Motor controller SFC−LACI Description Motor controller Type SFC−LACI−...
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Contents and general safety instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0812NH Designation . . . . . . . . . . . . . . . . . . . . GDCP−SFC−LACI−IO−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567 363 © Festo AG & Co. KG, D 73726 Esslingen, 2008 Internet: http://www.festo.com E−mail: service_international@festo.
Contents and general safety instructions II Festo GDCP−SFC−LACI−IO−EN en 0812NH
Contents and general safety instructions Contents Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general safety instructions 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1 3.1 3.2 Installation overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Function of the hardware enable . . . . . . . . . . . . . . . . . . . . . . . . . . . Earthing . . . . . .
Contents and general safety instructions 5. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−1 5.1 Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Checking the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.2 Checking the power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.3 Before switching on . . . . . . . . . .
Contents and general safety instructions 6. Diagnostics and error display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 6.2 6.3 6.4 Diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−3 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−4 Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general safety instructions Intended use The single−axis field controller (Single Field Controller) type SFC−LACI−... is used as a position controller and position servo for the electric drives, types DNCE−...−LAS and DFME−...−LAS. This manual deals with the basic functions of the SFC−LACI and the I/O interface of the SFC−LACI−...−IO. The drives DNCE−...−LAS and DFME−...−LAS and additional components are documented in separate operating instruc tions.
Contents and general safety instructions Safety instructions When commissioning and programming positioning systems, the safety regulations in this manual as well as those in the operating instructions for the other components used should be observed unconditionally. The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the possible danger area must be prevented by suitable measures such as protective screens and warning signs.
Contents and general safety instructions Target group This description is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service or write to the following e−mail address if you have any technical problems: service_international@festo.
Contents and general safety instructions Important user instructions Danger categories This manual contains instructions on the possible dangers which can 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 ... means that failure to observe this instruction may result in serious personal injury or material damage.
Contents and general safety instructions Identification of specific information The following pictograms designate texts that contain special information. Pictograms Information: Recommendations, tips and references to other sources of information Accessories: Information on necessary or useful accessories Environment: Information on the environment−friendly use of the products Text designations · Bullet points indicate activities that may be carried out in any order. 1.
Contents and general safety instructions SFC−LACI motor controller manual This manual contains basic general information on operating, mounting, installing and commissioning the positioning systems with the motor controller SFC−LACI−...−IO. It also contains information on the functions of the I/O interface as well as information on commissioning with the Festo Configuration Tool (FCT) software package.
Contents and general safety instructions Information on the version The hardware version specifies the version status of the mechanical and electronic components of the SFC−LACI. The firmware version specifies the version status of the operating system of the SFC−LACI. You can find the specifications on the version status as fol lows: Hardware version and firmware version under Device data" in the Festo Configuration Tool, when there is active linkage to the SFC−LACI.
Contents and general safety instructions Product−specific terms and abbreviations Term / abbreviation Meaning Acknowledge Confirm, reply message, e. g. Acknowledge START." Acknowledge a fault." The user confirms that he has noted the fault. The device then leaves the fault status (if the fault still exists, it will be displayed again). Applied load (Additional load) The mass of a workpiece. Applies only to a single positioning record, see Fig. 0/1.
Contents and general safety instructions Term / abbreviation Meaning Positioning record Positioning command defined in the position set table, consisting of target position, speed, acceleration and other values. PZ (= Project Zero point) Project zero point, see section 1.5. REF (=REFerence point) Reference point, see section 1.5. Reference run (homing) See overview of measuring reference system in section 1.5. Reference switch Proximity sensor used for defining the reference point.
Contents and general safety instructions XVI Festo GDCP−SFC−LACI−IO−EN en 0812NH
System overview Chapter 1 Festo GDCP−SFC−LACI−IO−EN en 0812NH 1−1
1. System overview Contents 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1−2 Components overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operational reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating modes of the SFC−LACI−IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System overview 1.1 Components overview 1 Higher−order control 2 Software level: Festo Configura− tion Tool (FCT) 3 Controller level: SFC−LACI ÏÏÏÏÏ ÌÌÌÌÌÌ ÏÏÏ ÏÏÏ ÏÏ ÏÏ ÏÏÏ ÏÏ ÏÏÏ ÏÏÏ ÏÏ ÏÏ ÏÏÏ ÏÏ Ï ÏÏ Ï ÏÏ Ï ÏÏ ÏÏ Ï ÏÏÏ ÏÏÏ ÏÏÏ ÏÏ ÏÏ 1 2 4 Drive level: DFME−...−LAS or DNCE−...−LAS 3 4 Fig.
1. System overview To construct a positioning system with the SFC−LACI, you need the following components: SFC−LACI Motor controller, optionally with control panel Drive Electric drive DNCE−...−LAS or DFME−...−LAS, with accessories and mounting attachments Power supply unit 24 V For logic voltage supply Power supply unit 48 V For load voltage supply Power supply cable For supplying the SFC−LACI with logic and load voltage } Section 3.
1. System overview 1.2 Operating principle 1 2 3 4 5 6 7 Fig. 1/2: Simplified diagram of control structure No. Block Task 1 Setpoint generator Generates executable position and velocity curves. 2 Reference variable input Uses desired position, velocity and acceleration curves to calculate a force curve and from that a current curve, which is then directly input as the current setpoint value. Enables motion free of drag fault. 3 State vector feedback Controls position and speed.
1. System overview The SFC−LACI has three types of memory: FLASH The FLASH memory stores the default settings and the firm ware. The data from the FLASH memory are loaded when the device is switched on the first time or when the EEPROM has been deleted. RAM The volatile RAM memory stores the parameters that are currently being used and which can be modified using the control panel or FCT. When the modifications have been saved, they are transferred to the EEPROM.
1. System overview 1.3 Operational reliability A complex system of sensors and monitoring functions ensures operational reliability: Temperature monitoring: final output stage in the SFC−LACI and linear motor Voltage monitoring: detection of faults in the logic power supply and detection of undervoltage in the load voltage supply I2t monitoring / overload protection Drag fault monitoring (e. g.
1. System overview · Note the following points: Action Reaction Cancelling the ENABLE signal at the controller interface Without brake/clamping unit: The controller end stage is switched off. The effective load on the drive will continue to move due to inertia, or it will fall if mounted in a vertical or sloping position. With the use of a brake/clamping unit: If the drive moves when ENABLE is cancelled, then it will initially be brought to a stillstand (using quick stop deceleration).
1. System overview Warning There is no plausibility check to see whether the deceler ation (braking) that is set is actually achievable. The de celeration that can be achieved depends on your applica tion (e. g. power and switching speed of your power supply unit, effective load, mounting position). If the deceleration cannot be achieved, an error will occur and the controller may be turned off (depending on the fault).
1. System overview 1.4 Operating modes of the SFC−LACI−IO Profile position mode Positioning mode. Standard operating mode when the SFC−LACI is switched on. The positioning tasks are saved as a positioning record" in the position set table.
1. System overview 1.5 Measuring reference system Homing Homing determines the position of the homing reference point REF. When homing is concluded, the axis stands at the axis zero point AZ. The homing method The homing method defines how the homing point REF is determined. Reference point REF binds the measuring reference system to a proximity sensor or a fixed stop, depending on the homing method.
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1. System overview 1.6 1.6.1 Homing run methods Homing methods to switch with index search The following can be used for homing to a proximity sensor: 1. The integrated reference switch of the drive (recom mended). It is located on the retracted (negative) end position and must not be moved (exception: minimum offset with an Index pulse warning", see section 6.4.1). 2. A proximity sensor to be externally attached by the user.
1. System overview Homing methods to switch with index search Switch negative (at the retracted end position) 1 2 + REF AZ OffsetRef Switch positive (at the extended end position) 1 2 REF AZ OffsetRef 1 The drive (here: DFME−...−LAS) moves at search speed v_rp to the switch and reverses. After leaving the switching range, the drive moves to the next index signal of the displacement en coder. The reference point REF is there.
1. System overview Special features of homing to reference switch If a reference signal is not found when homing to the refer ence switch before the drive reaches a fixed stop or a limit switch, then the drive will reverse and searches for the switch in the opposite direction. If a reference signal is found there, the drive runs through the switching range of the reference switch. The homing point is subsequently the following index pulse at the end of the switching range.
1. System overview 1.6.2 Homing methods to the stop Exact homing by reference to a fixed stop can only be carried out against externally fitted stops (without rubber buffer or similar). Therefore you should preferably use the homing methods to switch. Homing methods to the stop Negative fixed stop (retracted end position, near to motor) REF + 2 1 REF AZ OffsetRef Positive fixed stop (extended end position, remote from motor) 1 REF 3 OffsetR ef AZ 2 REF 1 The drive (here: DFME−...
1. System overview 1.7 Commissioning options You can parameterise and commission the SFC−LACI as follows: with the Festo Configuration Tool (FCT) } Section 5.3 at the control panel (HMI, only type SFC−LACI−...−H2) } Chapters 4 and 5. HMI FCT x x x x x x x Reference run (homing) Teaching of positions Travel in individual steps Starting and stopping positioning procedures during commissioning Extended test functions, e.g.
Assembly Chapter 2 Festo GDCP−SFC−LACI−IO−EN en 0812NH 2−1
2. Assembly Contents 2.1 2.2 2.3 2−2 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensions of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mounting the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1 Wall mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.2 Hat−rail mounting . . . . . . . . . . .
2. Assembly 2.1 General information Caution Uncontrolled drive motion may cause personal injury and material damage. · Before carrying out fitting, installation and/or mainten ance work, always switch off the power supply. Caution If a drive is mounted in a sloping or vertical position, loads may fall down and cause injury to persons. · Check whether external safety measures are necessary (e.g. toothed latches or moveable bolts).
2. Assembly 2.2 Dimensions of the controller 247 mm 120 mm Fig.
2. Assembly 2.3 Mounting the controller You can mount the SFC−LACI in one of two ways: 1. Wall mounting on a flat surface 2. H−rail mounting Note Mount the SFC−LACI or hat rail so that there is sufficient space for heat dissipation (above and below at least 40 mm). 2.3.1 Wall mounting You will need: A mounting surface of approximately 250 x 320 mm 2 sets of central supports, type MUP−8/12 (accessories). The four brackets are clipped into the edge of the housing (see Fig. 2/2).
2. Assembly 2.3.2 Hat−rail mounting Procedure: 1. Make sure that the mounting surface can support the weight (approx. 1500 g) of the SFC−LACI. 2. Install an H−rail (mounting rail EN 50022 35 x 7.5 or better still 35 x 15). 3. With rail 35 x 7.5: Consider the max. distance of 3.3 mm between the housing and the H−rail: · If possible, use a part of the H−rail where there are no mounting screws. · If screws are necessary below the SFC−LACI: use e. g. an M6 screw as per ISO−7380ULF. 4.
Installation Chapter 3 Festo GDCP−SFC−LACI−IO−EN en 0812NH 3−1
3. Installation Contents 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3−2 Installation overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Function of the hardware enable . . . . . . . . . . . . . . . . . . . . . . . . . . . Earthing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor connection .
3. Installation 3.1 Installation overview Warning Before carrying out fitting, installation and/or mainten ance work, always switch off the power supply. In this way, you can avoid: uncontrolled movements of the connected actuators undefined switching states of the electronic components damage to the electronic components Caution Faulty pre−assembled lines may destroy the electronics and trigger unexpected movements of the motor.
3. Installation 1 Parametrising 1 interface (RS232) 2 2 Controller interface 3 Power supply 3 4 Earth terminal 5 Local digital I/Os 6 Motor connection (e. g. DNCE−...−LAS) 6 5 4 Fig. 3/1: Connections to the SFC−LACI Connection to the SFC−LACI−IO Description 1 Parametrising interface M8 socket, 4−pin RS232 interface for parametrising, commissioning and diagnosis via FCT. } Section 3.5 2 Controller in terface Sub−D plug, 15−pin Interface for connecting to a PLC controller. } Section 3.
3. Installation If unused plug connectors are touched, there is a danger that damage may occur to the SFC−LACI or to other parts of the system as a result of ESD (electrostatic discharge). Place pro tective caps on unused terminal connections in order to pre vent such discharges. Overview of cables Connection Cable Type 1 Parametrising interface Programming cable KDI−MC−M8−SUB−9−2.5 2 Controller interface Pilot line KES−MC−1−SUB−15−... 3 Power supply Power supply cable KPWR−MC−1−SUB−15HC−.
3. Installation 3.2 Power supply Warning · Use only PELV circuits as per IEC/DIN EN 60204−1 for the electric power supply (protective extra−low voltage, PELV). Take into account also the general requirements for PELV circuits as per IEC/DIN EN 60204−1. · Use only power supply units that guarantee reliable electrical isolation of the operating voltage as per IEC/DIN EN 60204−1.
3. Installation Connection 1) 2) 3) Pin Designation Function Colour 1) A1 Load voltage +48 VDC load Black, 1 A2 Load voltage GND load Black, 2 1 Logic voltage +24 VDC logic White 2 Logic voltage GND logic Brown 3 Hardware enable +24 VDC hard ware enable Green 4 FE FE3) 2) 5 Hardware enable GND hardware enable Yellow Plug housing FE3) Earthing strap with cable lug M4 Earth terminal (housing) FE3) Wire colours of supply cable KPWR−MC−1−SUB−15HC−...
3. Installation Requirements to be met by the power supply Voltage Use Currents 48 VDC +5/−10 % Load supply (pins A1, A2) Nominal current (peak current): 10 A (20 A) Internal fuse: 16 A slow−blow (external as an option) 24 VDC ±10 % Logic supply (pins 1, 2) Nominal current (peak current): 0.4 A (0.8 A) Internal fuse: 4 A slow−blow (external as an option) Local outputs OUT1/2 Supply via logic supply (pins 1, 2). Max. 1 A permissible per output.
3. Installation 3.2.1 Function of the hardware enable Application of 24 VDC to pin 3 (relative to pin 5) of the power supply connection is essential for operation of the SFC−LACI. In a similar fashion to the relay, Hardware Enable" switches the load voltage on and off, whereby the voltage of the hardware enable represents the control voltage: Hardware enable applied: the load voltage is switched through. Hardware enable missing: the load voltage is blocked.
3. Installation 3.3 Earthing Note · Connect one of the earth terminals of the SFC−LACI at low impedance (short cable with large cross−section) to the earth potential. You can thereby avoid interference from electromagnetic sources and ensure electromagnetic compatibility in accordance with EMC directives. To earth the SFC−LACI, use one of the following terminals (see Tab. 3/3): Earth terminal on the housing of the SFC−LACI, or Earthing strip with cable lug on the plug housing.
3. Installation 3.4 Motor connection The linear motor is controlled via the motor connection and the signals from the displacement encoder are transmitted via the motor connection.
3. Installation Displacement encoder for BiSS interface The BiSS interface is a 2−wire interface for interference−im mune sensor connection. In contrast to the SSI interface, the data transmission is bi−directional, which means, for example, that data can also be written into the sensor for parametrisa tion. Data is transmitted via a pulse cable controlled by the master and a data cable controlled by the sensor as serial trans mission.
3. Installation Fig. 3/3: Sensor data communication Bits Type Label [19:30] DATA Cycle counter 12 bit (multiturn position) [8:18] DATA Angle data 11 bit (singleturn position) [7] Error Error bit E1 (amplitude error) [6] Error Error bit E0 (frequency error) [0:5] CRC Polynomial 0x43; x6+x1+x0 (inverted bit output) Tab.
3. Installation 3.5 Parametrising interface Serial interface for parametrizing, commissioning and diag nosing. Note For connecting a PC to the SFC−LACI, use only the cable specified in Tab. 3/2. · If necessary, remove the protective cap from the parame trising interface. · Connect the following terminals with the programming cable: the socket on the SFC−LACI a serial interface COMx of the PC.
3. Installation Information on commissioning and parameterising the SFC−LACI via the parametrising interface can be found in chapter 5.3.2 and in the help system for the Festo Configuration Tool software package. Information on transmitting CI commands via the parametrising interface can be found in Appendix B. Note The parametrising interface (RS232) is not electrically isolated and is not real−time capable. It is not suitable for permanent connection to PC systems, or as a control inter face.
3. Installation 3.6 Controller interface Communication with the higher−order controller (PLC/IPC) occurs via the controller interface. Information on controlling the SFC−LACI via the controller interface can be found in section 5.5. Caution If 24 V DC voltage is applied and the output pins are used incorrectly, the device may be seriously damaged. There fore: · Do not apply voltage to the outputs. · Note the current limitation for the outputs (see section 3.6.1).
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3. Installation 3.6.1 Specifications of the controller interface I/O specification Signal level Based on DIN EN 61131, type 1, positive switching (PNP) Inputs Number of digital logic inputs 8 Input current at 24 V input voltage Typically > 7 mA Max. permissible input voltage 30 V DC Minimum input voltage 0 V DC Reverse polarity protection Yes Galvanic isolation Yes Outputs Number of digital logic outputs 4 Maximum peak current 0.5 A per output Overload protection Yes.
3. Installation 3.
3. Installation 3.7.1 Specifications of the outputs The local digital outputs are supplied by the 24−V logic voltage (no electrical isolation). They are ESD protected and short circuit proof, but do not have reverse polarity protec tion against infeed. Caution If 24 V DC voltage is applied and the output pins are used incorrectly, the device may be seriously damaged. There fore: · Do not apply voltage to the outputs. · Note the current limitation for the outputs (max. 1 A permissible per output).
3. Installation 3.7.2 Specifications of the inputs Based on DIN/EN 61131, Part 2 (IEC 1131−2), Type 1 They are supplied by 24 V logic voltage (no electrical isolation) Note Damage to the device The 24 V DC voltage at pin 1 does not have any special protection against overload. · Use this connection only for proximity sensors (sensor supply). Use of this connection as a power supply for other devices is not permitted.
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The control panel (only type SFC−LACI−...
4. The control panel (only type SFC−LACI−...−H2) Contents 4.1 4.2 4.3 4.4 4.5 4.6 4−2 Design and function of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . The menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [Diagnostic] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [Positioning] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. The control panel (only type SFC−LACI−...−H2) The control panel of the SFC−LACI−...−H2 provides many functions for commissioning, parametrisation and diagnos tics. An overview of the key and menu functions can be found in this chapter. Commissioning with the control panel is described starting from section 5.2. With the SFC−LACI−...−H0 (without control panel), you can commission the device via the parametrising interface using the Festo Configuration Tool (FCT).
4. The control panel (only type SFC−LACI−...−H2) 4.1 Design and function of the control panel The control panel allows: Parametrising and referencing the drive (homing methods: to the stop and to the integrated reference switch of the drive) Teaching and editing the positioning records Execution/testing of positioning records 1 LC display 1 2 Operating buttons 2 3 LEDs 3 Power (green) I/F (green/red) Error (red) Fig. 4/1: Control panel of the SFC−LACI−...
4. The control panel (only type SFC−LACI−...−H2) Operator keys Basic functions of the operator keys: Key Function MENU Activates the main menu from the status display. ESC Rejects the current input and returns in steps to the higher−order menu level or status display. EMERG.STOP If [HMI = on]: interrupts the current posi tioning procedure (> Error mode; con firm with , then automatic return to the status display). OK Confirms the current selection or input.
4. The control panel (only type SFC−LACI−...−H2) 4.2 The menu system Status display and main menu When the logic voltage is switched on, the SFC−LACI carries out an internal check. The display briefly shows the Festo logo then changes to the status display. The status display shows the following information: SFC–LACI... D... Xa = 0.
4. The control panel (only type SFC−LACI−...−H2) Menu command Description } Diagnostic Displays the system data and the settings currently in effect (} 4.3) } Pos. set table Displays the position set table } } } Axis parameters Displays axis parameters and data } System paramet. Displays system parameters and data } SW information Displays the operating system version (firmware) Positioning Homing and positioning runs (} 4.4) } Homing Start the reference run } Move posit.
4. The control panel (only type SFC−LACI−...−H2) 4.3 [Diagnostic] menu In order to display the system data and the currently effective settings: } Diagnostic Pos.set table Axis parameter System paramet. SW information 1. Select the [Diagnostic] menu in the main menu. 2. Select a menu command. { } You can scroll through the data with the arrow keys. ESC You can use the
4. The control panel (only type SFC−LACI−...−H2) [Diagnostic] [...] Description [Axis parameter] v max Maximum speed x neg Stroke limitation: Software end position, negative x pos Stroke limitation: Software end position, positive x zp Offset axis zero point Tool load Tool load (e. g. a gripper on the front plate or on the piston rod) Load Power Load voltage ok? VDig Digital voltage (= Logic voltage) [V] I max Max.
4. The control panel (only type SFC−LACI−...−H2) 4.4 [Positioning] menu Starting a homing run or a positioning run Warning Electric axes move with high force and at high speed. Collisions may cause injury. · Make sure that nobody can place his/her hand in the positioning range of the moveable mass and that there are no objects in its path. Note · Before starting the reference run, make sure that: The positioning system is set up and wired completely, and is supplied with power.
4. The control panel (only type SFC−LACI−...−H2) } Positioning Homing Move posit. set Demo posit. tab The Positioning" menu includes entries for starting a homing run or a positioning run. Note Carry out the homing run and the positioning runs as de scribed in the following sections: Homing: sections 5.2.1 to 5.2.3 Positioning runs / test runs: section 5.2.
4. The control panel (only type SFC−LACI−...−H2) 4.5 Menu [Settings] For parametrising the axis system and the positioning records: } Settings Axis type Axis parameter Homing paramet. Position set Jog mode Password edit 1. Select the entry [Settings] in the main menu. 2. Select a menu command. [Settings] Description Section [Axis type] The axis controlled by the SFC−LACI 4.5.1 [Axis parameter] Teach mode for setting the axis parameters 4.5.2 [Homing paramet.
4. The control panel (only type SFC−LACI−...−H2) 4.5.1 [Settings] [Axis type] The connected drive is automatically detected. 4.5.2 [Settings] [Axis parameters] Teach mode for setting the axis parameters · Observe the instructions in sections 5.2.4 and 5.2.5. [Axis parameter] Description [Zero point] *) Offset axis zero point [SW−limit−neg] *) Software end position, negative [SW−limit−pos] *) Software end position, positive [Tool load] Tool mass, e. g.
4. The control panel (only type SFC−LACI−...−H2) 4.5.3 [Settings] [Homing parameters] Setting the homing method and the speed during reference travel. · Observe the instructions in chapter 5.2.1. [Hom. paramet.] Param.
4. The control panel (only type SFC−LACI−...−H2) 4.5.4 [Settings] [Position set] Parametrising the position set table · Observe the instructions in section 5.2.7. · Select first the number of the desired positioning record. The following settings refer to the currently selected posi tioning record. [Position set] Param. Description [Position nr] No. Number of the positioning record [1...
4. The control panel (only type SFC−LACI−...−H2) 4.5.5 [Settings] [Jog Mode] You can use the arrow keys to move the drive continuously (also possible without previous reference run). The software end positions have no effect here. 4.5.6 [Settings] [Password edit] Access via the control panel can be protected by a (local) password in order to prevent unauthorized or unintentional overwriting or modification of parameters in the device. No password has been preset at the factory (presetting = 000).
4. The control panel (only type SFC−LACI−...−H2) Entering a password Enter Password: [ ? x x ] = 0 EDIT <––> ESC
4. The control panel (only type SFC−LACI−...−H2) 4.6 Menu command HMI control" To select the menu commands [Positioning] and [Settings], the HMI: on" setting is required. Only then is the SFC−LACI ready to process user entries on the control panel. Caution When control via the control panel or FCT is activated (HMI: on), the drive cannot be stopped with the STOP input on the control interface. When selecting the menu commands, you will be prompted to modify the HMI setting as necessary.
Commissioning Chapter 5 Festo GDCP−SFC−LACI−IO−EN en 0812NH 5−1
5. Commissioning Contents 5.1 5.2 5.3 5.4 5.5 5.6 5−2 Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Checking the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.2 Checking the power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.3 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.
5. Commissioning 5.1 Preparations for commissioning Warning There is a danger of injury. Electric axes can move suddenly with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. · Make sure that nobody can reach into the operating range of the axes or other connected actuators (e. g. with a protective grille) and that no objects lie in the positioning range while the system is still connected to a power supply.
5. Commissioning 5.1.1 Checking the drive Note During operation, the drive must not strike a stop without shock absorption. · Use shock absorbers or buffers on all stops (exception: homing to a fixed stop). 5.1.2 · Before commissioning, make sure that drive and controller are completely set up and wired and that the working space is adequate for operation with an effective load. · Observe the notes in the operating instructions for the axis used.
5. Commissioning 5.1.3 Before switching on When the SFC−LACI is switched on, the controller interface is activated as standard [HMI= off ]. Caution Unexpected movements of the drive due to incorrect or incomplete parametrising · Make sure that there is no active ENABLE signal on the controller interface when switching on the SFC−LACI. · Parametrise the entire system completely before activating the controller with ENABLE or [HMI = on].
5. Commissioning 5.1.4 Simultaneous attempts to access the controller Caution Simultaneous or alternating attempts to access the SFC−LACI via FCT, control panel and controller interface can cause unpredictable errors. · Make sure that the FCT, the control panel and the con troller interface of the SFC−LACI are not used at the same time. Note In the following cases, it is not permitted to use the FCT to access the SFC−LACI for purposes of writing data (e. g. downloading parameters) or for control (e. g.
5. Commissioning 5.2 Commissioning with the control panel (only type SFC−LACI−...−H2) Information on the button functions and the menu structure of the control panel can be found in Chapter 4. Overview of initial commissioning Commissioning steps Chapter 1. Before switching on: make sure that there is no active ENABLE signal on the controller interface. 5.1.3 2.
5. Commissioning 5.2.1 Setting the reference run parameters Switch the SFC−LACI on. When the logic voltage is switched on, the SFC−LACI carries out an internal check. The display briefly shows the Festo logo then changes to the status dis play. The reference point is determined as follows, depending on the homing method: by means of the drive’s integrated reference switch with a subsequent index search (recommended) or by means of a fixed stop (to be fitted externally by the customer).
5. Commissioning When homing to a fixed stop: 1. Measure the distance between your reference point and the retracted end position (OffsetRef; see Tab. 1/3). 2. Enter the value (± 1 mm) in FCT or via the CI object 6410/16h. Note Controller inaccuracies If you do not enter the offset of the reference point, control inaccuracies (e. g. overshooting) can occur with small (100 mm) and large nominal strokes (400 mm).
5. Commissioning Setting parameters } Settings Homing paramet. Homing method Velocity v_rp Velocity v_zp SAVE... 1. Set the following: Homing method [Homing method] Search speed for ascertaining the reference point [Velocity v_rp] Speed of travel to axis zero point [Velocity v_zp]. 2. Accept each setting with OK. The setting will then take effect in the drive. 3. Save the parameter settings in EEPROM with the [SAVE] menu command.
5. Commissioning 5.2.3 Carry out a reference run Overview Warning Danger of injury ! Electric axes move with high force and at high speed. Colli sions can lead to serious injury to human beings and dam age to components. · Make sure that nobody can reach into the sphere of in fluence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources.
5. Commissioning Start homing } Positioning Homing Move posit set Demo posit tab 1. Select [Positioning] [Homing]. 2. Start the homing run with START . If necessary, the homing run can be interrupted with the
5. Commissioning 5.2.4 Teach the axis zero point Factory setting Axis zero point with: Homing to reference switch: 0 mm Homing to negative fixed stop: +1 mm Homing to a positive fixed stop: −1 mm Note Risk of overloading when homing to stop: The drive must not press continuously against a mechan ical stop (excessive warming). · Make sure that the axis zero point is at least 1 mm away from the mechanical stop.
5. Commissioning Note If the axis zero point is modified: Existing software end positions and the target positions in the position set table will be shifted together with the axis zero point. · Teach the software end positions and the target posi tions again if needed. The project zero point PZ can only be set via FCT or object 21F4h.
5. Commissioning 5.2.5 Teaching the software end positions Factory settings by homing method: Reference travel (homing) method Factory settings [mm] Reference switch (AZ: 0 mm) SW−limit−neg = 0 SW−limit−pos = (nominal stroke − 10) Negative stop (AZ: +1 mm) SW−limit−neg = 0 SW−limit−pos = nominal stroke Positive stop (AZ: −1 mm) SW−limit−neg = nominal stroke SW−limit−pos = 0 If necessary, teach the software end positions: 1. Select [Settings] [Axis parameter] [SW−limit−neg] or [SW−limit−pos]. 2.
5. Commissioning 5.2.6 Setting the tool mass The weight of tools (e. g. grippers) on the front plate (or piston rod) of the drive has to be entered here. 1. Select [Settings] [Axis parameter] [Tool load]. 2. Set the tool mass with the arrow keys. 3. Accept the setting with OK. The setting will then take effect in the drive. 4. Save the parameter settings in EEPROM with the [SAVE] menu command.
5. Commissioning 5.2.7 Teaching positioning records Requirements: The drive must be set up completely, wired and supplied with power. The SFC−LACI has been correctly parametrised. The reference (homing) run has been carried out success fully. The axis zero point and the software end positions have been set correctly. Enter the positioning records as follows: } Settings Position set Position no. Pos set mode Position Velocity Acceleration Deceleration Jerk Acc. Jerk Dec.
5. Commissioning 3. Teach the target position of the position record: · Select [Position]. · Move the drive manually to the desired target position with the arrow keys. · Accept the position reached with OK. The setting of the target position and the positioning mode will then take effect in the drive. 4. Set the speed: · Select [Velocity]. · Set the nominal speed with the arrow keys. · Accept the setting with OK. The setting will then take effect in the drive. 5.
5. Commissioning 5.2.8 Test run 1. Enter several positioning records (} 5.2.7). } Positioning Homing Move posit set Demo posit tab · You may wish to set target positions at the limits of the positioning range in order to check the software end positions. · You may wish to set (e. g.) various speeds. 2. Select [Positioning] [Move posit. set] in order to process a certain positioning record or 3. Select [Positioning] [Demo posit tab] in order to process all positioning records.
5. Commissioning 5.3 Commissioning with FCT The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different components and devices from Festo. The FCT consists of the following components: Printed information A framework as program start and entry point with uni form project and data management for all supported types of devices. Plug−ins for the special requirements of each device type (e. g. SFC−LACI) with the necessary descriptions and dia logues.
5. Commissioning 5.3.1 Installing the FCT Note FCT PlugIn SFC−LAC V 3.0.0 supports the motor controller SFC−LACI−...−IO with firmware version V 1.00. Check with later versions of the SFC−LACI whether an up dated PlugIn is provided. If necessary, consult Festo. Note Administrator rights are required for installing the FCT. The FCT is installed on your PC with an installation program. 1. Close all programs. 2. Place the Festo Configuration Tool" CD in your CD ROM drive.
5. Commissioning 5.3.2 Procedure Starting the FCT 1. Connect the SFC−LACI to your PC via the parametrising interface (RS232). } Chapter 3.5. 2. Start the FCT: Double click on the FCT icon on the desktop or Switch to Windows and select the entry [Festo Software] [Festo Configuration Tool] in the menu [Start]. 3. Create a project in the FCT or open an existing project. Add a device to the project with the SFC−LAC PlugIn.
5. Commissioning Device control When the SFC−LACI is switched on, the controller interface is activated as standard [HMI= off ]. Caution Unexpected movements of the drive due to incorrect parametrising · Make sure that there is no active ENABLE signal on the controller interface when switching on the SFC−LACI. · Parameterise the entire system completely before acti vating the controller with ENABLE (controller interface), Enable" (FCT), or [HMI = on] (control panel).
5. Commissioning 5.4 Functional test Warning There is a danger of injury. Faults in parametrisation can cause injury to human beings and damage to property. · Enable the controller only if the axis system has been correctly installed and parametrised. To allow the SFC−LACI to be controlled via the controller interface, you must deactivate the manual device control: Via the SFC−LACI control panel using the menu command [HMI control] (HMI = off).
5. Commissioning 5.5 Communication with the higher−order controller Warning There is a danger of injury. Faults in parametrisation can cause injury to people and material damage. · Enable the controller only if the axis system has been correctly installed and parametrised. · Carry out a homing run every time the logic voltage supply is switched on, the homing method is changed or the axis zero point is changed. Use the pilot line specified in Appendix A.
5. Commissioning 5.5.1 Description of the I/Os You will find the pin allocation for the controller interface in section 3.6. Positioning record: I1 ... I5 In the SFC−LACI’s I/O variant, you can choose between 31 positioning records (1...31). Positioning record 0 carries out the homing run. The positioning records are selected via the binary code of the inputs I1 ... I5.
5. Commissioning Positioning I5 (24) record I4 (23) I3 (22) I2 (21) I1 (20) 16 1 0 0 0 0 17 1 0 0 0 1 18 1 0 0 1 0 19 1 0 0 1 1 20 1 0 1 0 0 21 1 0 1 0 1 22 1 0 1 1 0 23 1 0 1 1 1 24 1 1 0 0 0 25 1 1 0 0 1 26 1 1 0 1 0 27 1 1 0 1 1 28 1 1 1 0 0 29 1 1 1 0 1 30 1 1 1 1 0 31 1 1 1 1 1 Tab.
5. Commissioning STOP: I6 Reset STOP signal or error (see Tab. 3/8) Input Status STOP (input) I6 1> 0 With MC = logic 0: The drive stops with a parameterised ramp (by default with Quick stop deceleration", see section 1.3). With ERROR = logic 0: Error is reset 0> 1 After error acknowledgement or axis stop: Create readiness to operate READY > 1 (only if ENABLE = 1) A falling edge at the STOP input interrupts the positioning record under the following preconditions: Logic 0 is at MC.
5. Commissioning ENABLE: I7 Enable controller and power output stage Note When using a brake/clamping unit: · Observe the special features in conjunction with the various delay times (see sections 1.3 and 5.5.6). A logic 1 at the ENABLE input causes the controller and the power output stage of the SFC−LACI to be switched on. A logic 0 at the ENABLE input causes the controller and the power output stage of the SFC−LACI to be switched off.
5. Commissioning START: I8 Start positioning record Note When using a brake/clamping unit: · Observe the special features in conjunction with the various delay times (see the example for the automatic brake in section 5.5.6). The execution of a positioning record is started by a rising edge at the START input under the following preconditions: Logic 1 is active at READY. Logic 1 is at MC. Logic 1 is active at STOP. The desired positioning record is active at I1...I5.
5. Commissioning MC: O1 READY: O2 Festo GDCP−SFC−LACI−IO−EN en 0812NH Motion Complete Output Status MC (output) O1 Logic 0 Positioning procedure is being carried out. There is an error (if ERR = 0). Logic 1 Positioning procedure complete (actual position is within the target window, see CI object 6067h), or Nominal position = actual position (if no enable set). Ready for operation, all preconditions for starting a position ing procedure have been met.
5. Commissioning ACK: O3 Acknowledge The ACK signal confirms receipt of the START signal. This can be used, for example, to implement handshake func tions with the higher−level PLC/IPC (see also section 5.5.2). Output Status ACK (output) O3 1>0 START signal accepted. 0>1 START input reset. The ACK output is affected by the status of the START input. While there is a positive level at the START input during the execution of a positioning record (MC signal = 0), the ACK output remains set.
5. Commissioning 5.5.2 Functions (pulse−time diagrams) Switch−on and homing run min. 1 s 1 Power supply 0 ENABLE 1 I7 *) 0 START 1 I8 0 STOP 1 I6 0 Positioning record I1...I5 = 0 MC 1 0 O1 1 0 READY O2 1 0 ACK O3 1 0 ERROR O4 1 0 Drive in motion ÏÏ ÏÏ ÏÏ ÏÏ ÏÏ ÏÏ ÏÏ 1 0 Initialisation Start the homing run Homing run ended Start the homing run ACK signal Fig.
5. Commissioning Start−up characteristics performance In order to guarantee that the system starts correctly, all input signals must be stable when the power supply is switched on (at least 1 s depending on the amount of stored EEPROM data). Only then are the input signals queried. *) If there are no errors (ERROR signal = 1) and enabling is activated for the first time (ENABLE signal = 1), the drive searches for its commutation point. It will vibrate for a few seconds and move minimally.
5. Commissioning Stopping the homing run and errors when starting a positioning procedure without a homing run Note If an error occurs during the homing run or if the homing run is stopped, the homing run must first be repeated be fore a different positioning record is started. Information on error handling via the I/O interface can be found in Fig. 5/5 and Fig. 5/6. Information about the error messages can be found in chapter 6.4. ENABLE I7 1 0 START I8 1 0 STOP I6 1 0 Positioning record I1...
5. Commissioning Starting positioning procedures ENABLE I7 1 0 START I8 1 0 STOP I6 1 0 Positioning record I1...I5 = 0...31 MC O1 1 0 1 0 READY O2 1 0 ACK O3 1 0 ERROR O4 1 0 Drive in motion 1 0 Start positioning record Positioning procedure completed Start positioning record No start Positioning procedure completed Fig.
5. Commissioning Stopping positioning procedures ENABLE I7 1 0 START I8 1 0 STOP I6 1 0 Positioning record I1...I5 = 0...31 MC O1 1 0 1 0 READY O2 1 0 ACK O3 1 0 ERROR O4 1 0 Drive in motion 1 0 Start positioning record Stopping positioning procedure Restart of positioning record Positioning procedure completed Fig.
5. Commissioning Error during positioning procedure and acknowledging errors with STOP input ENABLE I7 1 0 START I8 1 0 STOP I6 1 0 Positioning record I1...I5 = 0...31 MC O1 1 0 1 0 READY O2 1 0 ACK O3 1 0 ERROR O4 1 0 Drive in motion 1 0 Start positioning record Error occurred Acknowledge Restart of error positioning record Fig.
5. Commissioning Error during positioning procedure and acknowledging errors with ENABLE input ENABLE I7 1 0 START I8 1 0 STOP I6 1 0 Positioning record I1...I5 = 0...31 MC O1 1 0 1 0 READY O2 1 0 ACK O3 1 0 ERROR O4 1 0 Drive in motion 1 0 Start positioning record Error occurred Acknowledge error Ready for operation Start positioning record Fig.
5. Commissioning As long as the logic voltage supply is not switched off, the actual position is still recorded. It is not necessary to carry out a new homing run.
5. Commissioning 5.5.3 Switching to next record Switching to the next record (= record chaining) allows a sequence of records to be defined. To do this, for every record in the table you can specify whether another record should be processed afterwards, and if so, then which record is to be processed after which delay. Record chaining can be configured via the FCT or the CI inter face.
5. Commissioning 5.5.4 Using hardware enable Reaction Controller not enabled If the controller enable is not set (no ENABLE signal at the controller interface and [HMI=off] on the control panel): If the hardware enable is missing, the Power" LED flashes. The SFC−LACI can be parameterised, however, and records the position of the drive. Controller enabled If the controller enable is set: When the hardware enable is removed, the load voltage is switched off.
5. Commissioning 5.5.5 Using the local digital outputs Purpose Switching logic The outputs can be used for the following: Displaying an internal logical status of the SFC−LACI, (e. g. occurrence of a fault) A display of certain values not being reached (e. g. position values) Controlling a brake/clamping unit (see 5.5.6) Operating a fan, DC motor or similar Positive switching logic: when the output is set (switching state true, logic 1"), the output is set to 24 V.
5. Commissioning Behaviour depending upon pin use Out1 Standard When the output is set, a continuous signal (24 V) appears. If the output is not set: 0 V. Inverted By inverting" the output: when the output is set, 0 V ap plied. If the output is not set: 24 V. Out2 Signal A Signal /A For the connection of the consumer between pin 4 (signal A) and pin 1 (signal /A), i. e. use of the differential output: PWM value 1...100 %: Positive switching logic.
5. Commissioning Overview of parametrisation of Out2 Basis settings Without PWM The behaviour is set via Operating mode of object 2422/01h: Values 1 (brake), 2 (digital signal) or 3 (output compare) PWM value of object 2422/0Ah: Values 0...100 % Setting inverted" object 2422/09h: Value 0 = not inverted, otherwise inverted. Without pulse−width modulation, the following options are available: 1.
5. Commissioning Overview of the parameters for the local digital outputs Out 1/2 Parameter / Description FCT CI x 60FE/01h 60FE/02h Out 1: Use Value Out 1 is used as: 0 No function 1 Brake output (see 5.5.
5. Commissioning Parameter / Description FCT CI Out 1: Value for setting condition The saved value that when reached means that the comparison condition is considered fulfilled in accordance with 2421/02h. With record number comparison: bit number Z record number: bit 1 = record 1 (bit 0: do not use). Example: 0x6 = in record1 and also in record2, the condition is considered fulfilled and the output is set.
5. Commissioning Parameter / Description FCT CI Out2: Use Value Out 2 is used as: 0 No function 1 Brake output (see 5.5.
5. Commissioning Parameter / Description FCT CI Out 2: Setting condition rising/falling Value = 0: The output is set if the reference value accrued from lower values has been reached in accordance with 2422/04h. Value = 1: The output is set if the reference value accrued from higher values has been reached in accordance with 2422/04h.
5. Commissioning 5.5.6 Using a brake/clamping unit One of the local digital outputs (Out1 or Out2) can be used to control a brake/clamping unit. Options here are a continuous signal or, in the case of Out2, both a continuous and a pulsed signal (PWM, see Fig. 5/7). The parameterisation can easily be carried out via FCT. Note the detailed functional descriptions in the help section for PlugIn SFC−LAC. Note When using the DNCE/DFME−...−LAS−...
5. Commissioning Overview of parameters when using a brake/clamping unit Parameter / Description FCT CI Out1: Use Value = 1: Out1 is the defined brake output x 2421/01h Out2: Use Value = 1: Out2 is the defined brake output x 2422/01h Switch−on delay x Time in [ms] between setting the enable (ENABLE = 1) or a START signal (if the auto matic brake is activated) and the start of a positioning motion. The brake can open completely in this period of time. Values: 0...500 ms.
5. Commissioning Example of an automatic brake Drive moves 1 MC 1 0 0 START 1 0 Brake 1 0 T Switching to next record T Automatic 1 0 1 0 T Switch−on 1 0 T Switch−off 1 0 Controller 1 0 energised Record completed Start of new positioning motion Fig. 5/8: Pulse−time diagram automatic brake In this example, both the time for switching to the next record and the activation time of the automatic brake (T Automatic) starts to run after the completion of a positioning record (MC).
5. Commissioning 5.5.7 Position sampling (on−the−fly measurement) A local digital input (IN1 or IN2) not occupied by the refer ence or limit switch can be used as a fast sample input. With a falling (depending on configuration: a rising) edge at the configured sample input, the current position value is written into a CI object of the SFC−LACI (in 204A/05h or 06h) and can afterwards be read out by the higher−level control system (PLC/IPC).
5. Commissioning Parameter / Description FCT CI Transfer edge status to status word (CI object 6041h) Value = 0: If an edge occurs (see subindex 02h), this event is not displayed in the status word. Writing 0 resets bit 14 to 0 in the status word. Value = 1: If a rising edge occurs (see subindex 02h), bit 14 is set in the status word. Value = 2: If a falling edge occurs (see subindex 02h), bit 14 is set in the status word.
5. Commissioning 5.6 Notes on operation Warning There is a danger of injury. Electric axes can move suddenly with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. · Make sure that nobody can reach into the operating range of the axes or other connected actuators (e. g. with a protective grille) and that no objects lie in the positioning range while the system is still connected to a power supply.
5. Commissioning Caution Errors in the parameterisation can cause injury to people and material damage if you enable the controller with ENABLE. · Make sure that there is no active ENABLE signal when switching on the SFC−LACI on the controller interface. · Parameterise the entire system completely before acti vating the controller with ENABLE or [HMI = on]. Caution The SFC−LACI does not carry out any positioning tasks if it is not referenced.
5. Commissioning Note Damage to components. Movement to the mechanical end positions is not per mitted during operation. Note Observe the instructions in the documentation for the drives and additional components used.
5. Commissioning Password protection The factory setting does not provide active protection by a password. All download and control functions can be blocked in order to prevent unauthorised or unintentional overwriting or modification of parameters in the device. · Recommendation: Protect your settings against undesired modifications with a password: FCT password protection (8 characters, see Help for SFC−LAC PlugIn) HMI password protection on the control panel of the SFC−LACI−...
Diagnostics and error display Chapter 6 Festo GDCP−SFC−LACI−IO−EN en 0812NH 6−1
6. Diagnostics and error display Contents 6.1 6.2 6.3 6.4 Diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−3 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−4 Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−6 Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnostics and error display 6.1 Diagnostics options LEDs LEDs indicate the ready status, positioning status and errors. Control panel The LC display of the SFC−LACI−...−H2 shows diagnostic data, fault messages, the operating mode, the current positioning record, target and actual positions as well as speed.
6. Diagnostics and error display 6.2 LED status displays 1 LEDs Power (green) I/F (green/red) Error (red) 1 Fig. 6/1: LEDs on the SFC−LACI−...−H2 Power supply POWER Status Logic and load voltages applied. green Logic voltage is present. Load voltage is not present or missing hardware enable flashing There is no voltage.
6. Diagnostics and error display Interface (I/F) I/F 1) Status Positioning status (motion complete) Positioning procedure is completed or stopped green on Target position not yet reached (positioning task running, no MC) green off Controller output stage Controller output stage is switched off red on Controller output stage is energised and active red off 1) Two−colour LED Malfunction indicator Error Status Error The SFC−LACI is not ready for operation.
6. Diagnostics and error display 6.3 Diagnostic memory The diagnostic memory contains the last 16 diagnostic mess ages. It is backed up if possible in the event of power failure. If the memory is full, the oldest element will be overwritten (ring buffer).
6. Diagnostics and error display The faults are divided into logical groups according to the fault numbers: Group Name Comment 0 No fault active 1 ... 19 Processing error Examples: No homing run, nominal position outside software end positions, nominal value calculation not possible. Although the system is OK, a user command cannot be pro cessed. In most cases there is a fault in operation. Source: Sequence control, controller 20..
6. Diagnostics and error display 6.4 6.4.1 Fault messages Warnings Warnings have no influence on the reaction of the drive. The cause of the warning should be eliminated in order that it does not lead to a fault. If a warning occurs, the fault LED will flash and the ERROR output will not be reset. Warning Cause 2FF2h Fault no.*) INDEX PULSE WARNING During homing: The homing switch signal lies too close to the index pulse.
6. Diagnostics and error display 6.4.2 Errors If there is an error, the drive will be stopped. The error LED flashes; the ERROR output is reset (> 0). 1. Rectify the cause of the fault. 2. Acknowledge the error message: Using on the control panel. Using the Acknowledge Error" button in the FCT. Via I/Os with a falling edge on the STOP signal (see chapter 5.5.2) or with a falling edge on the ENABLE signal.
6. Diagnostics and error display Error Possible cause and remedy Object Fault no.*) INTERPOLATION CYCLE TIME For FHPP Continuous Mode: missing position specifi cation(s) or missing toggle bit 2FFBh Bit 0 7 LIMIT SWITCH ACTIVATED A limit switch has been actuated. · Check the positioning dynamics (overswing?), e. g. using trace diagrams in the FCT. · Check switches and cables. 2FFBh Bit 2 8 BLOCK DURING JOG MODE A fixed stop was reached in job mode. 2FFB Bit 3 9 POSITION ERROR Drag error.
6. Diagnostics and error display Error Possible cause and remedy Object Fault no.*) COMMUTATION POINT ERROR Commutation point is invalid. Possible cause and remedy: The drive is blocked: Ensure freedom of movement. Excessive load: Reduce the load. Controller parameter wrongly set: Determine the relevant controller parameter and set it to the cor rect value.
6. Diagnostics and error display Error Possible cause and remedy Object Fault no.*) DIGITAL−POWER− DOWN Logic voltage < 15 V Voltage drops under load: Power supply too weak, cable too long, cable cross−section too small? 2FF1h Bit 6 71 OVERCURRENT POWER STAGE Output stage current consumption too high, e. g. due to short circuit. · Contact Festo service. 2FFBh Bit 1 72 ERROR SFC−LACI HOT Temperature > 85 °C · Remain within all maximum values and check the mechanical system, e. g.
6. Diagnostics and error display 6.4.3 Warning Index Pulse Warning" In the homing run to the proximity sensor, the drive initially moves into the switching range of the sensor and then re verses. After the switching range is exited, the SFC−LACI searches for the nearest index pulse. This applies as the homing point.
6.
Technical appendix Appendix A Festo GDCP−SFC−LACI−IO−EN en 0812NH A−1
A. Technical appendix Contents A.1 A.2 A.3 A−2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Converting the units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A.1 Technical data General Protection class of the entire system according to EN 60529 IP54 (plug connector inserted or fitted with protective cap) Relative air humidity (at 25 °C) 0 ... 95 %, non−condensing Temperature range Operation: 0 ... +40 °C storage / transport −20 ...
A. Technical appendix Electrical data Load voltage supply Nominal voltage Nominal current (max. continuous motor current) Peak current Power connection, pins A1, A2) 48 VDC (+5/−10 %) (Load power down: Ţ 36 V) 10 A 20 A Logic voltage supply Nominal voltage Peak current Power connection, pins 1, 2 24 VDC ± 10 % 3.8 A (when using the local digital outputs, see section 3.2).
A. Technical appendix A.2 Accessories Connection Cables Type Length [m] Power supply Power supply cable KPWR−MC−1−SUB−15HC−... 2.5 / 5 / 10 Motor connection Motor cable NEBM−T1G6−T1G6−... 2.5 / 5 / 10 Encoder cable NEBM−T1G12−T1G12−... 2.5 / 5 / 10 Control Pilot line KES−MC−1−SUB−15−... 2.5 / 5 / 10 Parametrising interface Programming cable KDI−MC−M8−SUB−9−... 2.
A.
A. Technical appendix A.3 Converting the units of measurement The CI interface works with increments [Inc, Inc/s, Inc/s2, Inc/s3]. DNCE−...−LAS The distance between two index lines (= north or south pole of the magnetic displacement encoder) is 5 mm. The resol ution of the measurement system is 11 bits, which is the same as 2048d (800h) increments. The increments are calcu lated by means of interpolation.
A.
Supplementary information Appendix B Festo GDCP−SFC−LACI−IO−EN en 0812NH B−1
B. Supplementary information Contents B.1 B.2 B−2 The CI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 Using the parametrising interface . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.2 Accessing the CI objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.3 Access via a terminal program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.4 Composition of the CI commands . . . . . . . . . . .
B. Supplementary information B.1 The CI interface B.1.1 Using the parametrising interface The parametrising interface (RS232) can be used to access the objects of the Command Interpreter" (CI) for the SFC−LACI. The FCT accesses the CI objects, too. 1 1 Parametrising interface (RS232) Caution Not using the parametrising interface as designated causes injury to people and material damage The parametrising interface (RS232) is not electrically isolated and not real−time capable.
B. Supplementary information B.1.2 Accessing the CI objects CI objects are accessed via FCT or a terminal program. Caution Faulty parameterisation can cause personal injury and material damage. Incorrect parameterisation of the CI objects can cause the controller to react unexpectedly and the motor may start uncontrolled. · It is preferable to use the FCT or the control panel for parametrising and commissioning.
B. Supplementary information B.1.3 Access via a terminal program For data transmission you will require a commercially−avail able terminal program or the integrated CI terminal of the SFC−LAC PlugIn in the Festo Configuration Tool. 1. Connect the SFC−LACI to your PC (see section 3.5). 2. Configure your PC’s COM interface: Settings of the COM interface Transmission speed (baud rate) 38400 Baud Data format Asynchronous character frame: 1 start bit 8 data bits No parity bit 1 stop bit Tab.
B. Supplementary information B.1.4 Composition of the CI commands The CI objects implemented in the SFC−LACI are based on CANopen DS 402: Group 1xxx Objects for device description Group 2xxx Festo objects Group 6xxx Objects as per CANopen The CiA Draft Standard 402" deals with the implementation of CANopen in drive controllers. Access procedure Every object has a unique number (index, subindex) which is used for accessing the object.
B. Supplementary information Syntax of the read and write commands Acc 1) Command Reply W W 2) =IIIISS: =IIIISS: =IIIISS: R R2) ?IIIISS 2) ?IIIISS =IIIISS: 1) Access: W = write, R = read 2) When checksum checking is activated (Object 20F3h) Tab.
B. Supplementary information Data type The transmitted value (1, 2 or 4 data bytes as hex number) depends on the data type of the object to be read or written. The following data types are supported: Type Hex Format UINT8 2H 8 bits without sign: 0...255 INT8 8 bits with sign: −128 ... 127 UINT16 4H 16 bits without sign: 0 ... 65535 INT16 16 bits with sign: −32768 ... 32767 UINT32 32 bits without sign: 0 ... (232−1) 8H 32 bits with sign: −231 ...
B. Supplementary information Note All length specifications (even speeds and similar) are saved in increments in the controller and are not converted into the relevant measuring unit system until they are written or downloaded. The transfer of values via the CI interface assumes a con version in increments, see section A.3.
B. Supplementary information B.1.5 Checking the data Permitted value ranges Transferred parameters and values are checked by the SFC−LACI before being accepted. Note In the case of invalid parameters or values, an error mess age will not appear in the response; rather, the received value will always be returned (Echo). Recommendation: Check that values have been written correctly by download ing the current contents of the object with a subsequent Read command.
B. Supplementary information Checksum If checksum checking of telegrams received from the SFC− LACI was activated (see CI object 20F3h), then the higher level controller must also provide a checksum before the termination character (CR = Carriage return) (for syntax, see Tab. B/2). If the SFC−LACI detects a deviation in the checksum, then − instead of the usual response − the value <0xFFFF> will be transferred (see Object 2FF0h).
B. Supplementary information B.2 CI object directory Note The following table contains an overview of the CI objects. Since the SFC−LACI−IO always has the same firmware as the field bus variants, there are several objects and functions that cannot be used due to the restrictions of the I/O con trol interface. · When using the objects, observe the detailed descrip tion in section B.2.
B. Supplementary information Name CI object Index Sub Manufacturer hardware version BCD (hardware version in BCD) 2069h Manufacturer firmware version BCD (firmware version in BCD) 206Ah Version FCT plug−in BCD (version of the FCT plug−in in BCD) 206Bh 1...2 Controller serial number 2072h Device control 207Dh FHPP status data 20A0h 1...2 FHPP control data 20A1h 1...2 FHPP continuous mode − interpolation time 20B6h Axis interface 1 20BAh 1...
B. Supplementary information Name CI object Index Sub FHPP jog mode − time phase 1 20E9h 21h Record control byte 1 20EAh 1...22h Record control byte 2 20EBh 1...20h Target position 20ECh 1...22h Velocity 20EDh 1...21h Acceleration 20EEh 1...22h Deceleration 20EFh 1...22h Data memory control (commands for the EEPROM) 20F1h 1...3 Trace control (measurement recording) 20F2h 1...Ah CI checksum active (CI checksum required) 20F3h FCT password 20FAh 1...
B. Supplementary information Name CI object Index Sub Velocity monitoring 2802h 1...
B. Supplementary information Name CI object Index Sub Actual velocity (actual speed) 606Ch Target torque/force (nominal force) 6071h Max. torque/force 6072h Maximum current 6073h Rated motor current 6075h Rated motor torque/force 6076h Torque/force actual value 6077h Target position 607Ah Software end positions 607Bh 1...2 Offset axis zero point 607Ch Polarity (direction) 607Eh Max.
B. Supplementary information Name CI object Index Sub Homing velocities 6099h 1...2 Max. acceleration 60C5h Torque/force mode 60F6h 1...5 Position control parameter set (controller parameters) 60FBh 12h...15h Digital inputs 60FDh Digital outputs 60FEh 1...2 Motor type 6402h Motor data (drive data) 6410h 1...
B. Supplementary information B.2.1 Representation of the CI objects 1 2 3 4 5 8 Password 6 CI 20FAh Description 7 FCT password 1...02h Array V−string rw/r Managing the FCT password, entering the super password. 20FAh 1 V−string rw Password for the FCT software Value: <........> (fixed 8 characters (ASCII, 7−bit) Default: <00000000> (status upon delivery and after resetting) Super password 20FAh 2 V−string rw Entering the super password.
B. Supplementary information B.2.2 Group 1xxx: Communication Profile Area Device type CI 1000h 00h Var Description Device type and function. Fixed = 0. uint32 r V−string r Manufacturer device name CI 1008h 00h Var Description Manufacturer’s name for the device: SFC−LACI−... Manufacturer hardware version CI 1009h 00h Var V−string r Description Hardware version in format = Vxx.
B. Supplementary information B.2.3 Group 2xxx: Manufacturer Specific Profile Area Record number CI 2032h Description Selection of a positioning record (record pointer) : from the CI object for the position record table 20E0h or from the individual objects 607Ah: Target position 6081h: Profile velocity (speed) 6083h: Profile acceleration 6084h: Profile deceleration Record number 2032h 01h Array 1) CI uint8 rw 01h Record number: reading or writing.
B. Supplementary information Record number FHPP CI 2033h Description FHPP record number Record number 01h...03h Array uint8 01h r(w) rw Record pointer for positioning and teaching. It is also valid when the drive is not in Record Select mode (e. g. during tea ching). For record selection this parameter is transferred in the cyclic I/O data. Value range: 0 ... 34 (0x00 ... 0x22). Values: 0 (0x00): Homing (positioning record 0) 1 (0x01): Positioning record 1 2 (0x02): Positioning record 2 ...
B. Supplementary information Standstill timeout CI 2041h 00h Var uint16 rw Description Standstill monitoring time in [ms}: Time during which the drive must be outside the standstill position window before the standstill monitoring responds. Value range: 0...65535 (0xFFFF). Default: 80 Position sampling CI 204Ah Description Settings for on−the−fly measurement. For functional description: see section 5.5.7. B−22 01h...
B. Supplementary information Commutation status CI 2050h 00h Var uint8 Description State of the commutation point search 0x00: No commutation (default) 0x01: Commutation point search active 0x10: Commutation point successfully found 0xFE: Fault in commutation (POSITION PLAUSIBILITY ERROR) 0xFF: Fault in commutation (COMMUTATION POINT ERROR) r Delay for commutation start CI 2051h 00h Var uint32 rw Description Waiting time [ms] between ENABLE and the start of the commutation point search.
B. Supplementary information Version FCT plug−in opt. CI 2068h 00h Var V−string Description Optimum FCT plug−in version. Format = xx.
B. Supplementary information Device control CI 207Dh 00h Var uint8 rw Description Corresponds to HMI control" on the control panel and FCT" on the FCT. Bit 0 = 0: Controller interface OFF, control via HMI (control panel) and FCT ON Bit 0 = 1: Controller interface ON (default), control via HMI or FCT OFF FHPP status data CI 20A0h 01h, 02h Array uint32 Description FHPP input data (8 bytes of status data), 4 bytes each, consistent. r 01h FHPP status bytes 1−4 (SCON, SPOS, ...
B. Supplementary information FHPP continuous mode interpolation time CI 20B6h 00h Var uint16 rw Description Time gap between two position specifications in FHPP continuous mode" in [1/10 ms]. Value range: 0 ... 65535. Axis interface 1 CI 20BAh 01h...0Ah Array uint32 rw Description Data for the axis interface integrated in the SFC−LACI. Reserved for the Festo service department. Axis interface 2 CI 20BBh Description Data for the axis interface integrated in the SFC−LACI.
B. Supplementary information Diagnostic event CI 20C8h Description Type of fault or diagnostic information saved in the diagnostic memory. Displays whether an incoming or outgoing fault is saved. Value Type of diagnostic event 0 (0x00) No fault (or diagnostic message deleted) 1 (0x01) Incoming fault 2 (0x02) Outgoing fault 3 (0x03) (reserved) 4 (0x04) Overrun time stamp Event 1 01h...10h Array uint8 r 01h Active diagnostic event Event 2 02h Previous diagnostic event Event ... ... ...
B. Supplementary information Time stamp CI 20CAh 01h...10h Description Time stamp: Time point of the diagnostic event since device was switched on, in the time unit as per object 20CCh/02. Event ... Array uint32 r ... See 20C8h. Additional information CI 20CBh 01h...10h Description Number of movement cycles at the time a fault comes or goes. See PNU 305 Event ... Array uint32 r ... See 20C8h.
B. Supplementary information HMI scaling CI 20D0h 01h, 02h Array uint8 r Description Units of measurement and decimal places on the control panel. See CI object 20FFh. Measuring unit 01h (unit of measurement) Definition of unit of measurement. The setting for the system of measurement only affects the display. Note: The SFC−LACI operates internally with metric units; the CI interface with increments. Value: Fixed = 1: millimetres, e. g. mm, mm/s, mm/s2 Scaling size 02h (no. of places (no after dec.
B. Supplementary information CI record table element CI 20E0h 01h...0Bh Description Editing the entries in the positioning record table: 1. Selection of line with object 2032h (record pointer). 2. Select column under subindex 20E0h: 01...0Bh. Record number Struct rw 20E0/01 20E0/02 V 20E0/03 20E0/04 20E0/05 RCW Target position Velocity Accelera Jerk tion <1> <...> 20E0/... ... 02 2032h} 03 ...
B. Supplementary information Record table element Jerk acc. 20E0h 05h uint32 (Jerk) 3 Acceleration jerk in [increments/s ]. Matches 20E7h. Work load 20E0h 06h uint32 (applied load) Mass of a work item in [g] for a positioning record. Matches 20E8h. Damping time 20E0h 07h uint16 Damping time in milliseconds [ms]. If the actual position has been in the target position window for this amount of time, the Motion complete" bit is set in the status word. Values: 1 ... 60000 ms. Matches 20E6h.
B. Supplementary information Axis parameter CI 20E2h Description Axis parameter Axis length 01h...
B. Supplementary information Record delay CI 20E4h Description Waiting time for record chaining (=set chaining): The time between Motion Complete" of a chained positioning record and the start of the next positioning record. Value range: 1...60000 ms Record 0 01h...20h Array int32 rw 01h Do not use (Homing) Record 1 02h Delay after positioning record 1 Record ... ... (positioning record ...) Delay after positioning record 2 ...
B. Supplementary information Position window time CI 20E6h Description Damping time in milliseconds [ms]. If the actual position has been in the target position window for this amount of time, the Motion complete" bit is set in the status word. Also referred to as Adjustment time". Value range: 1 ... 60000 ms. Default: 10 ms. Record 0 01h...22h Array uint16 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Damping time for position records 1...
B. Supplementary information Jerk acceleration CI 20E7h Description Acceleration jerk in [increments/s3]. The internal calculation is done with 1/10 of the value. Record 0 01h...22h Array uint32 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Jerk for position records 1 ... 30 Record 31 20h Jerk for position record 31 Jog mode 21h Jerk acceleration in jog mode Direct mode 22h Jerk when accelerating in direct mode Note: The object 20E0h/05h is provided for access via CI.
B. Supplementary information Work load CI 20E8h 01h...22h Array uint32 rw Description Applied load: Mass in [g] of the workpiece to be transported by a positioning re cord. Note: The mass of a tool mounted on the piston rod (or front plate) of the drive, which remains the same for all positioning records, is entered in object 6510/51h. Record 0 01h Do not use (Homing) Record ... ... (positioning record ...) Applied load for positioning record 1 ...
B. Supplementary information Record control byte 1 CI 20EAh 01h...22h Array uint8 Description Record control byte 1 Settings for record selection: Relative/absolute positioning Path generator, standard/energy−optimized rw Bit0: =0 absolute position specification; =1 relative position specification Bits1..2: Both =0 standard path generator; Both =1 energy optimised path generator Bits3..
B. Supplementary information Record control byte 2 CI 20EBh Description Record control byte 2 For record selection: step enabling condition for record chaining Bit 0: = 0 No record chaining = 1 Record chaining Bit7: = 0 Record chaining is not locked out; = 1 Record chaining is locked out Record 0 01h...20h Array uint8 rw 01h Do not use (Homing) Record 1 02h Record control byte 2 Positioning record 1 Record ... .. (positioning record ...) Record control byte 2 Positioning record 2 ...
B. Supplementary information Target position CI 20ECh Description Target positions in increments Record 0 01h...22h Array int32 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Target positions of positioning records 1 ... 30 Record 31 20h Target position of positioning record 31 Jog mode 21h Target position for jog mode Direct mode 22h Target position for direct mode Note: The object 20E0h/02h is provided for access via CI.
B. Supplementary information Velocity CI 20EDh Description Velocity in [increments/s] Record 0 01h...21h Array uint32 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Velocity of positioning record 1 ... 30 Record 31 20h Velocity of positioning record 31 Jog mode 21h Speed for jog mode Note: The object 20E0h/03h is provided for access via CI.
B. Supplementary information Acceleration CI 20EEh Description Acceleration in [increments/s2] The value applies only to positioning, with force control the value is ignored. Record 0 01h...22h Array uint32 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Acceleration of positioning record 1 ...
B. Supplementary information Deceleration CI 20EFh Description Deceleration in [increments/s2]. The value applies only to positioning, with force control the value is ignored. Record 0 01h...22h Array uint32 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Braking in positioning records 1 ... 30 Record 31 20h Braking in positioning record 31 Jog mode 21h Braking in jog mode Direct mode 22h Braking in direct mode Note: The object 20E0h/0Ah is provided for access via CI.
B. Supplementary information Data memory control CI 20F1h Description Commands for EEPROM Delete EEPROM 01h...03h Array uint8 w 01h Fix: 16 (0x10): Delete data in EEPROM. Once the object has been written, and after power off/on, the data in the EEPROM are reset to the factory settings. Save data 02h The data in EEPROM will be overwritten with the current user−specific settings. Fix 1 (0x01): Save data.
B. Supplementary information CI receive checksum active CI 20F3h 00h Var uint8 rw Description When checksum checking is activated, the CI commands to the SFC−LACI must be provided with a checksum (see Tab. B/2). The checksum is calculated as per Tab. B/5. Example: Deactivate checksum: =20F300:0012" (12 = checksum). The CI terminal integrated into the FCT automatically uses checksums.
B. Supplementary information User device name CI 20FDh 00h Var V−string Description Device name assigned by user. Max. 24 characters (ASCII, 7−bit). Default: motor001" rw HMI parameter CI 20FFh Description Control panel settings (type SFC−LACI−...−H2 only) LCD current (brightness) 01h, 02h Array uint8 rw 01h Values: 1...8. Default: 5 LCD contrast 02h Values: 0...63 (0x00...0x3F).
B. Supplementary information Jerk deceleration CI 21E1h Description Jerk when braking in [increments/s3]. The internal calculation is done with 1/10 of the value. Record 0 01h...22h Array uint32 rw 01h Do not use (Homing) Record ... ... (positioning record ...) Jerk for deceleration of position record 1 ...
B.
B. Supplementary information Local digital output 1 CI 2421h Description 01h...09h Struct rw Configuration of the local digital output Out 1 For use: see section 5.5.5.
B. Supplementary information Local digital output 2 CI 2422h Description 01h...0Ah Struct rw Configuration of the local digital output Out 2 For use: see section 5.5.5.
B. Supplementary information Position monitoring CI 2800h Description Position monitoring Position Actual value 01h...02h Array int32 r 01h Actual position in increments Position Demand value 02h Nominal controller position in increments Torque/force monitoring CI 2801h Description Force monitoring Torque Actual value 01h...02h Struct 01h r int16 Actual force in permil of rated force. Values: 0...65535. Torque Demand value 02h int16 Actual force in permil of rated force.
B. Supplementary information Communication error CI 2FF0h 00h Var uint16 Description Transmission error. Special object; see section B.1.1. r Device errors CI 2FF1h Description Reading or deleting the error message(s). Explanations of the error messages can be found in chapter 6.4 Diagnosis".
B. Supplementary information Device warnings CI 2FF2h Description Reading or deleting the active warning(s). Explanations of the error messages can be found in chapter 6.4 Diagnosis". Writing <0>: Delete all warnings Reading: Bit 0 INDEX PULSE WARNING Bit 1 WARNING MOTOR COLD Bit 2 WARNING MOTOR HOT Bit 3 WARNING SFC−LACI COLD Bit 4 WARNING SFC−LACI HOT Bit 5 STANDSTILL WARNING Bit 6 ILLEGAL RECORD WARNING Bit 7...
B. Supplementary information Extended device faults A CI 2FFAh Description (reserved) 00h Var uint16 r(w) 00h Var uint16 r(w) Extended device faults B CI 2FFBh Description Reading or deleting the error message(s). Explanations of the error messages can be found in chapter 6.4 Diagnosis".
B. Supplementary information Version axis interface CI 2FFDh 00h Var Description Version number of the axis interface uint16 r uint32 r Cycle number CI 2FFFh Description Number of positioning records executed, homing runs etc.
B. Supplementary information B.2.4 Group 6xxx: Standardised Device Profile Area Control word CI 6040h 00h Var uint16 Description Modify the current controller status or trigger an activity. As status modifications require a certain amount of time, all status modifica tions triggered via the control word must be read back via the status word (ob ject 6041h). Further commands cannot be written via the control word until the requested status can be read in the status word. For typical values see Tab.
B. Supplementary information Status word CI 6041h 00h Description Reading the controller state. For typical values see Tab. B/7.
B. Supplementary information Bit Value Comment 14 0x4000 Confirmation for teaching or An edge was registered during position sampling. 15 0x8000 Drive is referenced Tab. B/7: Typical values for the status word Quick stop option code CI 605Ah 00h Var int16 r Description Quick stop option: Fixed = 6: Remain in stop with fast stop ramp and in the status Fast stop active".
B. Supplementary information Operation mode CI 6060h 00h Var int8 w Description Operation mode of the controller: 0xF9: FHPP continuous mode (−7d) 0xFE: Demo mode (fixed sequence) 0x01: Profile position mode (positioning mode) 0x04: Profile torque mode (force mode) 0x06: Homing mode (reference run) Operation mode display CI 6061h 00h Var uint8 r Description Reading the operating mode of the controller Values: see object 6060h.
B. Supplementary information Drag fault timeout CI 6066h 00h Var uint16 rw Description Drag fault monitoring time: Time that a drag fault may remain larger than the value specified in 6065h before a drag fault is reported. Value range: 1...60000. Default: 80 ms.
B. Supplementary information Target torque/force CI 6071h 00h Var int16 rw Description Nominal value for force control. Specified in permil of rated value (6076h). Max. torque/force CI 6072h 00h Var uint16 rw Description The highest permitted torque of the motor in permil of the rated value (6076h). Values: 0...1000. Max. current CI 6073h 00h Var uint16 rw Description Maximum motor current in permil of rated current (6075h). Note: The current limitation also limits the max.
B. Supplementary information Actual torque/force CI 6077h 00h Var int16 Description Actual value in force mode. Specified in permil of rated value (6076h). r Target position CI 607Ah 00h Var int32 rw Description Target position in [increments]. This position will be saved in the positioning record table in the line addressed by object 2032h, in the column intended. No movement is made at this point. See 20E0/02h.
B. Supplementary information Polarity CI 607Eh 00h Var uint8 Description Reversal of direction. Fixed = 1 (not adjustable) r Max. velocity CI 607Fh 00h Var Description Max. permitted speed in [Inc/s] uint32 r int32 rw Profile velocity CI 6081h 00h Var Description Final speed for a positioning procedure in [increments/s]. The value will be saved in the positioning record table in the line addressed by object 2032h, in the column intended. No movement is made at this point.
B. Supplementary information Quick stop deceleration CI 6085h 00h Var uint32 Description Braking during quick stop, in [increments/s2] rw Motion profile type CI 6086h 00h Var Description Ramp profile. Fixed = −1 (linear ramp). int16 r uint32 r int16 r Torque/force slope CI 6087h 00h Var Description Speed with which the force changes Torque/force profile type CI 6088h 00h Var Description Type of profile with which a force modification is undertaken.
B. Supplementary information Gear ratio CI 6091h Description Gear unit ratio (1:1 for linear motors) Motor revolutions 01h, 02h Array uint32 r uint32 r 01h Fixed = 1 Shaft revolutions 02h Fixed = 1 Feed constant linear axis CI 6092h Description Feed constant/measurement system pitch: Distance in [ m] between two index pulses. Reflects 6410/13h. Feed 01h, 02h Array 01h DFME−...−LAS: fixed = 2000 m. DNCE−...−LAS: fixed = 5000 m.
B. Supplementary information Homing method CI 6098h 00h Var uint8 rw Description Reference travel (homing) method.
B. Supplementary information Torque/force mode CI 60F6h Description Configuration of the operating mode force control" Stroke limit 01h...05h 01h Struct rw uint32 Maximum permitted stroke with force control. The distance of the actual position from the start position must not be more than the amount specified in this parameter. In this way you can ensure that, if force control is activated by mistake (e. g. missing work item), the axis will not perform an uncontrolled movement.
B. Supplementary information Position control parameter set Caution: Risk of injury to people and damage to property. The factory settings for the controller parameters should only be modified in exceptional cases. Unfavourable settings can lead to uncontrollable behaviour of the entire system. · Only change the controller parameters with the aid of FCT. · Follow the instructions in FCT for the controller parameters. CI 60FBh 12h...
B. Supplementary information Digital outputs CI 60FEh 01h...02h Description Mapping the digital outputs Digital outputs 60FEh Bit 25: Bit 26: uint32 r 01h Bit 0: Bit 1...15: Bit 16 : Bit 17: Bit 18: Bit 19: Bit 20...24: Bit 25: Bit 26: Mask 60FEh Array Status of brake (reserved) MC READY EA_ACK ERROR (reserved) Status Out1 Status Out2 02h Activates the display of Out1 in 60FE/01h Activates the display of Out2 in 60FE/01h Motor type CI 6402h Description Classification of the motor.
B. Supplementary information Motor data CI 6410h Description Drive data Serial number 6410h ... Record 01h r(w) uint32 r uint32 rw Serial number of the motor I2t factor 6410h 03h I2t factor. Value range: 1...20000. Default: 3000. I2t 6410h 04h uint32 r uint32 rw Current I2t value Max. phase current 6410h 05h Max. string current. Value range: 0...20000 mA. Default: 15000 mA.
B. Supplementary information Motor data Actual current 6410h 19h uint32 r int16 r Actual current in [mA] Actual coil temp 6410h 31h Temperature of the coils of the linear motor. Measuring range: −20...+120 °C Max. coil temp 6410h 32h int16 r Highest coil temperature measured to date (= motor). Measuring range: −20...+120 °C. Is saved in EEPROM.
B. Supplementary information Drive manufacturer CI 6504h 00h Description Festo AG & Co. KG Var V−string r Var V−string r HTTP drive catalogue address CI 6505h Description www.festo.
B. Supplementary information Drive data CI 6510h Record Description SFC−LACI data Output stage 6510h temp temp. See 31h. 1h int16 r Output stage 6510h max temp. max. temp See 32h. 2h int16 r Max. current 4h uint16 rw 6h uint16 rw 7h uint32 r 6510h See 41h. Device control 6510h See 43h. Controller serial 6510h number See A0h.
B. Supplementary information Drive data Homing switch po 6510h 14h int16 larity Reference switch type: 0 = N/C contact, 1 = N/O contact rw Limit switch dece 6510h 15h leration Braking in [m/s2] with limit switch signal int32 rw uint32 rw Sample input 6510h 16h Value = 1: Sampling at IN1; value = 2: sampling at IN2 Brake delay time 6510h 17h switch on Brake: Switch on delay, see section 5.5.6 uint16 rw Brake delay time 6510h 18h switch off Brake: Switch−off delay, see section 5.5.
B. Supplementary information Drive data Device control 6510h 43h uint16 rw Identical to 207Dh. To enable FCT control after the I/O interface has been switched off, set ENABLE OPERATION in Control Word as well (object 6040h). Power supply 6510h 50h int32 rw Output of power supply unit in [W]. Value range: 0...3000 W. Default: 960 W. The nominal power rating must be stated exactly. Rounding (e. g. from 960 W to 1000 W) is not permitted. Tool load 6510h 51h uint32 rw Tool load, e. g.
Index Appendix C Festo GDCP−SFC−LACI−IO−EN en 0812NH C−1
C. Index Contents C. C−2 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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