard

 Generates the PLC code from user’s inputs.

 Included with the PLC Programming SW

 PART 1: System Settings

 PART 2: Machine (Drive) Data

 PART 3: Setting Reference Point Search (RPS) Sequence

 PART 4: Profile Definitions

 PART 5: Wizard Results (Data Areas and PLC Code )

 PART 6: EM253 Control Panel

 PART 7: EM253 Configuration FAQ’s

 Launch the wizard from the

Select the EM 253 Configuration

PLC on-board PTO/PWM

PLC with EM 253 Module

F1 Press F1 for help on any Wizard screen.

Intelligent Module Rack Position

If connected to online PLC,

Select a Measurement System

Engineering Unit Selections:

The default ‘units’ are based on the

 The motor’s Data Sheet specifies the pulses per revolution.

Advanced I/O Options (1 of 3)

Advanced I/O Options (2 of 3)

Input Filter Time for EM inputs

Filter Time for the RPS input

Advanced I/O Options (3 of 3)

The Pulse Type is determined by the nature of the device.

Right to left CCW

An estimated 90% of users will use

Set up how the H/W inputs will Respond

Choices for each response are:

These settings should not

Use the Motor’s Data Sheet

Motor Speeds: Data Sheet Example:

Set Motor Speeds

To achieve maximum resolution

Notes about SS_SPEED:

 if too high, motor can ‘stall’

 if too low, motor can ‘cog’.

Set JOG parameters (for manual debugging)

Achieved by constantly enabling the Jog command

Achieved with a 1-shot Jog instruction

Set Acceleration & Deceleration Times

ACCEL_TIME: Time required

Note About Defaults:

Acceleration & Deceleration Times

USE TRIAL & ERROR

How the values are used by EM253:

Set ‘Jerk’ Time parameters

 Jerk time provides smoother

 Reducing “jerk” improves

 “Jerk” time is also known as

 Jerk Time can only be

Reference Point Seek: A Working Example

 Seek RPS Zone to the Right

 50% of the RPS Zone is in the

How the RP (Reference Point) is used

The tool is present, although it’s location is unknown

Reference Point ‘Seek’ Parameters

Click for More Details

Purpose of inputs on this screen:

Backlash compensation would be

Setting a Reference Point Search (RPS) Sequence