SPC200 Smart Positioning Controller Electronics manual Stepping motor indexer module Type SPC200−SMX−1 Manual 188 895 en 0503b [693 858]
Contents and general instructions Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P. Mauch Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Holder Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Translation . . . . . . . . . . . . . . . . . . . . . transline Deutschland Layout . . . . . . . . . . . . . . . . Festo AG & Co. KG, Dept. KG−GD Type setting . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions II Festo P.
Contents and general instructions Contents Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 4. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1 4.1 4.2 4.3 4−3 4−4 4−7 4−8 4−11 4−12 4.5 4.6 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.
Contents and general instructions Designated use The stepping motor indexer module type SPC200−SMX−1 has been designed for coupling a suitable stepping motor con troller to the SPC200. With this stepping motor controller the SPC200 can control a stepping motor axis. Maximum 3 step ping motor indexer modules can be fitted in a rack. Basic components and modules for the SPC200 are described in the user manual type P.BE−SPC200−... .
Contents and general instructions Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in fitting, installing, commissioning, programming and diagnos ing stepping motor axes. Service Please consult your local Festo repair service if you have any technical problems. VI Festo P.
Contents and general instructions Important user instructions Danger categories This manual contains instructions on the possible dangers which may occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc.), printed on a shaded background and marked additionally with a picto gram. A distinction is made between the following danger warnings: Warning This means that failure to observe this instruction may result in serious personal injury or damage to property.
Contents and general instructions Marking special information The following pictograms mark passages in the text contain ing special information. Pictograms Information: Recommendations, tips and references to other sources of information. Accessories: Information on necessary or sensible accessories for the Festo product. Environment: Information on environment−friendly use of Festo products. Text markings S The bullet indicates activities which may be carried out in any order. 1.
Contents and general instructions Notes on software version Please note This manual refers to stepping motor indexer modules type SPC200−SMX−1 with software version as from 1.42.
Contents and general instructions Notes on the use of this manual This manual contains basic general information on fitting, installing and commissioning the SPC200, as well as a de scription of its method of operation as a stepping motor con troller. The manual deals with the SPC200 Smart Positioning Controller with operating system version as from 4.6 and fitted stepping motor indexer module with firmware version as from 1.42 (see section 5.3, Status display) as well as WinPISA as from version 4.3.
Contents and general instructions Information on the electric axes, drive packages with step ping motors and stepping motor controllers as well as sen sors can be found in the documentation supplied with the product. Caution If the permitted operating conditions of the components used are not observed, faults may occur during operation. Consider in particular the specifications for the permitted operating conditions of the motors and drives used in the documentation enclosed (manufacturer data), e.g.
Contents and general instructions List of abbreviations The following product−specific terms and abbreviations are used in this manual: Term/abbreviation Meaning Drive package Stepping motor controller, in some cases with gear Electric axis Combination of motor, coupling (coupling housing with coupling and flange), electromechanical linear axis, as well as the necessary cables and sensors.
System summary Chapter 1 Festo P.
1. System summary Contents 1. System summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1.2 1.4 1.5 1.6 System structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−3 Basis structure for operating a stepping motor axis . . . . . . . . . . . . . . . . . . . 1−4 1.2.1 Connecting and display elements of the stepping motor indexer module . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1.1 System structure Stepping motor drives must be connected to the SPC200 by means of special stepping motor indexer modules. Each step ping motor indexer module type SPC200−SMX−1 enables a stepping motor axis to be coupled on. 1 ......
1. System summary 1.2 Basis structure for operating a stepping motor axis With just the following modules the SPC200 can control a stepping motor controller: 1 2 3 4 1 Power supply module 2 Diagnostic module 3 I/O module (optional field bus module) 4 Stepping motor indexer module Fig. 1/2: Basis structure for a stepping motor controller 1−4 Festo P.
1. System summary Module Description Power supply module Enables the power supply and the axis interface designed as a field device to be connected. Diagnostic module Enables the control panel to be fitted and a PC to be connected. I/O or field bus module Enables control of the I/Os or communication via the field bus. Stepping motor indexer module Enables a stepping motor controller to be controlled.
1. System summary For setting up a stepping motor axis with the SPC200 you will require the following components: The SPC200 Smart Positioning Controller with stepping motor module type SPC200−SMX−1 The control cable from the SPC200 to the stepping motor controller (see manual for stepping motor controller) A stepping motor drive package from Festo, consisting of a stepping motor controller, a stepping motor and, in some cases, also gears.
1. System summary 1.2.1 Connecting and display elements of the stepping motor indexer module The diagram below shows the connecting and display elements of the stepping motor indexer module type SPC200−SMX−1. 1 Control plug (AMPLIFIER, X30), 15−pin 2 FAULT LED (red) 3 STATUS LED (green) 1 4 Signal plug (SIGNALS, X31) 2 3 4 Fig. 1/3: Connecting and display elements Festo P.
1. System summary 1.3 Drive packages Festo offers drive packages for electric axes. These consist of: stepping motor controller stepping motor (in some cases with brake) gears (if necessary). The drive package must be suited to the requirements of the positioning system (moveable mass, positioning time, etc.) as well as to the electromechanical linear axis used. A stepping motor controller with a 5 V signal level must be used for operating the SPC200 (see Technical specifica tions"). 1.3.
1. System summary 1 Power unit 1 2 Stepping motor Control signals controller 3 Stepping motor 2 4 SPC200 (positioning controller) 3 4 Fig. 1/4: Control connection of the stepping motor controller The control connection of the stepping motor indexer module type SPC200−SMX−1 has been optimized for the stepping motor controllers offered with the Festo drive packages.
1. System summary The control connection of the stepping motor indexer module possesses the following inputs and outputs for connecting a stepping motor controller: Outputs (push−pull control, electric as per RS 485): Pulse Direction Enable Full/half step (not used with SEC−ST) Input (relay contact in the stepping motor controller): 1−10 Ready (bridged in the connecting cable for the SEC−ST) Festo P.
1. System summary 1.4 Electromechanical linear drive Linear drives are used for the electric axes. These drives con vert the rotary movement of the stepping motor into a linear movement of the slide. If the linear drives do not have an inte grated guide, an additional guide must be provided. Two different types of guides are available: axes with spindle drive, e.g. DGE(L)−...−SP axes with toothed−belt drive, e.g. DGE(L)−...
1. System summary 1.6 EMERGENCY STOP concept Please note Check within the framework of your EMERGENCY STOP concept, to ascertain the measures necessary for putting your machine/system into a safe state in the event of an EMERGENCY STOP (e.g. switching off the load supply, operating voltage for the stepping motor controller, switching off the compressed air). The status of the limit switches connected to the sensor plug is evaluated by the operating system of the SPC200.
Fitting Chapter 2 Festo P.
2. Fitting Contents 2. Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−1 2.1 2.2 Fitting and removing the stepping motor indexer module . . . . . . . . . . . . . . . Fitting the electric axis and the stepping motor controller . . . . . . . . . . . . . . 2.2.1 Arrangement of the sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−4 2−7 2−8 2−2 Festo P.
2. Fitting Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. all load and operating voltage supplies on the SPC200 and the connected components of the positioning system. You can thereby avoid: unexpected movements of the connected actuators uncontrolled movements of loose tubing undefined switching states. Festo P.
2. Fitting 2.1 Fitting and removing the stepping motor indexer module Caution Modules may be damaged if they are not handled cor rectly. S Do not therefore touch the contacts of the components. S Observe the regulations for handling electrostatically sensitive components. Discharge yourself electrostatically before fitting or removing components in order to protect the components against dis charges of static electricity.
2. Fitting Warning Actuators may make sudden unexpected movements and the SPC200 will be damaged if modules are added or re moved whilst the power supply is switched on. Before carrying out installation and/or maintenance work, switch off the following power supplies in the sequence specified: 1. the compressed air supply 2. all load and operating voltage supplies on the SPC200 and the connected components of the positioning system.
2. Fitting 1 Direction for unlocking 2 Locks automatically 3 Retaining lever 1 4 Front plate of the 2 module 5 Terminal strip 6 Guide rail 3 4 1 5 6 Fig. 2/1: Installing the modules Removing modules Proceed as follows when removing a module: 1. Switch off the operating voltage and the compressed air supply. 2. Loosen and pull off the connecting cable on the front of the module. 3. Unlock both locking levers (see diagram) and carefully pull out the module. 4.
2. Fitting 2.2 Fitting the electric axis and the stepping motor controller Notes on fitting the electric axis and the stepping motor controller can be found in the following documentation: the documentation supplied with the stepping motor controller, the pneumatics manual for the positioning system type P.BE−ATP−..., the operating instructions for the electric linear axis used, the instructions for the components used.
2. Fitting 2.2.1 Arrangement of the sensors Please note Please note that: the axis must be in the positioning range in order to carry out reference travel. the complete ranges outside the permitted positioning range are covered by limit switches (the slide must never stand between the switching range of the hard ware limit switch and the mechanical limit stop). the switching range of the hardware limit switch, e.g.
2. Fitting 1 LIM− REF LIM+ 2 3 4 Stroke reser ve Braking range 1 Sensor connections for control 2 Sensor connections for the EMERGENCY STOP circuit 3 Positioning range Stroke reser ve Braking range 5 6 4 Switching range of the reference switch 5 Switching ranges of the hardware limit switch (braking range < stroke reserve) 6 Switching ranges of the safety limit switch (EMERGENCY STOP range) Fig. 2/2: Arrangement of the sensors Festo P.
Installation Chapter 3 Festo P.
3. Installation Contents 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1 3.1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 Overview of electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting the sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3.1 General instructions Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. all load and operating voltage supplies on the SPC200 and the connected components of the positioning system.
3. Installation Please note Connection to the main power supply and the fitting of mains switches, transformers, fuses and mains filters may only be carried out by a qualified electronics engineer. Caution Place motor cables and control cables at a distance from each other where possible, e.g. in cable channels with in termediate walls. Use only screened cables for connection to the motor. Twist the control cables in pairs.
3. Installation 3.1.1 Overview of electrical installation 1 2 aJ 9 8 7 3 6 4 5 1 Motor 2 Electromechanical linear drive 3 Motor cable 4 Sensor cable (reference and limit switches) 5 Control cabinet 6 SPC200 with stepping motor indexer module 7 Control cable (e.g. KSPC−SECST−...) 8 Stepping motor controller (e.g. SEC−ST) 9 Main switch aJ Power unit Fig. 3/1: Overview of electrical installation Festo P.
3. Installation 3.2 Connecting the sensors Warning S Use only PELV circuits as per IEC/DIN EN 60204−1 (Pro tective Extra−Low Voltage, PELV) for the electrical supply. Consider also the general requirements for PELV circuits in accordance with IEC/DIN EN 60204−1. S Use power supplies which guarantee reliable electrical isolation of the operating voltage as per IEC/DIN EN 60204−1.
3. Installation 1 LIM+: Positive 6 limit switch 1 2 REF: Reference 2 switch 3 LIM−: Negative 3 limit switch 4 4 24 V: Supply 5 5 0 V: Supply 6 Earth/ground 6 connection Fig. 3/2: Pin assignment of sensor plug (SIGNALS, X31) Use the correct type of switch for the necessary limit and reference switches (see section Fitting"). When selecting the sensors, note that the accuracy of the switchover point of the sensors determines the accuracy of the reference point.
3. Installation 3.3 Connecting the stepping motor controller and the stepping motor Fit the stepping motor controller and the motor cable in accordance with the accompanying description. Please note In order to comply with EMC, a mains filter may have to be installed between the mains supply cable and the stepping motor controller. 3.4 Connecting the control cable There is a sub−D plug on the stepping motor indexer module for connecting the SPC200 to the stepping motor controller (AMPLIFIER, X30).
3. Installation 1 15 . . . 9 8 . . . 2 1 1 AMPLIFIER connection Fig.
3. Installation Meaning of the signals on the control plug: Signal Meaning +/− READY Input: Readiness of the stepping motor controller via relay contact. +/− PULSE Output: Step control for the motor; each rising signal edge corresponds to a step. +/− DIRECTION Output: Determines the direction of rotation of the motor. 3−10 +/− ENABLE Output: Enable signal for the stepping motor controller. +/− F/H STEP Output: Defines whether the motor is controlled for full or half step. Festo P.
Commissioning Chapter 4 Festo P.
4. Commissioning Contents 4. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1 4.1 4.2 4.3 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.1 Selecting a specification for the axis .
4. Commissioning 4.1 Procedure for commissioning For user−friendly commissioning and programming of an SPC200 with stepping motor indexermodule, you will require the WinPISA software package as from version 4.3. However, commissioning can also be carrried out by means of the control panel. The following list provides an overview of the steps required for commissioning: 1. Check the stepping motor controller. Set the necessary parameters on the stepping motor controller.
4. Commissioning 4.2 Preparations for commissioning Check the connection to the mains power supply S Make sure that the stepping motor controller and the SPC200 are disconnected from the power supply. Check the voltage for the stepping motor controller and the 24 V power supply. Check that the stepping motor controller is correctly installed S Check the installation of the stepping motor controller in accordance with the accompanying documentation.
4. Commissioning The settings of the maximum phase current depend on the stepping motor connected. The maximum permitted phase current is specified on the type plate of the stepping motor. Caution Excessive currents can damage the motor. Do not set a current higher than that specified for the motor, as otherwise the motor will be overloaded. Select the next lower value if the specified current cannot be set.
4. Commissioning Electric linear axis Proceed as described in the operating instructions for the electric linear axis. Check especially the position and functioning of the limit switches. Carry out the first tests as follows: with the compressed air switched off (providing pneu matic axes are connected to the SPC200) without work load with disconnected coupling.
4. Commissioning 4.3 Commissioning with WinPISA For commissioning with WinPISA you must simulate the existing hardware configuration in WinPISA. Refer here to the WinPISA manual for the necessary steps. With the existing stepping motor indexer module there are one or several stepping motor interfaces in the project win dow under the SPC200. A stepping motor axis is assigned to each stepping motor interface. Fig.
4. Commissioning Fig. 4/2: Parameter set for the .. axis, register card Axis parameters" 4.3.1 Selecting a specification for the axis A large number of settings and parameters must be defined for an electric axis. Specifications for drive packages can be selected for this pur pose. The specifications are saved in planning files (*.pta). A series of typical specifications can be found in the delivery scope of WinPISA.
4. Commissioning Please note The SPC200 with stepping motor indexer module can be used with various stepping motor controllers. By selecting an appropriate specification for the axis, you determine the following: the calculation of the resulting resolution, the support of the control output F/H−STEP of the step ping motor indexer module. Select the specification for the axis as follows: 1. Press the button Select" in the dialogue window Para meter set for the ..
4. Commissioning 3. Select from the list Projected axes" the axis which corre sponds to the actual axis of your positioning system (see following table). Accept the specification with Ok." Controller Motor Effects in WinPISA and in the SPC200 New drive package from Festo with stepping motor controller SEC−ST. MTR−ST−... New drive package from Festo with inte grated stepping motor controller MTRE−ST. MTRE−ST−...
4. Commissioning 4.3.2 Configuration of the axis parameters Check and, if necessary, correct the settings in the register card Axis parameters" in accordance with your system. Description of the parameters under Axis parameters" The axis parameters are configuration data which describe the composition, the properties and the components of the axis used. When an axis is inserted from the Planning Tool, the appropri ate information on the linear drive is shown in the display fields.
4. Commissioning 4.3.3 Configuration of the application parameters Check and, if necessary, correct the settings in the register card Application parameters" in accordance with your system. Fig. 4/4: Parameter set for the .. axis, register card Application parameters" Description of the parameters under Application parameters" The application parameters are configuration data which de scribe the conditions of use specified by the application. 4−12 Festo P.
4. Commissioning Resolution with full step Steps per mm positioning path with step mode Full step" (1/1): Resolution with full step + stepsńturn feed constant < transmission ratio Permitted: 0.01000 ... 9999.
4. Commissioning Stepper mode (MICRO/HALF STEP) New as from WINPISA 4.3: Step mode of the stepping motor controller. The parameter "Stepper mode" replaces the parameter Micro/half step (control panel: MICRO/HALF STEP) of previ ous WinPISA and operating system versions. Function and setting possibilities of the parameter depend on the selected axis and on the stepping motor controller (see following table and section 4.3.1).
4. Commissioning The specifications for the axes in the delivery scope of WinPISA are usually preset on the step mode 1/2 as well as on a start−stop frequency of 400 Hz. Recommendation: In order to achieve smaller susceptibility for resonance ef fects, operate 2−phase stepping motors with step mode 1/2. Note that the torque of the motor is thereby reduced. Resolution Steps per mm positioning path resulting from the resolution with full step" (1/1) and the selected step mode.
4. Commissioning With the following parameters 3 to 6 (see Fig. 4/5) you can specify the reference points of your positioning system. The machine zero point is defined by the coordinate of the reference point. All further positions refer to the thus defined machine zero point. 1 Machine zero point 2 Reference and 1 2 LIM− 2 REF 2 LIM+ limit switches 3 Reference 3 position 4 4 Lower software end position 5 5 Upper software 6 end position 6 Project zero point Fig.
4. Commissioning Upper software end position Defined end position on the side opposite the machine zero point which is monitored by the SPC200 and which must not be overrun. The upper software end position refers to the machine zero point and represents the upper limit of the positioning range. Permitted: 0.0 ... 10.0000 [mm] If both software end positions are set to 0," their function will have no effect. Reference position Coordinate of the reference point related to the machine zero point.
4. Commissioning Please note When specifying the maximum speed and maximum accel eration, take into account the limits of the linear axis used (maximum permitted speed and feed force). Maximum speed Speed for positioning with command G00 or maximum speed for positioning with command G01. The speed factor speci fied with command G01 refers to the maximum speed defined here. Permitted: 0.1 ... 10.0 [m/s] Note that the maximum permitted step frequency (position ing frequency) with the SPC200 is 40 kHz.
4. Commissioning Determined number of revolutions and run−up period From the set application data the maximum number of revol utions as well as the run−up period are determined and indi cated: Value Description Revolution Number of revolutions with the configured maximum speed and resolution: Resolution with full step < Maximum acceleration Revolution + Stepsńturn Example: Revolution + Run−up period 1 m s 6.25 mm < 1000 mm m < 0.
4. Commissioning Reference travel modes (see also Fig.
4. Commissioning 1 Starting position LIM− LIM+ REF 2 Position accepted as reference point Mode 0: 3 Switching ranges Mode 1: Case a: of end and reference switches Case b: SS SS VRef 2 SS Mode 2: SS VRef SS VRef Mode 3: Case a: SS VRef Case b: Speeds during reference travel: VRef: Reference speed factor * maximum speed SS: Start−stop fre quency 1 VRef SS Mode 4: VRef 3 SS SS 3 SS 3 Fig.
4. Commissioning 4.3.4 Configuration of the settings for analogue reference value specification The settings for analogue reference value specification in the register card Analogue reference value" are identical to the settings for pneumatic axes. Information on the settings can be found in the WinPISA manual. 4.3.
4. Commissioning 4.3.6 Functional check of the stepping motor axes When the axis and application parameters have been set, check that the axes function correctly. Preparations for the functional check: S Check to see if the coupling between the motor and the linear axis has been loosened. If this is not the case, loosen the coupling. S Leave the stepping motor controller switched off. If necessary, switch this off.
4. Commissioning Fig. 4/7: Dialogue window Commission stepping motor" Checking the inputs 2. Make sure that the end and reference switches function correctly. In order to do this, you can move the axis by hand when the stepping motor controller is switched off. Select the desired stepping motor axis under Axis selection." Check the checkboxes of the relevant inputs under Status of the inputs." Note the different designs of sensors: 4−24 Limit switches (end switches): N.C.
4. Commissioning 3. Make sure that the axis is always within the positioning range defined by the limit switches when it is switched on and before the start of reference travel. Now switch on the stepping motor controller. Under Status of the inputs," the checkbox Servo ready" shows that the stepping motor controller is ready to operate. Checking the direction of rotation 4. By actuating the arrow buttons under Procedure," you can determine the direction in which the motor is to ro tate.
4. Commissioning With the function Emergency travel," you can move into the positioning range again after a limit switch has been actuated. Select here the option Emergency travel" under Activity" and start this with Start." The axis moves in the reverse direction (towards the posi tioning range providing the limit switch is connected cor rectly), until the limit switch is left. Travel is interrupted if the limit switch is not left within 2 seconds or if the button Stop" is actuated.
4. Commissioning 4.4 Commissioning with the control panel If you wish to carry out commissioning with the control panel type SPC200−MMI−1, you should be familiar with the functions of the control panel. Leave the power supply for the stepping motor controller (if necessary, also the compressed air sup ply) switched off. An overview of the menu system on the control panel can be found in the user manual for the SPC200. Please note The control panel type SPC200−MMI−..
4. Commissioning 4.4.1 Setting project−specific parameters Cautio Incorrectly set parameters can lead to uncontrolled reac tions of the connected axes during operation. The SPC200 must know the conditions of use in your project and the type of components used in your positioning system. Undertake the necessary settings in the following menus: Menu Description SPC200 READY AXIS PARAM. > Axis parameters; Specifications on the axes used SPC200 READY APPLIC. PARAM.
4. Commissioning Axis parameters Menu AXIS PARAM Set the following parameters (description of the parameters see section Commissioning with WinPISA"): Menu AXIS PARAM (axis parameters) CYL. LENGTH Length of drive Application parameters Menu APPLIC PARAM Set the following parameters (description of the parameters see section Commissioning with WinPISA"): Menu APPLIC PARAM (application parameters) Festo P.
4. Commissioning On the control panel display the parameter MICRO/HALF STEP corresponds to the step mode (see section 4.3.3). If stepping motors type MTR−ST with the corresponding power unit type SEC−ST are used or the integrated motor unit MTRE−ST, the value 0" will always be shown. It must not be modified with the control panel. If stepping motors type "VRDM" are used and with the corresponding power unit type "WS5", the stepper mode can be modified with the control panel (0 or 1).
4. Commissioning Check the inputs 2. Make sure that the end and reference switches function correctly. In order to do this, you can move the axis by hand when the stepping motor controller is switched off. Select the command STEP MOTOR INPUT in the menu DISPLAY and press the Enter key. The cursor is positioned on the axis identifier. Select the desired axis with v or V and position the cursor on the entry LIM+ with }. STEP MOTOR INPUT Y: LIM+ = 1 With v or V switch between the inputs.
4. Commissioning Checking the direction of rotation 4. Select the command AXIS in the menu TEST/DIAG and press the Enter key. With v or V select the identifier of the stepping motor axis and confirm the selection with the Enter key. You are now in the menu TEST/DIAG AXIS. Accept the command JOG AXIS with the Enter key. The cursor is positioned on the sign +" after the coordinate specification. JOG AXIS Y:+0000.
4. Commissioning With the function Emergency travel," you can move into the positioning range again after a limit switch has been actuated. In order to do this, select the command EXIT FROM LIMIT in the menu TEST/DIAG AXIS with } and confirm this with the Enter key. EXIT FROM LIMIT Y:+0326.88 ? Start emergency travel with the Enter key. The axis moves in the reverse direction (towards the posi tioning range providing the limit switch is connected cor rectly), until the limit switch is left.
4. Commissioning 4.5 Program example Enter a simple test program in order to check the configur ation and the axis set−up. Program some positioning movements. Proceed as described in the section Commissioning ..." in the SPC200 manual or in the WinPISA manual. The test program for a stepping motor axis can contain e.g.
4. Commissioning 4.6 Instructions on operation Take the following instructions and recommendations into account when programming positioning systems with electric axes: Please note Make sure that all stepping motor axes: always lie within the positioning range defined by the limit switches when they are switched on and before the start of reference travel. carry out reference travel when the SPC200 or the step ping motor controller is switched on or, if applicable, after faults.
4. Commissioning Caution By positioning the axis with unfavorable positioning speeds resonance effects can occur, which can lead to step losses. Consider the manufacturer data for the permitted operat ing conditions of the used motors and drives, e.g. for the permitted start−stop frequency or for the permitted posi tioning speeds.
Diagnosis and error treatment Chapter 5 Festo P.
5. Diagnosis and error treatment Contents 5. Diagnosis and error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−1 5.1 5.2 5.3 5.4 5.5 5.6 General instructions on diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3 On−the−spot diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−4 Diagnosis with WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Diagnosis and error treatment 5.1 General instructions on diagnosis Information on general diagnosis and fault treatment can be found in the manual for the SPC200 type P.BE−SPC200−... or in the WinPISA manual. This chapter contains special information on diagnosing the stepping motor indexer module. General diagnostic possibilities The SPC200 offers extensive and user−friendly possibilities of diagnosis and fault treatment.
5. Diagnosis and error treatment 5.
5. Diagnosis and error treatment 5.3 Diagnosis with WinPISA In online mode WinPISA offers the following possibilities of diagnosing stepping motor axes: Status display Display of the inputs of the stepping motor indexer module Further notes and diagnostic possibilities can be found in the WinPISA manual or in the online help. Status display In order to display the status, select the command [Status display] in the menu [Online] [Diagnosis].
5. Diagnosis and error treatment Display inputs In order to display the status of the inputs, select the command [Stepping motor module] in the menu [Online] [Observe]. Fig. 5/2: Observe stepping motor module The inputs are shown by means of checkboxes as follows: Checkboxes Input Description Remedy End switch positive (Limit switch positive) LIM+ When the checkbox is deactivated, the positive limit switch (N.C.) is actuated.
5. Diagnosis and error treatment 5.4 Diagnosis on the control panel The control panel offers the following possibility of diagnos ing stepping motor axes: Display of the inputs of the stepping motor indexer module. Further notes and diagnostic possibilities can be found in the SPC200 manual. Display inputs 1. Select the command STEPMOTOR INPUT in the menu DISPLAY. 2. Then select the axis identifier of the stepping motor axis with v or V. Accept this with the Enter key. 3.
5. Diagnosis and error treatment 5.5 Emergency travel If a limit switch is actuated, the axis can be pushed manually into the positioning range again when the stepping motor controller is switched off. Alternatively, an axis can be moved into the positioning range again with the function Emergency travel." Caution Movement outside the limit switches may result in a collision. When the device is switched on, the axis must lie within the limit switches.
5. Diagnosis and error treatment Carry out emergency travel with WinPISA as follows: 1. Select the command [Stepping motor] in the menu [Online] [Commission]. 2. Select the axis identifier of the stepping motor axis in the dialogue window Commission stepping motor." If necessary, check the displayed status of the relevant inputs. Fig. 5/3: Commissioning the stepping motor 3. In order to carry out reference travel, select the option Emergency travel" under Activity." Start emergency travel with Start.
5. Diagnosis and error treatment Carry out emergency travel with the control panel as follows: 1. In order to carry out emergency travel, select the com mand AXIS in the menu TEST/DIAG. 2. Then select the axis identifier of the stepping motor axis with v or V. Accept this with the Enter key. 3. Now select the command EXIT FROM LIMIT with }. Start emergency travel with the Enter key. The current emergency travel can be interrupted with the Esc key or with the Enter key. 5−10 Festo P.
5. Diagnosis and error treatment 5.6 Notes on judging the positioning behaviour Resonance effects can lead with stepping motor axes to step losses and/or uncontrolled positioning behaviour. Deter mined by their principle 2−phase stepping motors are more susceptible to resonance effects than 3− or 5−phase stepping motors. The following table contains notes on judging the positioning behaviour as well as on the possible remedy.
5. Diagnosis and error treatment 5−12 Festo P.
Technical appendix Appendix A Festo P.
A. Technical appendix Contents A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−1 A.1 A.2 A.3 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Internal circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A.1 Technical specifications Type SPC200−SMX−1 Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight 69 g Relative humidity 95 %, non−condensing Connection SIGNALS (X31) External supply (pin 4, pin 5) Sensor inputs (pin 1 ...
A. Technical appendix A.2 Internal circuitry Circuitry of control connection (AMPLIFIER, X30) Circuitry of the outputs (+/− DIRECT, +/− PULSE, +/− ENABLE, +/− F/H STEP): SPC200 Stepping motor controller +... −... Fig. A/1: Principle RS 485 / RS 422 Circuitry of the inputs (+/− READY): SPC200 Stepping motor controller +READY (+ 24 V from sensor plug) −READY Fig. A/2: Relay contact On the connecting cable for the SEC−ST the input READY is bridged. A−4 Festo P.
A. Technical appendix Circuitry of sensor connection (SIGNALS, X31) Circuitry of the inputs (LIM+, REF, LIM−): SPC200 4k7 LIM+ 24 V 0 V Sensors 24 V 0 V (supply) Fig. A/3: Sensor inputs Festo P.
A. Technical appendix A−6 Festo P.
A. Technical appendix A.3 Index A Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XII AMPLIFIER connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−9 Analogue reference value . . . . . . . . . . . . . . . . . . . . . . . . 4−22 Application parameters . . . . . . . . . . . . . . . . . . . . . . 4−12, 4−29 Axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−11, 4−29 B Basis structure . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix E Electromechanical linear drive . . . . . . . . . . . . . . . . . . . . 1−11 EMERGENCY STOP concept . . . . . . . . . . . . . . . . . . . . . . . 1−12 Emergency travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−8 End switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−6 F FAULT LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−4 Functional check of the stepping motor axes . . . . .
A. Technical appendix M Maximum acceleration . . . . . . . . . . . . . . . . . . . . . . . 4−18, 4−29 Maximum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−18, 4−29 Micro step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−14, 4−29 P Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII Positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−11 Program example . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix STATUS LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−4 Step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−14 Stepping motor controller . . . . . . . . . . . . . . . . . . . . . . 1−8, 4−4 System structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−3 T Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VI Technical specifications . . . . . . . . . . . . . . .
