SPC200 Smart Positioning Controller Electronics/ pneumatics manual System manual Smart Positioning Controller type SPC200 Manual 170 246 en 0901d [713 873]
Contents and general instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0901d Designation . . . . . . . . . . . . . . . . . . . . . . . . . P.BE−SPC200−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 246 © (Festo AG & Co. KG, D 73726 Esslingen, Federal Republic of Germany, 2009) Internet: http://www.festo.
Contents and general instructions Interbus®, DeviceNet® and PROFIBUS® are registered trademarks of their respective trademark holders in certain countries. II Festo P.
Contents and general instructions Contents Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1 3.1 3.2 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on fitting the pneumatic components . . . . . . . . . . . . . . 3.2.1 the compressed air supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Service unit . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 4. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1 4.1 4.2 4.3 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting a single−axis system for the first commissioning . . . . . . . . . . . . Overview of the parameters of a positioning axis . . . . . . . . . . . . . . . . . . . . . 4.3.1 Pneumatic axis data . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 6. Operating the SPC200 with the control panel . . . . . . . . . . . . . . . . . . . . . . . 6−1 6.1 6.4 6.5 6.6 6.7 6.8 Structure and functions of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Moving in the menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting project−specific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit program . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 8. Diagnosis and error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8−1 8.1 8.2 On−the−spot diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault messages on the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.2 Fault classes . . . . . . . . . .
Contents and general instructions C. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−1 C.1 Sequence plans for the programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Creating readiness to operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Start NC record in Record Select mode . . . . . . . . . . . . . . . . . . . . . . C.1.3 Start program or NC record . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions Festo P.
Contents and general instructions Designated use The SPC200 Smart Positioning Controller is designed for fit ting into a control cabinet. It serves as a closed−loop position ing controller for pneumatic axes and as a positioning con troller for stepping motor axes. Basic components and modules for the SPC200 are described in this documenta tion. Special extension modules are described in separate manuals.
Contents and general instructions Safety regulations When commissioning and programming positioning systems, the safety regulations listed in this manual as well as in the operating instructions for the other components used, must always be observed. The user must make sure that nobody is in the operating range 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 instructions Warning If the tubing of your axis system is incorrectly connected and you enable the controller, the drive will move, depend ing on the level of the supply pressure, at high speed and with high acceleration into one of the end positions (con trol direction reversed). This can lead to serious injury to human beings and damage to components. Always check the tubing before enabling the controller with a 1−signal at the ENABLE input.
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 containing 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 · The bullet indicates activities which may be carried out in any order. 1.
Contents and general instructions Product−specific terms and abbreviations The following product−specific terms and abbreviations are used in this manual: Term/ abbreviation Meaning 0−signal Input or output supplies 0 V 1−signal Input or output supplies 24 V Application data Configuration data which describe the conditions of use specified by the application. Axis data Configuration data which describe the structure, the features and the com ponents of the axis used.
Contents and general instructions Documentation for the SPC200 Smart Positioning Controller This manual contains general basic information on fitting, installing and commissioning pneumatic axes with the SPC200 as well as on their functioning. Extension modules are available for coupling to field bus systems and for connecting electric axes. Detailed informa tion on this can be found in the manual for the relevant module.
Contents and general instructions Information on operating system versions of the SPC200 and software versions of WinPISA This manual supports the following operating systems and WinPISA versions: Operating system Date of validity Associated WinPISA Date of validity Version 3.8 08−2001 Version 4.1 05−2001 Version 4.1a 06−2002 Version 4.63 10−2003 Version 4.31 10−2003 Version 4.82 12−2004 Version 4.41 12−2004 Version 4.90 03−2006 Version 4.5 03−2006 Version 4.93 11−2008 Version 4.
Contents and general instructions Identification of version−specific information Passages in the text containing special information about particular operating system versions are identified as fol lows: New feature as from OS 4.63 Non−compatible as from OS 4.63 New feature: Note that the the function marked is new as from the speci fied operating system version (in the example 4.63) and is not supported by the older operating system versions.
Contents and general instructions Version Identification What has been changed See section as from 4.63 WinPISA version 4.31 or higher is recom mended for this version. Piston rod drives of the DNC/DNCM family and DSMI rotary drives are supported. The new stepping motor controller SEC−ST is supported. The stepping motor card must have software version 1.42. The capabilities of the PROFIBUS card from software version 2.0 onwards are supported. The field bus card for DeviceNet version 1.
Contents and general instructions Version Identification What has been changed See section as from 4.82 WinPISA version 4.41 or higher is recom mended for this version. The DNCI drive family with an incremental measuring system is supported. The reference run for pneumatic axes has been introduced } G74. Configuration data of channel 5 have been introduced for digital nominal value specification } M10.
Contents and general instructions Version Identification What has been changed See section as from 4.93 At least WinPISA 4.51 is recommended for this version. Error messages via the fieldbus can be suppressed through paramaterization (no stop of the PLC). Stop behaviour can be configured. New feature as from OS 4.93 Festo P.BE−SPC200−EN en 0901d Description of fieldbus module 5.2.1, 5.3.
Contents and general instructions XXII Festo P.
Summary of components Chapter 1 Festo P.
1. Summary of components Contents 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1−2 The SPC200 positioning controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 The range of devices for the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . 1.1.2 Structure of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning systems with the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.1 Components of a pneumatic positioning axis . . .
1. Summary of components Contents of this chapter Further information This chapter provides an overview of the extension possibi lities for positioning systems with SPC200 as well as the range of devices and the structure of the SPC200. This chapter also contains basic information on: connecting pneumatic axes to the axis interface string the operating modes, commissioning and programming possibilities of the SPC200 the I/O address range of the SPC200.
1. Summary of components 1.1 The SPC200 positioning controller Festo assists you with your positioning tasks with the SPC200 Smart Positioning Controller. The SPC200 is a univer sal, modular−based controller which supports the coupling of pneumatic and electric axes with connection to field bus sys tems. Up to 4 axes can be connected depending on the equipment fitted on the controller. Pneumatic and electric axes can be operated in mixed mode. 1−4 Festo P.
1. Summary of components 1.1.1 The range of devices for the SPC200 The range of devices for the SPC 200 includes the following components: Festo P.BE−SPC200−EN en 0901d Components Function SPC200 type SPC200−...−... The SPC200 is housed in a rack. Depend ing on the requirement of the positioning task you can install the necessary compo nents in the rack. Control panel type SPC200−MMI−1... The control panel has six buttons with which all functions can be accessed by menu.
1. Summary of components If required, the following CP I/O modules and CPV valve terminals can be connected to the end of the axis interface string. 1−6 CP modules (optional) Function CPV valve terminals type CPV...−...−... Provides via valve plates different valve functions for controlling pneumatic actuators. Relay plates, pressure zone separation plates and blanking plates can also be fitted. Input module type CP−E16...−M... Special designs are available for various connection variants.
1. Summary of components Supported drives The SPC200 supports the pneumatic drives listed in the following table. Consult Festo if you wish to use other drives. Drive Description Measuring system From operating system Permitted fitting position Linear drive type DGP(I)(L)−25...63 Built−on or integrated Version 3.8 Horizontal, vertical or diagonally Standard cylinder type DNC−32...80 Built−on Standard cylinder type DNCM−32 and −50 Built−on Standard cylinder type DNCI−32...
1. Summary of components Notes on planning pneumatic axes Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. On each side of the drive positioning must not take place in the range of the stroke reduction (see appendix A). Caution If the range is exceeded, this can lead to impairment of function and thereby to operating faults. Please note For faultless operation of the pneumatic axes with the SPC200 the following performance limits must be ob served.
1. Summary of components 1.1.2 Structure of the SPC200 The SPC200 is built up on a modular basis and is housed in a rack. The host computer and memory of the SPC200 are situ ated on the rear wall printed circuit board in the rack. The combination of rack and rear wall printed circuit board is referred to as the basic unit. Basic units with 4 and 6 loca tions are available for implementing variants with different equipment.
1. Summary of components Basic modules With the following modules the SPC200 provides a func tional controller device for penumatic axes: 2 1 3 1 Power supply module type SPC200−PWR−AIF 2 Diagnostic module type SPC200−MMI−DIAG 3 I/O module type SPC200−DIO Fig. 1/2: Basic modules of the SPC200 1−10 Module Description Power supply module Enables the power supply and the axis interface designed as a field device to be connected.
1. Summary of components A system with the modules mentioned above offers the following scope of performance: Extension modules Festo P.BE−SPC200−EN en 0901d up to two pneumatic axes can be controlled various measuring system types can be connected due to different variants of the axis interface independent operation or coordination with external PLC/IPC via I/Os programming and operation via a PC or a control panel.
1. Summary of components 1−12 Module Description Stepping motor indexer module Enables a stepping motor controller to be connected for operating a stepping motor See section Documentation for the SPC200", page XV. Field bus module Enables connection to be made to the relevant field bus See section Documentation for the SPC200", page XV. Festo P.
1. Summary of components 1.2 Positioning systems with the SPC200 1.2.1 Components of a pneumatic positioning axis With pneumatic axes the SPC200 takes over the control and positioning of the axes. The measuring system and the pro portional directional control valve are connected via the axis interface which is placed directly on the drive. The axis interface is connected to the SPC200 by only one cable, the axis interface string.
1. Summary of components Components You will require the following components for setting up a pneumatic axis: the SPC200 axis controller an axis interface type SPC−AIF−... a proportional directional control valve type MPYE−5−...−010B a measuring system type MLO−POT−...−TLF, type MLO−POT−...−LWG or type MME−MTS−...−TLF−AIF or a drive with integrated measuring system a permitted drive if necessary, further components for the drive, e.g. a mechanical guide, a coupling etc.
1. Summary of components Method of operation The following diagram shows the basic layout of a position ing control circuit with the SPC200 Smart Positioning Con troller. 2 3 1 4 6 5 1 Position of the drive = control variable 4 Axis interface 2 Actual position (actual value) 5 Valve voltage (positioning signal) 3 SPC200 positioning controller 6 Proportional directional control valve (positioner) Fig.
1. Summary of components The measured values are passed on from the axis interface to the SPC200 Smart Positioning Controller. The SPC200 com pares the nominal position with current position and calcu lates from this value the positioning signal for the propor tional directional control valve. The proportional directional control valve controls the drive by pressurizing one drive chamber and exhausting the other.
1. Summary of components 1.2.2 Examples of multiple−axis systems The SPC200 can be operated independently as well as in con junction with a higher−order PLC/IPC. Within certain limits, it can also manage control functions. For this purpose I/O mod ules with digital inputs/outputs can be incorporated in the SPC200 or external I/O modules can be connected to the axis interface string. Coupling to a higher−order PLC/IPC can be made via digital inputs/outputs or via special field bus modules (e.g.
1. Summary of components 2 1 3 3 3 2 1 PNP INPUT/OUTPUT POWER 0 OUTPUT 1 DIAG 0 INPUT 1 4 1 First axis interface string 3 Axis interface 2 Second axis interface string (optional) 4 External I/O modules Fig. 1/5: Connecting pneumatic axes and external I/O modules 1−18 Festo P.
1. Summary of components 1 2 3 8 4 7 5 6 1 Field bus connection (optional) 5 Further field bus slaves 2 SPC200 Smart Positioning Controller 6 Stepping motor axis 3 Control cabinet 7 Pneumatic axis (here type DGPL−...) 4 Stepping motor controller 8 Axis interface string (max. 2 axes) Fig. 1/6: Extension possibilities for positioning systems with the SPC200 Festo P.
1. Summary of components 1.3 Structure of the axis interface string The SPC200 is intended for fitting into a control cabinet. The connection to the measuring system and the proportional directional control valve is made via the axis interface which is connected to the SPC200 via the axis interface string. In its basic design, the SPC200 can take control of the posi tioning of two pneumatic axes. Two axis interfaces and two pneumatic axes can therefore be connected to the axis inter face string.
1. Summary of components Maximum two axis interface strings and therefore up to four pneumatic axes are possible (X, Y, Z, U) per SPC200. The sec ond axis interface string is connected via the sub−controller module type SPC200−SCU−AIF, which takes control of the positioning of the further axes. Modules for connecting elec tric axes can then be installed.
1. Summary of components Further modules with inputs and outputs can be connected to the axis interface string. The following diagram shows the possible configurations on the axis interface string, with the example of a two−axis system.
1. Summary of components If required, the I/O function module 6 or the module with outputs 4 is connected to the Out connection of axis inter face 2 or 3. Modules with outputs 4 possess a connection for coupling an input module 5. Input modules can also be connected directly to the axis interface. The individual modules are connected to each other by cables. Information is transmitted between the modules and the SPC200 via this cable.
1. Summary of components 1.4 Operating modes of the SPC200 The SPC200 offers suitable operating modes for the different applications. The functions of the digital inputs and outputs of the SPC200 depend on the operating mode set. The follow ing operating modes are available: Start/stop mode Start/Stop mode Record Select mode In Start/stop mode the SPC200 can control simple position ing tasks independently or together with a higher−order PLC/IPC.
1. Summary of components 1.5 Multi−axis applications with the SPC200 The SPC200 axis controller offers the possibility of parallel program processing and supports the setting up of multi−axis applications. An SPC200 can control up to 4 axes. It thereby supports: Coordinated mode the coordinated mode the autonomous mode The possibility of parallel program processing is not nor mally used in the coordinated mode. Only one program is defined as the starting program.
1. Summary of components 1.6 Commissioning and programming possibilities You can carry out the commissioning and programming of the SPC200 with the: WinPISA software package control panel type SPC200−MMI−... With the control panel you can commission and program single and multi−axis systems. Non−compatible as from OS 4.63 The functionality of the MMI (control panel) has been frozen to that of operating system version 3.8. This means that all new functions from operating system version 4.
1.
1. Summary of components Control panel Control panel type SPC200−MMI−1... has a two−line LCD dis play. Up to 16 characters per line can be represented. The control panel has six buttons with which all functions can be accessed by menu. Control panel type SPC200−MMI−1 can be placed directly on the SPC200. Control panel type SPC200−MMI−1F is intended for mounting in a front plate. 1 3 2 1 Display (LCD display with 2 x 16 characters) 2 Touch−sensitive keyboard 3 Interface to the SPC200 on the rear Fig.
1. Summary of components WinPISA The WinPISA software package runs on the Windows® oper ating system on version 98 or higher. It offers a convenient user interface. 1 2 3 1 Icon bar 3 Program window 2 Project window Fig. 1/11: User interface of WinPISA The WinPISA project window offers fast access to all project data. All project components, such as the position list, pro grams and configuration data are represented graphically in the project window.
1. Summary of components WinPISA provides the following functions: graphically supported configuration of the current project a user−friendly Editor for NC programming based on DIN 66025 load functions for programs, projects, etc. a graphical function for analyzing the positioning behaviour. WinPISA supports single−axis applications and multi−axis applications with up to four axes. Position list As an alternative to the direct entry of positions (e.g.
1. Summary of components 1.7 I/O address range of the SPC200 A complete word (16 bit) for inputs and/or outputs is avail able for every component and every I/O module, irrespective of how many I/Os are integrated. Configuring the SPC200 Maximum address range without field bus module with field bus module First I/O module I0.0 ... I0.9 1) Q0.0 ... Q0.7 1) I/O module on the first axis interface string I1.0 ... I1.15 Q1.0 ... Q1.15 Second I/O module I2.0 ... I2.9 Q2.0 ... Q2.
1. Summary of components The following diagram shows an example. 1 I0.0 ... I0.9 Q0.0 ... Q0.7 I2.0 .. I2.9 Q2.0 ... Q2.7 I4.0 ... 14.9 Q4.0 ... Q4.7 Q1.0 ... Q1.11 I1.0 ... I1.15 Q3.0 ... Q3.15 I3.0 ... I3.15 1 These I/Os are partly reserved by Q = output; I = input pre−assigned functions (control inputs and outputs) Fig. 1/12: Address assignment without field bus module (example) 1−32 Festo P.
Fitting Chapter 2 Festo P.
2. Fitting Contents 2.1 2.2 2.3 2.4 2.5 Fitting and removing components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−5 Fitting the basic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−9 Fit the control panel into position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−12 Fitting the axis interface and the I/O function module . . . . . . . . . . . . . . . . . . 2−16 Notes on fitting the pneumatic axis . . . .
2. Fitting Contents of this chapter This chapter explains how to fit and remove SPC200 modules as well as how to fit the following components: SPC200 basic unit Control panel Axis interface I/O function module This chapter also contains instructions on how to fit the pneumatic axis. Further information Instructions on fitting electromechanical axes, power con trollers and sensors can be found in the documentation for the relevant component.
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. load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string. You can thereby avoid: 2−4 uncontrolled movements of the connected actuators. uncontrolled movements of loose tubing undefined switching states. Festo P.
2. Fitting 2.1 Fitting and removing components Caution Components may be damaged if they are not handled correctly. · Do not touch the electrical contacts of the modules. · Observe the regulations for handling electrostatically sensitive components. · Protecting the components against discharges of static electricity: Discharge yourself of static electricity before fitting or removing the modules. The rack type SPC200−CPU−... serves as a housing for the components of the SPC200.
2. Fitting Module Type designation Max. number Power supply module SPC200−PWR−AIF 1 Diagnostic module SPC200−MMI−DIAG 1 Sub−controller module SPC200−SCU−AIF 1 Field bus module SPC200−COM−... 1 Nominal value module SPC200−2AI−U 2 Stepping motor indexer modules SPC200−SMX 3 I/O modules SPC200−DIO 3 or 4 1) 1) Maximum four I/O modules if a field bus module is not installed. Recommendation: 2−6 If a sub−controller or stepping motor module is installed.
2. Fitting Warning Actuators can be activated unintentionally and the SPC200 can be damaged if modules are fitted or removed when the power supply is switched on. Before carrying out in stallation and/or maintenance work, switch off the follow ing in the sequence specified: 1. the compressed air supply 2. the load voltage and operating voltage supplies of the SPC200. Fitting modules Fit the modules into the rack as follows: 1. Switch off the compressed air supply and the operating voltage supply. 2.
2. Fitting 1 Locks 2 automatically 2 Direction for unlocking 3 Guide rail 4 Contact strip 5 Front plate of the module 6 Locking lever 1 6 5 4 3 Fig. 2/1: Installing the modules Removing modules Proceed as follows when removing a module: 1. Switch off the compressed air supply and the operating voltage supply. 2. Disconnect and remove the connecting cable from the front of the module. 3. Unlock both locking levers (see Fig. 2/1) and carefully remove the module. 4.
2. Fitting 2.2 Fitting the basic unit You can fit the SPC200 into a control cabinet in one of two ways: by screwing it directly to the wall of the control cabinet by means of a hat rail. Please note Fit the SPC200 or the hat rail so that there is sufficient space (above or below for heat dissipation 40 mm). Screwing the SPC200 to the wall You will require: a mounting surface of approximately 126 x 120 mm2 four threaded holes for screw size M4 (dimensions see following diagram).
2. Fitting Fitting with a hat rail In order to fit the rack onto a hat rail, you will require mount ing kit CPV10/14−VI−BG−NRH. This kit consists of 2 brackets, 4 M4x10 screws and 2 clamping elements with spring (see Fig. 2/3). Proceed as follows when fitting the SPC200 onto a hat rail: 1. Make sure that the mounting surface can support the weight of the SPC200. 2. Fit a hat rail (support rail EN 50022 35x7.5; width 35 mm, height 7.5 mm). 3.
2. Fitting 1 M4*10 screw 2 Clip 3 Hat rail 4 Clamping element 1 5 2 3 4 5 Fixing bolts Fig. 2/3: Fitting the rack onto a hat rail Proceed with dismantling as follows: 1. Remove the clamping elements. 2. Lift up the rack. Festo P.
2. Fitting 2.3 Fit the control panel into position Control panel type SPC200−MMI−1 Control panel type SPC200−MMI−1 can be inserted directly into the diagnostic module type SPC200−MMI−DIAG of the SPC200 (see Fig. 2/4). Warning Actuators can be activated unintentionally and the SPC200 can be damaged if modules are fitted or removed when the power supply is switched on. Before carrying out in stallation and/or maintenance work, switch off the follow ing in the sequence specified: 1.
2. Fitting 1 Control panel 2 (side view) 2 Locking pin 1 3 Locking pins on the control panel 3 ÎÎ Î 4 Diagnostic module 4 5 6 5 Socket for control panel (X3) 6 Groove for locking pins 2 Fig. 2/4: Fitting the control panel Proceed with dismantling as follows: 1. Switch off the compressed air supply. 2. Switch off the operating voltage and load voltage supplies for the SPC200. 3. Carefully lift up the control panel from diagnostic module type SPC200−MMI−DIAG. Festo P.
2. Fitting Control panel type SPC200−MMI−1F Control panel type SPC200−MMI−1F is intended for mounting in a front plate. For fastening the control panel you require a space of approx. 114 x 102 x 70 mm and a cut−out area of approx. 92 x 92 mm. The front plate must not be thicker than 4 mm. 1 Display (LCD display with 2 x 16 characters) 1 2 Fastening clamps 2 Fig. 2/5: Control panel type SPC200−MMI−1F The following diagram shows appropriate dimensions.
2. Fitting Proceed with fitting as follows: 1. Push the control panel into the cut−out in the front plate. 2. Hang the fastening clamps from the rear into the appropriate cut−outs. 3. Screw the control panel to the front plate. 1 Control panel 1 2 Front plate 1. 3 Fastening clamps 4 Fastening screws 4 3. 2 2. 3 Fig. 2/7: Fitting control panel type SPC200−MMI−1F Festo P.
2. Fitting 2.4 Fitting the axis interface and the I/O function module This section explains how to fit the axis interface type SPC−AIF−... and the I/= function module type SPC−FIO−... . Fitting the axis interface Fit the axis interface as close as possible to the relevant drive. The length of the cable to the measuring system should be approx. 500 mm. The axis interface type SPC−AIF−... must be fitted on a flat surface. · Fasten the axis interface with at least 3 M4 screws.
2. Fitting 1 2 3 1 Fastening holes for horizontal mounting 2 Angled plug 3 Additional support bracket (accessory) for fitting with vertical mounting Fig. 2/8: Fitting dimensions of axis interface type SPC−AIF−POT, ...−LWG and ...−MTS 1 2 1 Fastening holes for horizontal mounting 2 Angled plug Fig. 2/9: Fitting dimensions of axis interface type SPC−AIF−INC Festo P.
2. Fitting Fitting the I/O function module I/O function modules are intended for fitting onto a flat surface and for hat rails. Fitting onto a wall For fastening to a flat surface you will require a mounting area of approx. 70 x 80 mm2. The following diagram shows the dimensions for the four threaded holes of screw size M4. 1 I/O function 67 mm module type SPC−FIO−2E/2A−M8 1 INPUT/OUTPUT PNP POWER DIAG 40 mm 0 OUTPUT 1 0 INPUT 1 Fig.
2. Fitting 5. Tighten the screws. The fastening and the housing will then be clamped firmly on the hat rail. 1 Fastening 1 2 2 Housing 3 3 M4x12 screw 4 Washer 4 5 Hat rail 5 Fig. 2/11: Fitting the SPC−FIO−2E/2A−M8 onto a hat rail Proceed with dismantling as follows: 1. Loosen the screws. 2. Remove the housing. 3. Use a screwdriver to lift the fastening out of the hat rail. 1 Screwdriver 1 2 Fastening 2 Fig. 2/12: Dismantling the fastening Festo P.
2. Fitting 2.5 Notes on fitting the pneumatic axis Please note Fit the drive, the measuring system and the proportional directional control valve in accordance with the relevant operating instructions. The following sections contain general rules which are important for the reliable operation of a pneumatic axis. Proportional directional control valve 2−20 Fit the proportional directional control valve as close as possible to the drive.
2. Fitting Drives Caution Mount shock absorbers on the drive, also on drives with adjustable cushioning (PPV). In this way you can avoid damage in the event of operating and system faults. Caution Limit the positioning range by means of fixed end stops if the measuring system is shorter than the positioning range. In this way you can avoid damage to the measuring system in the event of operating and system faults. Important for positioning accuracy Festo P.
2. Fitting 2−22 Festo P.
Installation Chapter 3 Festo P.
3. Installation Contents 3.1 3.2 3.3 3.4 3.5 3.6 3−2 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on fitting the pneumatic components . . . . . . . . . . . . . . 3.2.1 the compressed air supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Service unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.3 Compressed air reservoir (optional) . . . . . . . . . . . .
3. Installation Contents of this chapter This chapter contains general instructions on installing the pneumatic axis. It also deals with the installation of the SPC200 basic unit with the following components and modules: Power supply module type SPC200−PWR−AIF Diagnostic module type SPC200−MMI−DIAG I/O module type SPC200−DIO Analogue input module type SPC200−2AI−U Sub−controller module type SPC200−SCU−AIF Axis interface type SPC−AIF−...
3. Installation 3.1 General instructions on installation Caution Use only the special matching components from Festo for setting up and wiring the system. Only in this way can you guarantee the correct functioning of the system. Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string.
3. Installation 3.2 General instructions on fitting the pneumatic components Please note Faults in the axis set−up can lead to malfunctioning. Observe all the instructions on installing pneumatic com ponents. Set up the system with great care. Only then can you guarantee faultless operation. The following sections contain general instructions on instal ling pneumatic components. These instructions apply to all the drives mentioned here.
3. Installation 3.2.2 Service unit · 3−6 Use a service unit consisting of a compressed air filter and a regulating valve (e.g. type LFR−...−D−... with 5 m filter element) as well as a safety start−up valve (e.g. HEL−...−...): without lubricator with a 5 m filter with sufficiently large nominal flow corresponding to the air requirement of the connected cylinder during positioning. Reference value: twice the rated flow of the valve (type MPYE−5−...
3. Installation 3.2.3 Compressed air reservoir (optional) For good positioning behaviour during operation, fluctuations in pressure of max. 1 bar are permitted in front of the propor tional directional control valve. In order to check the stability of the supply pressure, you can fit a pressure measuring point directly in front of the proportional directional control valve. · Install a compressed air reservoir (e.g. type VZS−...
3. Installation 3.2.4 Proportional directional control valve type MPYE−... · Fit the proportional directional control valve as close as possible to the drive. Short compressed air tubing will ensure the dynamics of the system. · If the proportional directional control valve is to be used in an environment subjected to heavy electrical interfer ence, it should be insulated from the mounting surface.
3. Installation 1 Ducted exhaust 2 Compressed air 1 reservoir 3 Silencer 2 3 Fig. 3/2: Ducted exhaust Festo P.
3. Installation 3.2.5 Compressed air tubing and screw connectors · If possible, use screw connectors from the QS or QSM series. In the case of drives with 3/8" connection, CK screw connectors of type CK−3/8−PK−13 are also permitted. · Use only straight screw connectors. If angled connectors cannot be avoided, use plug connectors from the Festo Quick Star series. · Use screw connectors with the largest possible rated width.
3. Installation 3.2.6 Drives Use only the permitted drives with suitable guide listed in appendix A. Consult Festo if you wish to use other drives. Installation instructions for the permitted drives can be found in appendix A. 3.2.7 General instructions on measuring systems Please note Note that the positioning accuracy which can be reached depends on the type of measuring system used.
3. Installation Measuring systems with actuator slides 3.2.8 3.2.9 If you wish to use a measuring system with a slide under difficult ambient conditions, fit it so that the side with the actuator slide faces downwards. The drip edge on both sides prevents excessive dirt from forming on the running surface. Requirements of the mechanism The drive, guide, measuring system and load must be rigid in the direction of movement, have very little play and must be mounted flush with each other.
3. Installation There is a maximum and a minimum permissible mass load. The mass load depends on: the type of drive used the diameter of the drive used the selected mounting position the operating pressure. Make sure that in all load situations the effective mass load: is at least equal to the minimum permissible mass load. This applies in particular when there is no workpiece. If necessary, fasten an additional mass / mass load to the slide.
3. Installation New feature as from OS 4.82 In order to configure a positioning axis, the user must define not only the Max. workpiece mass which is to be moved in the application, but also the Workpiece mass in initial state". The latter is used to specify the workpiece mass which is in effect on the positioning axis when the system is switched on (Power−on), and which accordingly must be taken into ac count in the SPC200. The following applies: 0 Ţ Workpiece mass in initial state Ţ Max.
3. Installation Mass load for linear drives and piston rod cylinders Determine the permitted mass load based on Tab. 3/1: Mounting position Maximum mass load Minimum mass load horizontal (á = 0°) mmax 0.1 * mmax vertical (á = 90°) 0.33 * mmax 0.1 * mmax diagonal (0° < á < 90°) (1−2/3 sin) * mmax 0.1 * mma á mmax d Psys mmax = = = = = Tab. 3/1: Mounting position in [°] d³ * Psys * 0.
3. Installation 3.3 Additional pneumatic circuits You may require additional pneumatic circuits in order to attain a particular status for the system in certain applica tions. Please note If the operating voltage supply for the SPC200 is switched off, the proportional directional control valve type MPYE will move to the mid−position.
3. Installation 3.4 Dimensional reference system terms and definitions In this section you will find descriptions of the dimensional reference system and the reference points for the various drives. Please note With regard to the reference vectors in Fig. 3/3, Fig. 3/4, Fig. 3/5 and Fig. 3/6, the following applies: an arrow pointing to the right (or clockwise) represents a positive or increasing value. an arrow pointing to the left (or anti−clockwise) repre sents a negative or decreasing value.
3. Installation A) Drive type DGP(I)(L)−... 1 Linear drive in this case DGPL with measuring system built on 2 Slide shown here in various positions 3 Measuring system type TLF, electric connection on the left side Fig. 3/3: Dimensional reference system for DGP(I)(L) 3−18 Festo P.
3. Installation Dimensional reference system for drive type DGP(I)(L)−... Reference points (1) Measuring system zero point this is always on the connection side of the measuring system, and is reached when the connecting rod of the measuring system is retracted; corresponds to a measured value of 0". (2) Axis zero point, position of the slide/piston at the stop which is located closest to the measur ing system zero point. All other axis−specific reference values refer to this point.
3. Installation B) Drive type DNC(M)−... 1 Piston rod drive in this case DNC with measuring system built on 2 Piston rod advanced in various positions 3 Measuring system type LWG, electric connection on the left side 4 Connecting rod of the measuring system in various positions Fig. 3/4: Dimensional reference system for DNC(M) 3−20 Festo P.
3. Installation Dimensional reference system for drive type DNC(M)−... Reference points (1) Measuring system zero point this is always on the connection side of the measuring system, and is reached when the connecting rod of the measuring system is retracted; corresponds to a measured value of 0". (2) Axis zero point, position of the slide/piston at the stop which is located closest to the measur ing system zero point. All other axis−specific reference values refer to this point.
3. Installation C) Drive type DNCI−... 1 Piston rod drive in this case DNCI 5 Reference stop either end stop of the with integrated incremental measuring system 2 Piston rod advanced in various drive itself (reproducibility: ~ 1/10 mm) or built on externally (reproducibility: ~ 1/100 mm) positions Fig. 3/5: Dimensional reference system for DNCI 3−22 Festo P.
3. Installation Dimensional reference system for drive type DNCI−... Reference points (1) Reference point point of reference for the axis zero point. The reference point can be an external, adjustable fixed stop or the lower or upper end stop of the drive itself. (2) Axis zero point position of the piston rod when completely retracted, without external fixed stop. All other axis−specific reference values refer to this point.
3. Installation D) Drive type DSMI−... 1 Rotary drive type − in this case DSMI with integrated angle measuring system 3 Electrical connection of the angle measuring system 2 Stop lever in various angle positions Fig. 3/6: Dimensional reference system for DSMI 3−24 Festo P.
3. Installation Dimensional reference system for drive type DSMI−... Reference points (1) Measuring system zero point always on the behind the stop on the left−hand side of the drive in the anti−clockwise direction; corresponds to a measured value of 0". In the DSMI it cannot be reached due to the limitation of the rotary wing, see also [L]. (2) Axis zero point this is always to the left in the anti−clockwise direction, and corresponds to the extreme position of the stop lever.
3. Installation 3.5 Installing the SPC200 Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2.
3. Installation 3.5.1 Selecting the power unit Warning · In order to provide the electric supply, use only PELV circuits as per IEC/DIN EN 60204−1 (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 packswhich guarantee reliable electrical isolation of the operating voltage as per IEC/DIN EN 60204−1.
3. Installation Current consumption at pin 1 of module SPC200−PWR−AIF Sum of the load current consumption of all proportional directional control valves (approx. 1.1 A per MPYE−...) + _____ A Load current consumption of all simultaneously actuated CPV valve coils on the axis interface strings 1) 2) + _____ A Load current consumption of all simultaneously actuated outputs on the axis interface strings 1) 3) + _____ A Recommended reserve + Sum of current consumption at pin 1 = _____ A 0.
3. Installation 3.5.2 Connections on the supply module The following connecting and display elements can be found on the front of power supply module type SPC200−PWR−AIF: 1 2 3 4 5 1 Power supply module type SPC200−PWR−AIF 2 Combicon screw terminal for axis interface string (X1) 3 ERROR LED for fault display (red) 4 POWER LED for power supply (green) 5 3−pin Combicon screw terminal for power supply (X2) Fig. 3/7: Connecting and display elements on the power supply module Festo P.
3. Installation Operating voltage connection (X2) The following are supplied with + 24 V DC via the operating voltage connection (X2): the load voltage for field devices and proportional direc tional control valves pin 1 (24 L): + 24 V DC, tolerance −5/+25 % the internal electronics of the SPC200, the connected modules and measuring systems; pin 2 (24 V): + 24 V DC, tolerance −5/+25 %.
3. Installation The following diagram shows the pin assignment of the operating voltage connection on the power supply module. 1 Pin 1: 24 L Pin 2: 24 V Pin 3: 0 V 2 1 Pin assignment: Pin 1 (24 L): Pin 2 (24 V): Pin 3 (0 V): 24 V load voltage (can be switched off separately) 24 V supply for internal electronics 0V 2 Earth connection (M4 thread) Fig. 3/8: Operating voltage connection (X2) Earth connection The SPC200 is provided with earth connections on the left and right−hand sides of the rack.
3. Installation Connection example The following diagram shows the connection of a common 24 V supply for pin 1 (24 L) and pin 2 (24 V). Please note that: 1 the voltage tolerance of 24 V DC −5/+25 % must be ob served for the load voltage and electronics supply with regard to the load voltage supply, the voltage toler ances of the components connected to the axis interface string must also be observed.
3. Installation Plug for axis interface string (X1) Caution Use the special cables from Festo (type KSPC−AIF−...) for connecting the axis interface. Note the maximum permitted cable lengths on the axis interface string (see section 3.6). You can then avoid functional faults on the SPC200 and on the modules connected to the axis interface string. The bus signals, the operating voltage and the load voltage for the connected field devices are provided via the 5−pin plug of the power supply module. Festo P.
3. Installation Connecting cable type KSPC−AIF−... is supplied already fitted with a 5−pin screw terminal. Caution The axis interface connection is not protected against in correct polarity. Make sure that the assignment is correct, e.g. when you fit the screw terminal yourself after shorten ing the cable. 1 Earth/ground 2 connection 2 Pin assignment: 1: CAN−LOW (brown) 2: CAN−HIGH (white) 3: 24 V (yellow) 4: 0 V (green) 5: 24 V load voltage (grey) 1 2 3 4 5 1 Fig.
3. Installation 3.5.3 Connections of the diagnostic module For commissioning, programming and diagnosing, you will require a diagnostic module type SPC200−MMI−DIAG. The diagnostic module offers the following serial interfaces: a connection for control panel type SPC−MMI−1. a connection for a PC or for control panel type SPC200−MMI−1F. This serial interface is on a 9−pin sub min−D plug and complies with standard RS232. The serial interface is operated with the following settings: Baud rate: 9.
3. Installation Please note If you wish to use a different connecting cable, note the following pin assignment: Use a screened cable and connect the screening to the plug housing. In this way you will avoid faults in data transmission. 1 Pin assignment: 1 2: Received Data (RxD) 3: Transmitted Data (TxD) 5: Signal Ground (SGND) 5 3 2 Fig.
3. Installation Control panel type SPC200−MMI−1 can be placed directly on the upper interface when the power supply is switched off. Caution The control panel may be damaged if it is inserted into the SPC200 when power is still applied. Switch off the operat ing voltage before inserting the control panel into the SPC200. Fig. 3/12: Connection for control panel (X3) Festo P.
3. Installation 3.5.4 Connections of the I/O module type SPC200−DIO−... For controlling the SPC200 via digital I/Os, you will require an I/O module type SPC200−DIO−... . This module provides 10 digital inputs and 8 digital outputs for the following func tions: providing digital I/Os for controlling the SPC200 (only if no field bus module is installed) providing freely programmable digital I/Os for controlling peripherals.
3. Installation Inputs 1 24 V 0 V 0 9 1 Pin assignment: 24 V: Internal 24 V sensor supply (not with separate potential) 0 V: 0 V (not with separate potential) 0: Input 0 ... 9: Input 9 Fig. 3/13: Assignment of plug X5/X7 (inputs) 1 Three−wire sensor 2 Two−wire sensor 1 2 3 Contact 3 Fig. 3/14: Example of circuitry (PNP inputs) Festo P.
3. Installation Outputs 1 0 7 24 V 0 V 1 Pin assignment: 0: ... 7: 24 V: 0 V: Output 0 Output 7 24 V external supply of outputs (load supply) 0 V external supply of outputs (load supply) Fig. 3/15: Assignment of plug X6/X8 (outputs) 1 Example 1 2 2 Example 2 3 Not permitted 1 3 4 Load supply 4 DC 24 V 0 V AC Fig. 3/16: Example of circuitry (outputs X6/X8) Fig. 4/1 shows how you can supply the load voltage for plugs X2 and X6/X8 with a power unit. 3−40 Festo P.
3. Installation Addressing The assignment of the I/O address range depends on the configuration of the SPC200. If a field bus module is in stalled, the address range 0.0 ... 0.9 will remain unassigned. The assignment of the I/O addresses for configurations with and without field bus module is shown in the following table: Configuration without field bus module Configuration with Maximum address range field bus module First I/O module I0.0 ... I0.9 1) Q0.0 ... Q0.
3. Installation Basic rules If several I/O modules are installed in a rack, observe the following: The I/O module inserted on the left next to the power supply module is the first I/O module. Further I/O mod ules are counted from left to right. If a field bus module is not installed, the first I/O module will provide five freely programmable inputs, three freely programmable outputs and I/Os for controlling the SPC200 (I0.0 ... I0.9 and Q0.0 ... Q0.7).
3. Installation Connection assignment of front plug X5 for the first I/O module when operated without a field bus module If a field bus module is not installed, the first I/O module will provide the following control inputs: Inputs with control function Pin no. Design. 1) Address 2) Start/Stop mode 1 24 V 24 V sensor supply (not with separate potential) 2 0V 0 V (not with separate potential) 3 0 I0.0 Freely programmable 4 1 I0.1 RECBIT2 5 2 I0.2 RECBIT3 6 3 I0.
3. Installation Connection assignment of front plug X6 for the first I/O module when operated without a field bus module If a field bus module is not installed, the first I/O module will provide the following control outputs: Outputs with control function Pin no. Design 1) Address 2) Start/Stop mode Record Select mode 3) 1 0 Q0.0 Freely programmable 2 1 Q0.1 3 2 Q0.2 4 3 Q0.3 MC_B RC_B 5 4 Q0.4 MC_A RC_A 6 5 Q0.5 SYNC_OB ACK_B 7 6 Q0.6 SYNC_OA ACK_A 8 7 Q0.
3. Installation General connection assignment for I/O modules without special control functions The word number (here x) depends on the configuration of the SPC200. Configuration without Configuration with field bus module field bus module Word number x Second I/O module First I/O module 2 Third I/O module Second I/O module 4 Fourth I/O module Third I/O module 5 Inputs without control function Pin no. Design.
3. Installation General connection assignment for I/O modules without special control functions The word number (here x) depends on the configuration of the SPC200. Configuration without Configuration with field bus module field bus module Word number x Second I/O module First I/O module 2 Third I/O module Second I/O module 4 Fourth I/O module Third I/O module 5 Outputs without control function Pin no. Design. 1) Address 2) Start/Stop mode 1 0 Qx.0 Freely programmable 2 1 Qx.
3. Installation 3.5.5 Connections of the analogue input module type SPC200−2AI−U Two such modules can be installed in the basic unit type SPC200−CPU−6. Each module possesses two differential in puts. The first module (inserted on the left) provides differen tial inputs 1 and 2; the second module provides differential inputs 3 and 4. The module enables positions to be specified in the form of a voltage (0...10 V). 1 2 3 REF GND A1+ A1− REF GND A2+ A2− PE Cross−sectional area of connection max. 1.
3. Installation The voltage range is 0...10 V. Within the possible positioning range of the axis, you can use a program to define any de sired range for movement via the analogue nominal value specification. Voltage value and position have the following proportion to each other: Voltage Description 0V ... ... 10 V Smallest position value ... ... Largest position value Connecting analogue sensors Warning Incorrect installation can lead to faulty operation and cause e.g.
3. Installation Circuitry for connecting a differential signal 1 Screening/shield 1 2 2 Earth/ground connection 3 Signal (−) 4 Signal (+) 4 A1− [A2−] 3 A1+ [A2+] SPC200−2AI−U Fig. 3/18: Connecting a differential signal Circuitry for connecting a potentiometer 1 Potentiometer 2 Screening/shield SPC200−2AI−U 2 connection 3 REF 3 Earth/ground 1 A1+ [A2+] A1− [A2−] GND Fig. 3/19: Connecting a potentiometer Festo P.
3. Installation 3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF In its basic design, the SPC200 can take control of the posi tioning of two pneumatic axes. With the sub−controller mod ule maximum four pneumatic axes can be operated with one SPC200. The sub−controller module provides a connection for a second axis interface string and controls the positioning of the connected axes. Maximum two pneumatic axes per axis interface string are permitted.
3. Installation 1 Earth/ground 1 connection 2 2 Pin assignment: 1: CAN−LOW (brown) 2: CAN−HIGH (white) 3: 24 V (yellow) 4: 0 V (green) 5: 24 V load voltage (grey) 1 2 3 4 5 3 Groove with inserted coding pin 3 Fig. 3/20: Pin assignment of the plug for the second axis interface string (X10) Follow the installation instructions supplied with the cable when connecting the cable screening.
3. Installation 3.6 Installing the modules on the axis interface string Warning Cables with high levels of interference can cause electro magnetic interference. Do not place the following cables in the vicinity of cables with high levels of interference: CP cable Measuring system cable proportional directional control valve cable Please note Connect the earth connection of the modules with low impedance (short cable with large cross−sectional area) to the earth potential.
3. Installation Basic rules When the modules are installed on the axis interface string the following basic rules must also be observed. 1. Maximum string length per string The string length is the sum of all cable sections between the SPC200 and all direct string devices, see section 1.3. The maximum permitted string length is 30 m. 2.
3. Installation Special accessories are available here for CP input modules. A terminating resistor is already incorporated in the I/O func tion module. 5. Maximum permitted cable lengths If the following cable lengths are exceeded, the external load voltage supply must be installed in front of the rel evant module. Instead of a CP valve terminal, a CP output module type CP−A08−M12 can also be installed. SPC200 SPC200 max. 8 m 1) max. 8 m 1) SPC−AIF−... SPC−AIF−... max. 2 m 1) max.
3. Installation SPC200 SPC200 max. 8 m 1) SPC−AIF−... SPC200 max. 8 m 1) SPC−AIF−... SPC−AIF−... max. 5 m 1) max. 8 m 1) SPC−AIF−... max. 5 m 1) SPC−AIF−... max. 8 m max. 8 m 1) SPC−AIF−... max. 8 m max. 8 m SPC−AIF−SUP−24V SPC−AIF−SUP−24V SPC−AIF−SUP−24V SPC−FIO−2E/2A CPV−...−VI−FB−... CPV−...−VI−FB−... max. 8 m max. 8 m CP−E16−M−... CP−E16−M−... 1) Without external load voltage supply Fig. 3/22: Maximum permitted cable lengths on the axis interface string (two axes) Festo P.
3. Installation 3.6.1 Installing the axis interface SPC−AIF−... Warning Faults due to electromagnetic influences can cause fast compensating movements of the axis. Observe the follow ing installation instructions in order to avoid faults due to electromagnetic influences. · Connect the earth connection of the axis interface with low impedance (short cable with large cross−sectional area) to the earth potential. · Only with measuring system type MLO−POT−...
3. Installation The axis interface provides the connection between the com ponents on the axis and the SPC200. It reads the values sup plied by the measuring system and passes them onto the SPC200. It also passes the received positioning values in analogue form to the proportional directional control valve. The diagram below shows the connecting elements on the axis interface.
3. Installation Connecting the axis interface to the SPC200 Warning Note the maximum permitted cable lengths between the individual modules on the axis interface string and the SPC200 (see section 3.6). Use only the following original cables for connecting the axis interface. Cable type Description KSPC−AIF−1−WD−... Connecting cable for the first axis KVI−CP−2−...*) Connecting cable for the second axis or for I/O modules KVI−CP−1−...
3. Installation Connecting the measuring system The axis interface has been designed for one of the following measuring systems: New feature from BS 4.82 Axis interface Measuring system type SPC−AIF−POT Analogue system Linear potentiometer type MLO−POT−...−TLF or integrated systems (e.g. type DNCM−...) SPC−AIF−POT−LWG Analogue system Linear potentiometer type MLO−POT−...−LWG or integrated systems (e.g. type DSMI−...) SPC−AIF−MTS Digital system Temposonic type MME−MTS−...
3. Installation Connecting the proportional directional control valve The valve connection provides the power supply for the valve and the control voltage for positioning the valve slide. Please note Use only the original cable type KMPYE−... . 6 POWER ERROR OUT IN VALVE 5 4 3 7 1 2 Pin assignment and core colours of cable KMPYE−... 2: 0 V 3: 0 V 4: Nominal value U(s) 5: GND 6: n.c. (not connected) 7: 24 V supply for valves 1: 24 V supply for valves n.c.
3. Installation 3.6.2 Installation I/O function module type SPC−FIO−2E/2A−M8 Warning Faults due to electromagnetic influences can cause fast compensating movements of the axis. Observe the follow ing installation instructions in order to avoid faults due to electromagnetic influences. Connect the earth connection of the modules with low impedance (short cable with large cross−sectional area) to the earth potential. Use only the original cable type KVI−CP−2−... for connect ing the module.
3. Installation The I/O function module can be connected as the last module on the axis interface string. The necessary terminating resis tor is incorporated in this module. It provides 2 inputs and 2 outputs for connecting sensors and actuators directly on the axis. Additional functions, such as e.g. gripping, lifting, lowering and turning can be implem ented with these sensors and actuators. The following diagram shows the display and connecting el ements of the I/O function module.
3. Installation Pin assignment The following diagrams show the pin assignment of the sensor and actuator connections of the I/O function module. 1 Pin assignment: 1: Qx.0 1) 1: Output Q... 3: 0 V 4: n.c. 1 3 (not connected) INPUT/OUTPUT PNP 3 POWER DIAG 0 OUTPUT 1 0 INPUT 1 4 4 1: Qx.1 1) 1) Module on AIF string 1: x = 1; module on AIF string 2: x = 3 Fig. 3/26: Pin assignment of the outputs 1 Example 1 1 2 3 2 Example 2 3 Not permitted Fig.
3. Installation 1 Pin assignment: 1: 24 V 3: 0 V 4: Input I 4: Ix.0 1) 4: Ix.1 1) INPUT/OUTPUT PNP POWER DIAG 0 OUTPUT 1 0 INPUT 1 3 1 3 1 1) Module on AIF string 1: x = 1; module on AIF string 2: x = 3 Fig. 3/28: Pin assignment of the inputs 1 Three−wire sensor (positive− switching) 2 Two−wire sensor (positive− switching) 3 Contact 1 2 3 Fig. 3/29: Example of circuitry of inputs (PNP) 3−64 Festo P.
3. Installation 3.6.3 Installing control panel SPC200−MMI−1F Connect the power supply as shown in the following diagram. 2 24V FE 0V 1 RS232 Pin 2: RxD Pin 3: TxD Pin 5: SGND 3 24V 0V AC 4 DC PE 1 Control panel SPC200−MMI−1F 2 Power supply (Phoenix Combicon terminal 3x3.81) 3 RS232 interface (see Technical Specifications) 4 Functional earth (FE) Fig.
3. Installation 3−66 Festo P.
Commissioning Chapter 4 Festo P.
4. Commissioning Contents 4.1 4.2 4.3 4.4 4−2 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting a single−axis system for the first commissioning . . . . . . . . . . . . Overview of the parameters of a positioning axis . . . . . . . . . . . . . . . . . . . . . 4.3.1 Pneumatic axis data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Application data for pneumatic axes . . . . . . . . . . . . . . . . . . . . . .
4. Commissioning Contents of this chapter This chapter describes the commissioning of a pneumatic axis with the SPC200. Commissioning is explained using the example of a single− axis system controlled by an I/O module. The basic pro cedure as well as the description of the I/O control signals is also relevant for systems with an installed field bus module. Further information Before carrying out the commissioning with the control panel, you should be familiar with the functions of the control panel.
4. Commissioning Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. Load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string. You can thereby avoid: uncontrolled movements of loose tubing uncontrolled movements of the connected actuators undefined switching states.
4. Commissioning 4.1 Procedure for commissioning Fit the components as described in chapter 2. Observe the installation instructions in chapter 3 when fitting and instal ling the pneumatic components. Provide a pneumatic emerg ency stop circuit which will put your system into a safe state in the event of a fault. If you are using an external measuring system: Check the mounting position of the measuring system (see also sec tion 3.2.7).
4. Commissioning Steps for commissioning In order to commission axes, you must first create and save the desired hardware configuration. The individual axes and then the complete system can be commissioned. The following steps are necessary for commissioning with the control panel: 1. Create the desired hardware configuration 2. Save the hardware configuration (actual configuration) as the nominal configuration (see section 4.4.1) 3. Commission the connected axes (see section 4.4.2) 4.
4. Commissioning 4. System identification carry out static and, if necessary, dynamic identification run. During the identification travel, characteristic system values, such as friction, hys teresis, acceleration and delay abilities are ascertained and saved (see section 4.4.2, step 3). 5. If necessary, calibrate the measuring system (only for potentiometers with WinPISA). Calibration compensates for system−specific tolerances between the ascertained position and the actual position (see section 4.4.
4. Commissioning 4.2 Connecting a single−axis system for the first commissioning Caution · Leave the compressed air supply switched off. · The SPC200 is set at the factory to certain axis and application data. Before applying compressed air, you must adapt these settings to your application and to the axes which you are using. You can thereby avoid: unexpected movements of the connected actuators.
4. Commissioning Please note When a field bus module is used, all control signals are controlled via the field bus module. If the communication to the field bus master is faulty: the field bus module of the SPC200 no longer exchanges any data, all control signals are set to a 0−signal, all outputs on the SPC200 remain in the last valid state until they are reset by the SPC200 itself or by Power off/on. the connected MPYE valves move to their mid−position, the axes stop without closed−loop control.
4. Commissioning 1 Designation on plug X5 2 Input address 1 9 8 7 24 V 3 Function 2 3 I0.9 I0.8 START/ RESET 1) I0.7 − STOP 24 V 4 Load voltage (can be switched off separately) 0 V ENABLE 24 V 4 1) RESET (Program Reset) in conjunction with 0−signal at the STOP input Fig. 4/1: Connection diagram for the first commissioning via an I/O module 4−10 Festo P.
4. Commissioning Wire the components as shown in Fig. 4.1. For reasons of clarity not all the earthing measures have been shown. Please note Incorrect or missing earthing can cause interference. Therefore always carry out the earthing measures described in section 3.5.2. Explanation of the control signals Input ENABLE Via the ENABLE input you can enable the controller. If there is a 0−signal at this input, the controller is switched off. No further positioning tasks will then be accepted.
4. Commissioning 3 1 1 0 2 1 0 4 1 = 1−signal = 24 V 0 = 0−signal = 0 V 1 ENABLE input on the SPC200 2 READY output on the SPC200 3 Reaction time max. 10 ms 4 Reaction time of the SPC200: without stepping motor module: max. 100 ms with stepping motor module: max. 2 s Fig. 4/2: Time diagram of enable signal The controller is enabled with a 1−signal, providing there are no system faults.
4. Commissioning Instructions on controller enable Note that in the following cases a rising signal edge is required at the ENABLE input for controller enable: during the first commissioning after the project−specific parameters have been set after a Data Reset and resetting of the project−specific parameters when the movement test has been carried out.
4. Commissioning STOP input You can stop the processing of the current NC record via the STOP input. If a positioning task is running at that moment, it will be interrupted. The current positions become the nom inal positions (closed−loop controlled stop). The stop status is cancelled by: 1. a 1−signal at the STOP input. 2. renewed start of the sequence, e.g. by a rising edge at the START input.
4. Commissioning Switch on the power supply Warning Leave the compressed air supply switched off. If com pressed air is applied, the connected actuators may carry out sudden compensating movements as soon as the power supply is switched on. Make sure that nobody can place his/her hand in the posi tioning range of the moveable mass and that there are no objects in its path.
4. Commissioning In this case the actual configuration of the SPC200, as well as the configuration on the axis interface string, is not the same as the saved nominal configuration. Proceed as described in section 4.3.1 under Save hardware configuration". If there are no faults, the POWER LED will light up and the control panel will show the basic setting, see section 6.1, Fig. 6/2.
4. Commissioning 4.3 Overview of the parameters of a positioning axis A positioning axis is described using various parameters which are saved in the positioning controller. These include, the mass being moved, the drive type, the drive length, the mounting position, and much more. The SPC200 positioning controller requires these data in order to define the optimal servo setting for the positioning application concerned.
4. Commissioning 4.3.1 Pneumatic axis data The axis data describe all characteristics of the selected drive, including the measurement system and the selected valve.
4. Commissioning 4.3.2 Application data for pneumatic axes The application data describe the general conditions under which the positioning axis is operated: Application data Unit Default values Example Moveable mass without workpiece Kg 7.0 25 Max. mass of the workpiece Kg 1.0 10 Workpiece mass in initial state 1) (Kg, %) 100 % 2) 0 kg 2) Supply pressure bar 6 6 Mounting position ° 0 −90 Mounting offset mm 0.00 0.00 Project zero point mm 0.00 0.
4. Commissioning 4.3.3 Axis data of an electric stepping motor axis The axis data describe all characteristics of the selected drive, including the selected stepping motor: Unit Default values Example Designation 1) DGE−40−ZR Length mm 100 500 Flow factor 1) mm 25 40 Motor MTR−ST87−48S−GB Steps per revolution 200 800 Gear unit 1 4:1 Axis data Cylinder Motor / gear unit 1) 1) Not available via control panel 4−20 Festo P.
4. Commissioning 4.3.4 Application data of an electric stepping motor axis The application data describe the general conditions under which the positioning axis is operated: Application data Unit Default values Example Resolution for a full step [1/1] 1) mm−1 5.00000 8.00000 Step mode 2) 1/2 1/1 Resolution 3) mm−1 10.00000 8.00000 Start−stop frequency Hz 400 400 Project zero point mm 0.00 0.00 Lower software end position mm 10.00 10.00 Upper software end position mm 90.
4. Commissioning 4.3.5 Controller data The controller data are optional parameters, and are valid only for a pneumatic axis, see appendix B. It is advisable to alter these parameters only in small steps (0.1 ... 0.3), and to depict the changes in the movement se quence graphically using the function Represent measured values" (WinPISA). Exception: the Positioning timeout parameter The Positioning timeout is used to monitor the time duration of a positioning task.
4. Commissioning 4.4 Commissioning with the control panel If you wish to use the control panel for commissioning, you should first be familiar with the functions of the control panel. Leave the compressed air supply switched off. An over view of the menu system on the control panel can be found in section 6.1.1. Non−compatible as from OS 4.63 The functionality of the MMI (control panel) has been frozen to that of operating system version 3.8.
4. Commissioning 4.4.1 Saving the hardware configuration In the switch−on phase the SPC200 assigns the axis ident ifiers to the connected axes one after the other. If modifica tions are made to the axis configuration at a later stage, the axis identifiers will be re−assigned. All user data already en tered, such as parameters, programs and the position list for the new axis configuration cannot therefore be used.
4. Commissioning In the switch−on phase, the SPC200 checks whether the cur rent hardware configuration is the same as the saved nominal configuration. The installed modules as well as the string assignment are checked here. Each I/O module on the axis interface string is assigned with a fixed I/O address range. An axis identifier is assigned to each axis interface and each stepping motor indexer module or the axis connected thereto.
4. Commissioning If necessary, you can ascertain the actual configuration re cognised in the switch−on phase with the command ACTUAL CONFIG. in the menu CONFIG. SYSTEM (see section 6.2). 4. If the recognised actual configuration does not comply with your wishes: switch off the power supply and create the desired configuration. 5. If the recognised actual configuration fulfills your wishes, press any button in order to quit the fault message. The basic setting will then be displayed again. 6.
4. Commissioning 4.4.2 Commissioning pneumatic axes If you have created and saved the desired hardware configur ation, you can commission pneumatic axes as follows: Step 1: Setting project−specific parameters Set all project−specific parameters. These include: Project−specific parameters Menus on the control panel Axis data AXIS PARAM. Application data APPLIC. PARAM. System configuration CONFIG. SYSTEM Leave the supply pressure switched off and proceed here as described in section 6.
4. Commissioning Warning The controller is switched off with this function. The pneu matic axes can therefore perform sudden unexpected movements if the supply pressure is switched on. The set software end positions have no effect. If you wish to carry out the movement test with the supply pressure switched on: · Make sure that the complete positioning range of the pneumatic axes remains free. · Warn other people of this danger by the use of appropri ate warning signs and/or protective screens.
4. Commissioning In order to carry out the movement test with the supply pressure switched on, proceed as follows: 1. Keep the acceleration forces low. In order to do this, set a low supply pressure of maximum 3 bar and reduce the mass load to a minimum: no workpiece, if possible no heavy gripper systems, etc. 2. Switch on the power supply for the SPC200. Make sure here that there is a 0−signal at the ENABLE input (no fixed wiring of the ENABLE input with the supply voltage). 3.
4. Commissioning 8. Now apply a 1−signal to the ENABLE input in order that the valve voltage can be modified. During the active movement test the controller is switched off for all axes. 9. Now specify whether you wish to raise or lower the control voltage. Set the appropriate sign here with the buttons vV.
4. Commissioning The movement test can be interrupted by a 0−signal at the ENABLE input. The valve voltages will then be set to an elec trical medium value (offset). An appropriate fault message will then appear on the control panel. 10. Modify the control voltage until the drive starts to move slowly. 11. Make sure that the drive moves in the correct direction (see under 9.). Adjust the tubing if the drive moves in the wrong direction (see also appendix A). 12.
4. Commissioning Step 3: Carry out identification travel Please note If system identification is not carried out, the positioning behaviour will probably be bad. In the case of modifica tions to the axis data and the mounting position, as well as modifications to the supply pressure of more than 1 bar, the data ascertained during system identification will be deleted. In these cases, therefore, new identifica tion travel is necessary.
4. Commissioning In order to obtain good positioning behaviour, be sure to carry out the system identification a static identification and at least one dynamic identification run. The NC command G00" cannot be used without dynamic identification. If your compressed air supply does not reliably fulfil the necessary requirements (tolerance of ± 1 bar in operation), please observe the instructions in section B.3.1.
4. Commissioning Carry out identification travel as follows: 1. Make sure that the tubing of the positioning system is correctly connected (see step 2, movement test). 2. Set the compressed air supply to the pressure desired during operation. Standard setting = 6 bar. 3. Select the submenu AXIS in the menu TEST/DIAG. and press the Enter button. TEST/DIAG. AXIS X: 4. The cursor is positioned on the axis identifier. Select the desired axis with the buttons vV (here X) and press the Enter button.
4. Commissioning Identification Meaning STATIC Static identification DYNAMIC1 Dynamic identification with workpiece *) DYNAMIC2 Dynamic identification without workpiece *) *) Workpiece must be removed or added 8. Press the Enter button in order to save the identification travel. The identification travel takes a certain amount of time. During identification progress is indicated as a per cent value. After successful identification travel the message OK is shown, e.g.
4. Commissioning Step 5: Move the axis by means of the control panel (optional) Necessary control signals: 1−signal at ENABLE, STOP and READY. With the command JOG AXIS in the menu TEST/DIAG. you can move the axis manually. Proceed as follows: 1. Select the submenu AXIS in the menu TEST/DIAG. and press the Enter button. TEST/DIAG. AXIS X: 2. The cursor is positioned on the axis identifier. Select the desired axis with the buttons vV (here X) and press the Enter button.
4. Commissioning JOG AXIS X: STEP 5. Press the Enter button in order to activate the positioning mode, e.g.: JOG AXIS STEP X:+0100.00 + 6. Set the desired positioning direction with the buttons vV. 7. With positioning mode STEP: Press the Enter button in order to move one step. With positioning mode CONT: Hold the Enter button pressed down for as long as positioning is carried out. You can return to the basic setting by pressing the ESC button several times. Festo P.
4. Commissioning Possible problems Cause Remedy Remarks The control direction is not the same as the direction of positioning of the slide. Swap the connecting tubing on the proportional directional control valve. See also appendix A Measuring system or measuring system cable is defective. Replace measuring system or measuring system cable *) Check first with MOVEMENT TEST The slide moves one position. The axis or application data are not correct. Correct the data See section 6.
4. Commissioning Step 6: Enter test program In order to avoid unnecessary fault messages during the switch−on phase, programs 0 and 1 have already been created at the factory. They each contain the NC record N000 with the command M30 (Program end). N000 M30 Select therefore the command MODIFY PROGRAM, if you wish to use program number 0 or 1 for your test program. Enter a short test program, e.g.: N000 N001 N002 G02... X+100 G02...
4. Commissioning 2. Press the Enter button in order to select the command. The current operating mode will then be displayed, e.g.: OPERATING MODE RECORD SELECT 3. Select the operating mode START/STOP and press the Enter button. The operating mode then becomes effective. OPERATING MODE START/STOP You can return to the basic setting by pressing the ESC button several times. You can test the program in single steps as follows: Necessary control signals: 1−signal at ENABLE, STOP and READY. 1.
4. Commissioning 3. Use the cursor buttons to set the program number of the test program and press the Enter button. The record number of the first NC record will then be shown. SINGLE STEP P00 N000 4. Press the Enter button in order to start the NC record. The NC record will then be processed. The current record number will then be displayed in the bottom line. 5. Repeat point 4 when the activated NC record has been processed and you would now like to start the displayed NC record.
4. Commissioning 4.4.3 Notes on commissioning multi−axis systems Commission at first each axis individually, as described in this chapter. Note when using two starting programs that both parallel running programs have the READY output and the ENABLE, STOP and START/RESET inputs. Notes on coordinated and autonomous operation can be found in section 7.1.1. 4−42 Festo P.
Controlling the SPC200 Chapter 5 Festo P.
5. Controlling the SPC200 Contents 5.1 5.2 5.3 5−2 General notes on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−4 Start/Stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−9 5.2.1 Explanation of all I/O signals in Start/Stop mode . . . . . . . . . . . . . . 5−11 Record Select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−17 5.3.
5. Controlling the SPC200 Contents of this chapter The SPC200 offers the following two operating modes for processing the saved NC programs: Start/Stop mode Record Select mode The functions of the digital inputs and outputs and of the permitted NC commands depend on the operating mode set. This chapter describes how to control the SPC200 in the op erating modes named. Examples of the I/O circuitry are shown for controlling the SPC200 via an I/O module.
5. Controlling the SPC200 5.1 General notes on operation Operating modes of the SPC200 Start/Stop In the operating mode Start/Stop the SPC200 can control positioning tasks independently. Any necessary synchroniz ation with externally controlled processes is supported by the Programmed Stop" (command M00). Record Select The Record Select operating mode supports the close coupling of the SPC200 with a higher−order PLC/IPC.
5. Controlling the SPC200 Switch−on behaviour of the SPC200 1 Depends on fault (see chapter Diagnosis) Switching on Switch on the power LED Switch on the error LED Initialization and self test (max. 10 s) Yes Fault? Error LED remains alight or flashes 1 No Make starting program available. Error LED goes out Controller enable? (Enable = 1?) No Yes Ready output is set. Controller is switched on. Actual position = nominal position (closed−loop controlled stop) SPC200 is ready for operation Fig.
5. Controlling the SPC200 When the power supply is switched on, the SPC200 carries out an initialization and a self−test. If there are no faults, the set operating mode will be activated and the starting pro grams will be made available. This procedure can take a certain amount of time (max. 10 seconds), depending on the equipment fitted on the system. If there is then a 1−signal at the ENABLE input: the controller will be enabled. The current position becomes the nominal position (controlled stop).
5. Controlling the SPC200 Load voltage 24 V 0 V 1 2 ENABLE 1 0 READY 1 0 STOP 1 0 START/CLK 1 0 3 1 The load voltage should now be available (type > 1 s) 3 3 Debounce time t ≥ 10 ms 2 Reaction time of the SPC200: without stepping motor module: max. 100 ms with stepping motor module: max. 2 s Fig.
5. Controlling the SPC200 Quitting a fault If a fault occurs during the program processing, the READY output will be reset automatically. When the fault has been eliminated, the fault message can be acknowledged with a START signal. If several faults occur simultaneously, quitting must be undertaken several times. 1 Fault 1 0 Fault message 1 0 ENABLE 1 0 READY 1 0 STOP 1 0 START/CLK 1 0 2 3 3 4 1 Time requirement depends on equipment fitted on the system and whether there are faults (max.
5. Controlling the SPC200 5.2 Start/Stop mode Start/Stop mode In Start/Stop mode the SPC200 can control positioning tasks independently. The following are available in this operating mode if an I/O module is used: five freely programmable inputs three freely programmable outputs all NC commands. With each further I/O module, a further ten freely program mable inputs and eight freely programmable outputs are available.
5. Controlling the SPC200 1 2 3 9 8 7 I0.9 I0.8 START/ RESET 1) I0.7 24 V − STOP 24 V 3 7 24 V 0 V Q0.4 Q0.
5. Controlling the SPC200 5.2.1 Explanation of all I/O signals in Start/Stop mode The connection assignment and I/O addresses of the I/O modules can be found in chapter 3.5.3, field bus addresses in the manual for the field bus module. Inputs Function Description SYNC_IB Synchronization input for program B (like SYNC_IA, but for program B) SYNC_IA Synchronization input for program A This input supports synchronization of the SPC200 with external devices (e.g. PLC/IPC).
5. Controlling the SPC200 Function Description START/ RESET Start/continue programs or quit faults The sequence of created programs will be started or continued or a fault will be acknowledged with a rising edge at this input. Prerequisites: there must be a 1−signal at the STOP input there must be a 1−signal at the ENABLE input in order to start/continue: there must be a 1−signal at the READY output.
5. Controlling the SPC200 Outputs Function Description MC_B (motion complete) MC output for program B (like MC_A, but for program B) MC_A (motion complete) MC output for program A (see also chapter 7.4, NC command G61) 1−signal at this output indicates that a positioning task from program A has been concluded. When the positioning task has been completed, an MC signal will also be sent if the axis is no longer at the programmed nominal position (e.g.
5. Controlling the SPC200 Working method of the MC signals (MC_A and MC_B) For each program (A or B), a separate MC signal is generated internally in the SPC200 for each axis addressed. The MC output for the relevant program supplies a 1−signal if all rel evant internal MC signals supply a 1−signal (AND linking). 1 Internal MC signals depending on the axis addressed and on each program MC_AX or MC_BX etc. (here 4 axes) 2 Depending on the program MC_A or MC_B 1 2 MC_...X MC_...Y MC_...Z & MC_...
5. Controlling the SPC200 Programmed Stop Synchronization of the SPC200 with externally controlled processes is supported by the Programmed Stop (command M00). For this purpose, the SPC200 provides separate control I/Os for programs A and B. The relevant program will be stopped with the Programmed Stop (command M00). If there is a 1−signal at the relevant SYNC input (SYNC_IA or SYNC_IB), the SPC200 will indicates the stop status of the program by setting the appropriate SYNC output (SYNC_OA or SYNC_OB).
5. Controlling the SPC200 The MC signal (MC_A/B) is not affected by Programmed Stop M00, but rather only by the starting and completion of a posi tioning command. Summary of the Start/Stop mode In operating mode Start/Stop the SPC200 provides freely programmable inputs and outputs. With the Programmed Stop (command M00), two parallel running programs can be synchronized with other processes independently of each other e.g. by a PLC/IPC.
5. Controlling the SPC200 5.3 Record Select mode Record Select mode In the Record Select mode the SPC200 is controlled by a higher−order PLC/IPC. The controlling PLC/IPC sends posi tioning tasks in the form of binary−coded record numbers via digital I/Os to the SPC200. The SPC200 then processes the desired NC record and waits for the next positioning task. If controlled by an I/O module, NC records 0...31 of the starting programs can be accessed via 5 digital inputs.
5. Controlling the SPC200 The following diagram shows an example of an I/O circuit for Record Select mode. 1 2 3 9 8 7 0/4 I0.7 24 V _ I0.9 I0.8 ENABLE RESET 1) 5/6 STOP 24 V RECBIT... I0.0/I0.4 I0.5/I0.6 CLK_B/A 0 V 24 V Outputs 4 PLC/IPC Inputs 5 6 7 24 V _ 24 V 4 0 V _ Q0.3/Q0.4 3/4 0 V RC_B/A 5/6 Q0.5/Q0.6 ACK_B/A 7 Q0.
5. Controlling the SPC200 In the operating mode Record Select positioning tasks are sent in the form of binary−coded NC record numbers to the SPC200 via the inputs RECBIT... . With a rising edge at the CLK input, the record numbers are accepted for the relevant program and acknowledged with the ACK signal. The following diagram shows the signal curve of the I/O sig nals relevant for communication when a positioning task is delegated. 1 RECBIT...
5. Controlling the SPC200 NC record numbers The desired NC record number, in which the positioning task is stored, is specified binary−coded via inputs. The following NC records can therefore be accessed: Type of control Accessible NC record numbers I/O module (5 inputs; 25 = 32) 0...31 Field bus module (10 inputs) 0 ... 999 1) 1) Maximum permitted number of NC records The NC records are always stored in the SPC200 beginning with NC record 0 and a step size of 1.
5. Controlling the SPC200 The inputs RECBIT... have the following meaning: RECBIT5 24 RECBIT4 23 RECBIT3 22 RECBIT2 21 RECBIT1 20 Input signals Designation Value NC record number 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 0 2 1 1 3 ... 1 1 1 1 0 30 1 1 1 1 1 31 With control via a field bus module RECBIT... as 2−byte value from 0 to 999, see manual on the field bus module. Festo P.
5. Controlling the SPC200 5.3.1 Explanation of all I/O signals in Record Select mode The connection assignment and I/O addresses of the I/O modules can be found in chapter 3.5.4, field bus addresses in the manual for the field bus module. Function Inputs Description RECBIT1 ... RECBIT5 Bit 1 for record number (20) ...
5. Controlling the SPC200 Function Inputs Description RESET Reset program If there is a 0−signal at the STOP input and a 1−signal at the ENABLE input, a RESET (Program Reset) can be triggered by a rising edge at the RESET input.
5. Controlling the SPC200 Function Outputs Description RC_B (record complete) NC record of program B concluded (like RC_A, but for program B) RC_A (record complete) NC record of program A concluded (see also chapter 7.4, NC command G61) 1−signal at this output indicates that a positioning task from program A has been concluded. When the NC record has been processed, an RC signal will also be sent if the axis is no longer at the programmed nominal position (e.g.
5. Controlling the SPC200 Summary of Record Select mode The Record Select operating mode supports the close coupling of the SPC200 with a higher−order PLC/IPC. Record Select mode Description Prerequisites Operation with the control panel Operating functions Stop, Reset via menu SYSTEM CONTROL on the control panel Operation via I/O Operating functions Select NC record via the RECBIT... inputs.
5. Controlling the SPC200 Example of program in Record Select mode Inputs I0.4 ... I0.0 1) I11.9 ... I11.0 2) NC records of the starting program 00000 N000 G00 X100.00 Y100.00 00001 N001 G00 X130.00 Y100.00 00010 N002 G01 X50.00 FX50 ... ... 01000 N008 G90 X100.00 Y110.00 01001 N009 G91 X10.00 Y20.00 ... ... 10000 N016 G00 X200.00 Y200.00 ... ... 11111 N031 G02 X150.00 Y150.
Operating the SPC200 with the control panel Chapter 6 Festo P.
6. Operating the SPC200 with the control panel Contents 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6−2 Structure and functions of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Moving in the menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting project−specific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.
6. Operating the SPC200 with the control panel Contents of this chapter This chapter describes the menu and operating functions of the control panel type SPC200−MMI−... . All parameters and operating functions of pneumatic axes are explained in detail and general system operating functions are described. Control panel functions of special extension modules such as stepping motor indexer modules and field bus modules are simply listed without a description.
6. Operating the SPC200 with the control panel 6.1 Structure and functions of the control panel Control panel type SPC200−MMI−1... enables you to carry out commissioning, programming and diagnosis directly on the SPC200. It offers a simple menu structure and a uniform key board assignment. Warning Faults may occur if control and operating functions are accessed at the same time by WinPISA and the control panel. Make sure that WinPISA and the control panel are not used at the same time.
6. Operating the SPC200 with the control panel Button Description Esc Switches back to the next−higher menu level Rejects the current entry (entry aborted) Deletes the current NC record if the cursor in the Editor is positioned at the code identifier for NC record number (N).
6. Operating the SPC200 with the control panel In the basic setting the control panel shows the following message: 1 2 3 SPC200 Vnnn X SELECT WITH <> Esc Enter 1 Operating system version of the SPC200 (nnn = version number); the dot after the main version identifier is not shown due to lack of space; nnn corresponds to n.nn 2 Currently configured axes (here X−axis) 3 Reference line: With { } you can select your menu Fig.
6. Operating the SPC200 with the control panel 6.1.1 Moving in the menu system SPC200 Vnnn X SELECT WITH <> 1 Esc 2 Enter 4 SYSTEM CONTROL DISPLAY EDIT PROGRAM CONFIG. SYSTEM 3 NEW PROGRAM MODIFY PROGRAM DELETE PROGRAM MODIFY POSREG. TEACH START SYSTEM STOP SYSTEM RESET SYSTEM RESET PROGRAMS RESET ERROR RESET DATA TASK STATE REFERENCE POS. CURRENT POS. POS.DIFFERENCE DIGITAL INPUT FIELDBUS INPUT DIGITAL OUTPUT FIELDBUS OUTPUT MEMORY FLAG REGISTER ERROR STEPMOTOR INPUT ACTUAL CONFIG.
6. Operating the SPC200 with the control panel Esc 2 Enter 1 AXIS PARAM. APPLIC. PARAM. X,Y,Z,U1) X,Y,Z,U1) CONTROL PARAM. X,Y,Z,U1) GAINFACTOR2) DAMPINGFACTOR2) FILTER FACTOR2) POS. TIMEOUT2) CYL.TYPE2) CYL.LENGTH CYL.DIAMETER2) SENSORMEASUREM.2) 3 TEST/DI AG. SYSTEM AXIS X,Y,Z,U1) Pneum. axis 2) TOOL LOAD WORK LOAD PRESSURE FITTING POS. FITTING OFFS. POS. BASEPOINT LOWER END POS. UPPER END POS. POS. TOLERANCE QUALITY CLASS MAX. SPEED MAX. ACCELER.
6. Operating the SPC200 with the control panel The menus on the control panel Menu SPC200 READY SYSTEM CONTROL > System control: Control functions Start, Stop, Reset SPC200 READY DISPLAY > Displays: Operands, system states SPC200 READY EDIT PROGRAM > Festo P.BE−SPC200−EN en 0901d Edit program: 1) Displaying and processing programs and position registers, Teaching SPC200 READY CONFIG.
6. Operating the SPC200 with the control panel By pressing the button { or } you can access the individ ual menus from the basic setting one after the other. The menu name is displayed in the bottom line. The top line still shows the text from the basic setting (SPC200...). This will remind you that you are in the first level. The top line is an orientation aid for your selection. It shows, e.g. the menu which you have accessed. The bottom line offers the selection possibilities of the current menu.
6. Operating the SPC200 with the control panel The top line then shows the selection made as an orientation aid. The bottom line shows again the current selection possi bility or in the lowest level entry fields. In the case of menus which contain axis−specific parameters or operating functions, the axis identifier of the first axis (N) will be shown when the menu is opened. In the case of multi− axis systems, you can select the desired axis with vV and by pressing the Enter button.
6. Operating the SPC200 with the control panel Proceed as follows when selecting a menu command or parameter: 1. Press the Esc button as often as necessary until the basic setting is shown. The first line of the display will then show the text SPC200 followed by the version number of the operating system. 2. Press the button { or } as often as necessary until the desired menu appears in the bottom line. 3. Press the Enter button.
6. Operating the SPC200 with the control panel 6.2 Setting project−specific parameters Warning 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: Description Menu SPC200 READY AXIS PARAM. New feature as from OS 4.63 New feature from BS 4.
6. Operating the SPC200 with the control panel AXIS PARAM. X: 1 2 Enter AXIS PARAM. CYL. TYPE > 3 Enter CYL. TYPE X: 1 4 5 1 Menu AXIS PARAM. is open 2 Axis identifier can be selected, selection with vV 3 Parameter Cylinder type can be selected 4 Current setting of the X−axis (here cylinder type 1) 5 Axis identifier display (here for X−axis) Fig. 6/6: Functions of the display lines The top line then shows the selection made (here AXIS PARAM.) as an orientation aid.
6. Operating the SPC200 with the control panel With the buttons vV you can now select the axis, the para meters of which you wish to modify. When the axis has been selected, the bottom line will show the current parameter setting. In order to modify a parameter, position the cursor on the desired figure of the displayed parameter with the buttons { }. With the buttons vV you can now modify the figure. If you modify a parameter value, the character ? will be shown in the bottom line. CYL. TYPE X: 1 CYL.
6. Operating the SPC200 with the control panel The character ? indicates that the setting is not transferred into the SPC200 until the Enter button is pressed. When the Enter button is pressed, the ? is deleted. This indicates that the setting has been accepted. The following sections explain the meaning of the individual parameters which you must adapt to your project.
6. Operating the SPC200 with the control panel Menu AXIS PARAM (axis data) Pneumatic axis CYL. TYPE X:0 Cylinder type (design) 0 ... 2 Specifies the design of the drive used. 0 = with piston rod 1 = without piston rod 2 = rotary CYL. LENGTH X:+0050.00 Cylinder length or max. swivel angle 50 ... 10000 [mm] or [°] Length or max. swivel range of the drive (see type plate). CYL. DIAMETER X:+0012.00 Cylinder diameter 12 ... 0.320 [mm] Diameter of the drive (see type plate) SENSOR LENGTH X:+0050.
6. Operating the SPC200 with the control panel Application data Menu APPLIC. PARAM The application data are configuration data which describe the conditions of use specified by the application. Application data for pneumatic axes The application data are an important basis for the internally ascertained control data. Please note Modified application data do not become effective until after a program reset.
6. Operating the SPC200 with the control panel Menu APPLIC. PARAM (application data) Pneumatic axis TOOL LOAD X:+0000.00 Total mass to be moved by the positioning axis, or mass moment of inertia, in each case without the workpiece. 0.1 ...
6. Operating the SPC200 with the control panel Reference points With the following four parameters you can specify the reference points of your positioning system. Note that the software end positions and the project zero point refer to the cylinder zero point. If you modify the mounting offset, the SPC200 will check to see if the resulting new reference points still lie within the range of the measur ing system. If this is not the case, an appropriate fault mess age will be displayed.
6. Operating the SPC200 with the control panel Menu APPLIC. PARAM (application data) Pneumatic axis FITTING OFFS. X:+0000.00 Mounting offset −10000 ... +10000 [mm] or [°] Offset between measurement system zero point and cylinder zero point. The mounting offset is positive if the cylinder zero point lies within the measuring system range. Set the mounting offset so that approximately 0 is shown as the actual position on the cylinder zero point.
6. Operating the SPC200 with the control panel Menu APPLIC. PARAM (application data) Pneumatic axis QUALITY CLASS X:0 Positioning quality class 1 ... 6 Describes the conditions under which a positioning task is to be regarded as concluded or when the signal MC (Motion Complete) is to be output.
6. Operating the SPC200 with the control panel Application data for electric axes Menu APPLIC. PARAM (application data) Electric axis RESOLUTION Y:+0010.000 Resolution 1) 0.100 ... 9999.999 [1/mm] START/STOP FR. Y:+0500.00 Start−stop frequency 1) 1 ... 9999 [Hz] POS. BASEPOINT Y:+0000.00 Project zero point 1) 0.0 ... 10000 [mm] LOWER END POS. Y:+0010.00 Lower software end position 1) 0.0 ... 10000 [mm] UPPER END POS. Y:+0090.00 Upper software end position 1) 0.0 ... 10000 [mm] REF.
6. Operating the SPC200 with the control panel System configuration Menu CONFIG. SYSTEM In the menu CONFIG. SYSTEM you can specify the desired operating mode as well as the starting programs for your system. Description of the individual parameters Menu CONFIG. SYSTEM (Configure system) ACTUAL CONFIGUR. 1. AIF Display current configuration Displays the hardware configuration ascertained during the start−up phase. n. AIF ; 1...2 axis interface string (n = 1...2) n. SM ; 1...3 stepping motor (n = 1...
6. Operating the SPC200 with the control panel Menu CONFIG. SYSTEM (Configure system) OPERATING MODE START/STOP Operating mode START/STOP ; Start/Stop mode RECORD SELECT ; Record select mode The operating mode defines how the sequence control of the SPC200 should function. Explanations of the operating modes can be found in chapter 5. DEFINE TASKS TA:P00 Define starting programs Tn ; Task number TA, TB Pn ; Program number − −/0...
6. Operating the SPC200 with the control panel Proceed as follows: 1. Select the parameter which you wish to modify (see chapter 6.1.1). 2. Press the Enter button in order to confirm the selection. The current parameter value for the selected axis will then be displayed in the bottom line. 3. With multi−figure values: Position the cursor with the buttons { or } on the figure of the parameter value which you wish to modify. 4. Set the figure value with the buttons vV. 5.
6. Operating the SPC200 with the control panel 6.3 Edit program The control panel provides you with an Editor with which you can edit both position registers as well as NC programs. If your positioning system is set up completely, you can teach position registers with the aid of the Teach functions. All menu commands for editing NC programs and position registers as well as the Teach function can be found in the menu EDIT PROGRAM.
6. Operating the SPC200 with the control panel 6.3.1 Create new program 1. Press the button { or } as often as required in the basic setting until the menu EDIT PROGRAM is displayed. SPC200 READY EDIT PROGRAM > 2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (New program) will then be displayed in the bottom line. EDIT PROGRAM NEW PROGRAM > 3. Press the Enter button in order to select the command. NEW PROGRAM PROGRAM NO.: 00? 4.
6. Operating the SPC200 with the control panel The procedure for editing an NC record is explained using as an example the command G00 (Position at highest possible speed). This is followed by an overview of all available NC commands. A detailed description of the NC commands with program examples can be found in chapter 7.4. Example: NC record with G00 When a program has been created, the number of the created program will be displayed in the first three columns (here P03).
6. Operating the SPC200 with the control panel 5. The cursor is positioned on the axis identifier. If several axes are configured, select the desired axis with the but tons vVand then press button }. P03:N000 G00 * X+0000.00 6. If the cursor is positioned next to the axis identifier, you can switch between the following with the buttons vV: position value (X+0000.00 or X−0000.00) register value (X@00) axis not relevant (X*) Meaning: The positioning command has no effect for the relevant axis.
6. Operating the SPC200 with the control panel In order to display the NC record on the control panel, you must position the cursor on the axis identifier and switch between the configured axes. P03:N000 G00 * X+0123.45 P03:N000 G00 * Y+0100.00 9. In order to conclude the entry of the NC record, make sure that the cursor is positioned on an NC command, para meter or operand. Then press the Enter button.
6. Operating the SPC200 with the control panel Exit program editor 1. First make sure that the cursor is positioned on an NC command, parameter or operand. Then press the Enter button in order to conclude the entry of the current NC record. The cursor is then positioned on identifier N and the NC record is intermediately saved in the SPC200. P03:N005 M30 2. Press button } in order to position the cursor on the NC command again. P03:N005 M30 3. Now press the Esc button. The NC editor will then be exited.
6. Operating the SPC200 with the control panel 6.3.2 Instructions on editing Failure of the operating voltage before the NC editor is exited will therefore lead to loss of the modifications undertaken. When entering extensive programs exit the Editor now and then in order to save intermediately. When programming pay attention to correct syntax and use only existing operands. Both lines of the display can be used for showing an NC record.
6. Operating the SPC200 with the control panel · If the cursor is positioned on an NC word, an NC word will be selected with vV. · If the cursor is positioned on a figure, the figure value will be increased or decreased with vV. · If the cursor is positioned on the axis identifier, one of the existing axes will be selected with vV. · With positioning commands, one of the following char acters can be selected on the right next to the axis ident ifier: Sign Meaning + Positive position value (e.
6. Operating the SPC200 with the control panel 6.3.3 Store of commands on the control panel The operating system of the SPC200 offers as from version 4.6, in conjunction with WinPISA as from version 4.3, an extended scope of functions due to the support of new NC commands and extended NC syntax. As from operating system version 4.6, position registers (@n) can also be used for saving speed and acceleration values.
6. Operating the SPC200 with the control panel First NC word NC command Description Supported operating mode Start/Stop Record Select * Positioning with saved values The last programmed positioning command (G00, G01 or G02) remains effective. √ √ G00 Positioning at the highest possible speed √ √ G01 *) Positioning at a defined speed √ √ G02 *) Positioning with jerk−free acceleration Positioning with Start/Stop frequency √ √ G04 Dwell time in 100th.
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6. Operating the SPC200 with the control panel 6.3.4 Edit existing program 1. Press the button { or } as often as required in the basic setting until the menu EDIT PROGRAM is displayed. SPC200 READY EDIT PROGRAM >> 2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (New program) will then be displayed in the bottom line. EDIT PROGRAM NEW PROGRAM >> 3. Select the command MODIFY PROGRAM with the buttons { or }. EDIT PROGRAM MODIFY PROGRAM>> 4.
6. Operating the SPC200 with the control panel When a program has been selected, the program number will be displayed in the first three columns (here P03). The first NC record of the program is shown after this, e.g. P03:N000 G00 * X+0100.00 The cursor is positioned on the identifier for the NC record number (here N000). With the buttons vV you can page through all the NC records of the program.
6. Operating the SPC200 with the control panel 6.3.5 Delete program 1. Press the button { or } as often as required in the basic setting until the menu EDIT PROGRAM is displayed. SPC200 READY EDIT PROGRAM >> 2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (New program) will then be displayed in the bottom line. EDIT PROGRAM NEW PROGRAM >> 3. Select the command DELETE PROGRAM with the buttons { or }, and press the Enter button. DELETE PROGRAM PROGRAM NO.: 00? 4.
6. Operating the SPC200 with the control panel 6.4 Edit position register As an alternative to the direct entry of position values (e.g. X100) when programming, you can also specify positions by means of the position register. You simply need to enter the number of the position register (e.g. the program). In the case of programming with WinPISA, the position regis ters will be pre−assigned with the values of the position list (see WinPISA manual).
6. Operating the SPC200 with the control panel 4. Use the cursor buttons to set the desired axis identifier and the register number, e.g. X:@03, and press the Enter button. The current value of the register will then be dis played. MODIFY POSREG. X:@03 +0123.00 The value −9999.99 is reserved as identifier for unused position registers. 5. You can now modify the value with the cursor buttons. Press the Enter button in order to save the modification. 6.
6. Operating the SPC200 with the control panel 2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (NEW PROGRAM) will then be displayed in the bottom line. 3. Select the command TEACH with the buttons { or } and press the Enter button. TEACH SELECT X:@00 CONT 4. Use the cursor buttons to set the desired axis identifier, the register number and the positioning mode.
6. Operating the SPC200 with the control panel 6. With the buttons vV you can now set the positioning direction (+ = in positive direction; = in negative direc tion; SAVE = save). In order to position the slide and to set the desired direction, proceed as follows: Positioning mode Description CONT Hold the Enter button pressed down until the slide is to stop. STEP Press the Enter button in order to move the appropriate step. 7.
6. Operating the SPC200 with the control panel 6.5 Controlling the program sequence Warning Make sure that nobody can place his/her hand in the posi tioning range of the moveable mass and that no objects lie in its path.
6. Operating the SPC200 with the control panel Menu SYSTEM CONTROL SYSTEM CONTROL RESET SYSTEM ? Reset system The SPC200 is reset to the status it was in when it was switched on. A program reset and a hardware recognition are carried out here and the axis interface string is re−initialized. This procedure can take a certain amount of time, depending on the system configuration used.
6. Operating the SPC200 with the control panel 6.6 Displaying operands and system states In order to check the program sequence you can permanently represent operands and system states in the display. The commands for this can be found in the menu Display. The following operands and system states can be displayed pro viding the appropriate modules are installed: Menu DISPLAY TASK STATE TA:P00 N000 S00 Task Status Tn = task (A or B) Pn = current program no. Nn = NC record no.
6. Operating the SPC200 with the control panel Menu DISPLAY MEMORY FLAG F00:0 Status display for flags F = flag F00 ... F63 REGISTER R00:+0000 Status display for registers R = register R00 ... R99 ERROR no. 00000000 Fault number (see chapter 8.
6. Operating the SPC200 with the control panel 6.7 Set controller factors Menu REGUL. PARAM The controller parameters for pneumatic axes are ascertained by the SPC200 from various basis parameters. The controller factors are standardized at 1.0. By means of these factors you can manually influence the ascertained controller para meters. A detailed description of the controller factors as well as instructions on optimizing the positioning behaviour can be found in appendix B. 6−50 Festo P.
6. Operating the SPC200 with the control panel Controller factors for pneumatic axes: Menu CONTROL. PARAM. Pneumatic axis GAIN FACTOR X:+0001.00 Gain factor 0.1 ... 10.0 With the gain factor you can influence the sensitivity with which the positioning control circuit reacts to modifications of the variables" (position, speed, acceleration). DAMPING FACTOR X:+0001.00 Damping factor 0.1 ... 10.
6. Operating the SPC200 with the control panel 6.8 Test and diagnostic functions of the control panel A ready−to−operate system is required for some of the commands in this menu. The following conditions must be fulfilled: · the positioning system must be set up completely, wired and supplied with power and compressed air · the axis and application data must be set correctly · the inputs ENABLE and STOP must supply a 1−signal.
6. Operating the SPC200 with the control panel Menu TEST/DIAG. (test and diagnosis) Sub−menu SYSTEM SINGLE STEP P00 Program test in single steps P00 ... P99 (only supported in Start/Stop mode) With this function you can test an existing program in single−step mode. Proceed as follows: 1. Set the program number. 2. Press the Enter button to confirm the selection. 3. Press the Enter button to start the NC record. 4. Repeat point 3 in order to start the next NC record. INPUT TEST I0.
6. Operating the SPC200 with the control panel Menu TEST/DIAG. (test and diagnosis) Sub−menu AXIS: Pneumatic axis JOG AXIS X: CONT Position axis CONT ; position continuously STEP ; position in steps twice the set positioning tolerance Proceed as follows: 1. Select the desired axis (X or Y). 2. Positioning mode (CONT, STEP). 3. Press the Enter button to confirm the selection. 4. Select positioning direction (+ or −). 5. With positioning mode STEP: Press the Enter button in order to move one step.
Description of the commands Chapter 7 Festo P.
7. Description of the commands Contents 7.1 7.2 7.3 7.4 7−2 General instructions on programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.1 Parallel program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.2 Program organisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.3 Presetting for positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.4 New NC syntax and new NC commands . . . . . . . . .
7. Description of the commands Contents of this chapter This chapter contains basic information on programming the SPC200 with the control panel. Both the coordinated and the autonomous mode of operation are explained and all the NC commands are described. Further information Before programming with the control panel, you should be familiar with the functions of the control panel. Chapter 6 describes how to create, start and edit NC programs with the control panel.
7. Description of the commands 7.1 General instructions on programming You must take the following into account when creating NC programs: 7−4 the operating mode in which you intend to use the SPC200. In Start/Stop mode all NC commands are supported. In Record Select mode only positioning commands, posi tioning conditions and commands for setting the posi tioning quality class are supported. the number of fixed starting programs.
7. Description of the commands 7.1.1 Parallel program processing The SPC200 possesses amultitasking−capable operating sys tem. This can process two tasks parallel. For parallel proces sing two programs must be defined as starting programs. These will then be processed parallel as task A and task B. Accessed sub−programs are processed instead of the relevant starting program, until the sub−program processing is com pleted and the starting program is continued.
7. Description of the commands 1 Operands: F0 ... F63 (flag), R0 ... R99 (register), @0 ... @99 (position register) Control signals STOP, START/RESET, ENABLE, READY, freely programmable I/Os Axes: X, Y, Z, U Task A Task B 2 N000 N001 N002 N003 N004 N005 N006 ... G62 X G00 X100 #TNI0.0 30 G01 X100 FX10 X300 G00 X500 G00 X400 N000 N001 N002 N003 N004 N005 N006 ... G62 Y G00 Y100 #TNI0.
7. Description of the commands Please note Please observe the following instructions when using the parallel program processing: Festo P.BE−SPC200−EN en 0901d The control signals STOP, START/RESET, ENABLE and READY as well as the freely programmable I/Os serve both tasks together. Flags, registers and position registers are managed com monly by both tasks. The control signals SYNC_.../CLK_..., MC_.../RC_... and where applicable ACK_... are managed separately by the relevant task (A or B).
7. Description of the commands Multi−axis operation Coordinated operation In coordinated operation of several axes, the possibility of parallel program processing is not usually used. Only one program is defined as the starting program. The positioning tasks for all axes are programmed in this program. If a positioning task refers to all axes, it is not completed until all the axes have reached the target position. The movement sequence of all axes is thereby coordinated.
7. Description of the commands Autonomous operation In autonomous operation two independent work stations are controlled by one SPC200. For this special case, you must define two different programs as starting programs which are processed independently of each other (parallel). The two parallel−running programs both have the output READY and the inputs ENABLE, STOP and START/RESET. 1 2 3 4 5 6 7 8 9 N000 N001 N002 N003 N004 N005 N006 ... G62 X G00 X100 #TNI0.
7. Description of the commands In autonomous operation the program is processed indepen dently for each work station. Each work station can be con trolled independently of the other by means of the freely pro grammable I/Os (Start/Stop operation) or by the command I/Os (Record Select operation). Please observe the following when using parallel program processing in autonomous operation: 7.1.2 Starting programs must not be accessed as sub−programs.
7. Description of the commands 7.1.3 Presetting for positioning The following settings are effective when the SPC200 is switched on or after a program reset and are managed for each task (task A and task B) independently of each other: Presettings for positioning G02 ... F...0 With pneumatic drives: Move smoothly to position at defined speed (G02); speed factor = 100 %.
7. Description of the commands 7.1.4 New NC syntax and new NC commands New feature as from OS 4.63 The operating system version 4.6 of the SPC200 offers, in conjunction with WinPISA as from version 4.3, an extended scope of functions due to the support of new NC commands and extended NC syntax. Furthermore, as from operating system version 4.6, position registers (@n) can also be used for saving speed and acceleration values.
7. Description of the commands New feature as from OS 4.82 The operating system version 4.82 of the SPC200 offers, in conjunction with WinPISA as from version 4.41, an extended scope of functions for considering the mass load, the nominal value specification as well as the support of the DNCI drive. New as from operating system version 4.82 ...Rn ...
7. Description of the commands 7.2 Addressing, registers and axis status flags The SPC200 knows different operators, variables and flags which can be used in the program for controlling a position ing sequence. A distinction is made between 1−bit, integer and real vari ables; between remanent and non−remanent variables. All the inputs and outputs of the SPC200 are treated like 1−bit variables. 7.2.
7. Description of the commands I/O address range The assignment of the I/O address range depends on the configuration of the SPC200. If a field bus module is fitted, the address range will remain 0.0 ... 0.9 unassigned. The assignment of the I/O addresses for configuration with and without field bus module is shown in the following table: Configuration without field bus module Configuration with field bus module Max. address range First I/O module 1) I0.0 ... I0.9 1) 2) Q0.0 ... Q0.7 1) 2) I1.
7. Description of the commands 7.2.2 Addressing the control signals Record Select mode Control sig nal I/O module addresses Address with fieldbus Description ENABLE I0.9 I10.0 Controller enable (1 = controller enabled) RESET I0.8 I10.1 Reset programs (in conjunction with STOP=0) STOP I0.7 I10.2 Stop positioning task (0 = stopped) CLK_A/B I0.6 / I0.5 I10.3 / I10.4 Start NC record from program A/B RECBIT1...5 I0.0 ... I0.4 Bits for NC record number: RECBIT1 for2^0 etc.
7. Description of the commands Start−stop mode Control sig nal I/O module addresses Address with fieldbus Description ENABLE I0.9 I10.0 Controller enable (1 = controller enabled) START/RESET I0.8 I10.1 Start/continue or reset programs (RESET in conjunction with STOP=0) STOP I0.7 I10.2 Stop program sequence (0 = stopped) SYNC_IA/IB I0.6 / I0.5 I10.3 / I10.4 Synchronization input for M00 READY Q0.7 Q10.0 System ready to operate SYNC_OA/OB Q0.6 / Q0.5 Q10.1 / Q10.
7. Description of the commands 7.2.3 Position register X [Y Z U] @n The SPC200 provides 100 position registers per axis. They have the identifier X [Y Z U] @n {n=0...99}, are decimal values with 2 decimal positions between −9999.98 and +9999.99. Position registers are saved remanently, i.e. they are saved in the event of Power−off and loaded back into the work mem ory with Power−on.
7. Description of the commands NC command Function The register contents may be Unit 1) As from operating system version G25 Switch to next record Position mm 4.63 mm 3.8 m/s 4.63 m/s2 4.63 G28 G29 M38 Register g operation p M40 Positioning parameter Limit value mm 4.63 M41 Positioning parameter Limit value m/s 4.63 M37 Positioning parameter Tool load or mass moment of inertia Kg 4.82 Kgm2 * 10−4 M10 Positioning command Scaling factor mm/V 4.
7. Description of the commands These registers can be modified within a program or via the field bus 1), i.e. they can be read and overwritten. R−registers must be initialized within a program or via the field bus (assign starting value). 1) New feature as from OS 4.63 For PROFIBUS this applies only as from operating system version 4.63 together with the PROFIBUS software ver sion 2.0. For DeviceNet as from operating system 4.90 to gether with the software version as from 2.01 (DN2).
7. Description of the commands 7.2.5 Flag Fn In the SPC200 64 flags can be used for controlling the program sequence. They have the identifier Rn {n=0...63}, are 1−bit variables and can accept the values 0 or 1. Flags are saved remanently, i.e. they are saved in the event of Power−off and loaded back into the work memory with Power−on. The flags can be read and overwritten with the MMI and WinPISA. The flags can be modified within a program or via the field bus 1), i.e. they can be read and overwritten.
7. Description of the commands 7.2.6 Axis status flag Fn New feature as from OS 4.63 The SPC200 generates various status flags for its internal monitoring. These are dynamic variables which are modified dynamically depending on the positioning procedure and represent a certain status of the axes. They have the identifier Fn {n=64...127}. They are 1−bit vari ables and can accept the values 0 or 1. Status flags are not saved remanently like flags.
7. Description of the commands Description of the axis status flag REF Reference set The flag indicates that reference travel has been carried out successfully. Details on reference travel are described in command G74. The flags have the numbers F64 ... F67, ac cording to the table above. MC Motion Complete The flag shows the status of a positioning task of an axis. If the bit is set, the last positioning task is completed. Details can be found in chapter 5.2.1. The flags have the numbers F72 ...
7. Description of the commands 7.3 Command syntax The programs for the SPC200 are based on the syntax as per DIN 66025. An NC record consists of a record number as well as an NC command with the relevant parameters. Example: 1 N010 2 G01 3 G90 4 X100.00 5 4 FX10 Y100.00 5 FY80 1 Record number 4 Positioning 2 NC command 5 Parameters 3 Type of positioning (optional) Fig. 7/4: Example NC record Record numbers Each NC record is marked with a record number.
7. Description of the commands Identifiers The following identifiers are used during the NC programming of the SPC200: Identifier Description N Identifier for record numbers G Path conditions M Help functions E Jump functions L Sub−program call # Single−bit and multibit operations X, Y, Z, U Axis conditions: X−axis, Y−axis, etc. F Positioning speed ; Start of comment, valid until end of line *) .
7. Description of the commands Overview of commands The following characters are used in the overview tables for explaining the syntax: Identifier Description [..] Parameters listed in brackets can be specified as an alternative or additionally 1) ..|.. Parameters separated by vertical lines can be specified as an alternative n Wildcard for numerical values Wildcard e.g. for: operands (e.g. Q0.0) positions speeds acceleration etc.
7. Description of the commands Com mand Description and syntax Positioning commands (permitted in Start/Stop and Record Select modes) G00 Move to position at highest possible speed G00 [G90|G91] X [Y.., Z.., U..] G01 Move to position at defined speed G01 [G90|G91] X FX [Y.., Z.., U..] G02 Pneumatic axis: Move smoothly to position at defined speed Stepping motor axis: Move to position at Start/Stop frequency G02 [G90|G91] X FX [Y.., Z.., U..
7. Description of the commands Com mand Description and syntax Sequence control (permitted in Start/Stop mode) G04 Dwell time G04 G25 Position−dependent switch to next record G25 X [Y.., Z.., U..
7. Description of the commands Com mand Description and syntax Valve positioning value (permitted in Start/Stop mode) M39 Pneumatic axis: Output valve positioning value M39 X [Y.., Z.., U..] M40 Pneumatic axis: Set stroke limit value M40 X [Y.., Z.., U..] M41 Pneumatic axis: Set speed limit value M41 X [Y.., Z.., U..
7. Description of the commands 7.4 Explanation of the NC commands Identifying supported NC commands Operating mode In Start/Stop mode all NC commands are supported. NC commands, which are supported in the Record Select mode, are marked as follows: Axis type permitted in operating mode: Start/Stop, Record Select If the description refers to a particular axis type, this is also marked.
7. Description of the commands G00 Move to position at highest possible speed (point to point) pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G00 [G90|G91] X [Y.., Z.., U..] Effect Example n Position in [mm] or [°] n = ±9999.99 @n Position in [mm] or [°] saved in the position register @n n = 0 ... 99 The pneumatic drive moves as fast as possible from the current position to the defined position (absolute or relative, see under G90/G91).
7. Description of the commands Fig. 7/5 shows as an example the time sequence of the nominal value specification. 1 2 v [m/s] s [m] 4 5 3 t [s] t [s] a [m/s 2] t [s] 1 Nominal speed value 4 Nominal acceleration value 2 Identified maximum speed 5 Identified maximum acceleration 3 Nominal position value Fig. 7/5: Nominal value specification with command G00 (pneumatic axis) Speed and acceleration can only be specified directly with the positioning commands G01 and G02.
7. Description of the commands G00 Move to position at highest possible speed (point to point) stepping motor axis; permitted in operating modes: Start/Stop, Record Select Nn G00 [G90|G91] X [Y.., Z.., U..] n Position in [mm] n = ±9999.99 @n Position in [mm] saved in the position register @n n = 0 ...
7. Description of the commands 1 3 v [m/s] s [m] 2 4 t [s] t [s] a [m/s 2] 5 t [s] 1 Nominal speed value 4 Nominal acceleration value 2 Configured maximum speed 5 Configured maximum acceleration 3 Nominal position value Fig. 7/6: Nominal value specification with command G00 (stepping motor axis) 7−34 Festo P.
7. Description of the commands G01 Move to position at defined speed (nominal value ramp) permitted in operating modes: Start/Stop, Record Select Nn G01 [G90|G91] X FX [Y.., Z.., U..] Effect Example n Position in [mm] or [°] n = ±9999.99 @n Position in [mm] or [°] saved in the position register @n n = 0 ... 99 n Positioning speed in % of the configured maximum speed; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ...
7. Description of the commands With command G01 the nominal speed value rises at first in ramp form until the maximum positioning speed programmed with FX or FY, FU or FZ is reached. Before the nominal position is reached, the nominal speed value drops in ramp form again. The steepness of the approach and braking ramps is preset by the maximum acceleration configured in the application data. With the commands G08 ad G09 you can specify the steep ness of the ramps by program independently of each other.
7. Description of the commands G02 Move smoothly to position at defined speed pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G02 [G90|G91] X FX [Y.., Z.., U..] Effect Example n Position in [mm] or [°] n = ±9999.99 @n Position in [mm] or [°] saved in the position register @n n = 0 ... 99 n Positioning speed in % of the configured maximum speed; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ...
7. Description of the commands With command G02 the nominal acceleration value has a sin2−shaped curve. In this way, sudden modifications of the positioning signal and thereby sudden movements of the slide when arriving and braking can be reduced. As with command G01, the nominal speed value rises at maximum to the programmed speed. The programmed nom inal acceleration values of the approach and braking phases are however to be understood as medium values.
7. Description of the commands G02 Move to position at Start/Stop frequency stepping motor axis; permitted in operating modes: Start/Stop, Record Select Nn G02 [G90|G91] X FX [Y.., Z.., U..] Effect Example n Position in [mm] n = ±9999.99 @n Position in [mm] saved in the position register @n n = 0 ... 99 n Rn 1) @n 1) Reserved; the parameter must be specified, but it is ignored n = 0 ...
7. Description of the commands G04 Dwell time permitted in operating modes: Start/Stop Nn G04 Effect Example 7−40 n Dwell time in 10 ms n = 1 ... 9999 Switching to the next NC record is not made until the dwell time has expired. N010 G00 X100 N011 G04 250 N012 G00 X200 ;Move to position X100 ;Wait 2.5 seconds ;Move to position X200 Festo P.
7. Description of the commands G08 Acceleration for approach ramp pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G08 X [Y.., Z.., U..] Effect Example n Acceleration in %−steps of the configured maximum acceleration; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ... 99 Rn 1) Acceleration in %−steps of the configured maximum acceleration saved in register Rn; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ...
7. Description of the commands G08 Acceleration for approach ramp and braking ramp stepping motor axis; permitted in operating modes: Start/Stop, Record Select Nn G08 X [Y.., Z.., U..] Effect Example n Acceleration in %−steps of the configured maximum acceleration; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ... 99 Rn 1) Acceleration in %−steps of the configured maximum acceleration saved in register Rn; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ...
7. Description of the commands G09 Acceleration for braking ramp pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G09 X [Y.., Z.., U..] Effect Example Remark 1) n Acceleration in %−steps of the configured maximum acceleration; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ... 99 Rn 1) Acceleration in %−steps of the configured maximum acceleration saved in register Rn; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 0 ...
7. Description of the commands G25 Position−dependent switch to next record permitted in operating modes: Start/Stop Nn G25 X [Y.., Z.., U..] Effect 1) n Preselect value in % of the path to be traversed; 0 = 0 % (switch further immediately), 1 = 1 % ... 99 = 99 % n = 0 ... 99 Rn 1) Preselect value in % of the path to be traversed saved in register Rn permitted: 0 ... 100; 0 = 0 %; 100 = 100 % n = 0 ...
7. Description of the commands G25 Position−dependent switch to next record permitted in operating modes: Start/Stop Example See below (examples 1...6) Remark This command enables: the speed and acceleration in the current positioning procedure to be switched in the case of pneumatic drives obstructions to be bypassed time−optimized in the case of multi−axis systems.
7. Description of the commands Example 1 Modify speed; only permitted with pneumatic drives N010 N011 N012 N013 G00 G25 G01 G01 X0 X60 X500 FX75 X500 FX50 After 60 % of the positioning path from position 0 to position 500, the SPC200 reduces the speed from 75 % to 50 % of the configured maximum speed. 1 2 v 75% 50% 25% 0 100 200 300 400 500 s [mm] 1 Speed in % of the configured maximum speed 2 Preselect value of the X−axis Fig.
7. Description of the commands Example 2 Time−optimized bypassing N010 N011 N012 N013 G00 G25 G00 G00 X100 Y100 X50 X400 Y300 The SPC200 processes the next NC record after 50 % of the positioning path from position X100 to position X400. 1 2 3 sy [mm] 300 200 100 0 100 200 300 400 500 sx [mm] 1 Positioning path of the Y−axis in mm 2 Preselect value of the X−axis 3 Positioning path of the X−axis in mm Fig.
7. Description of the commands Example 3 Event−dependent further switching to next record N010 N011 N012 N013 N014 G00 X0 G25 X1 G01 X500 FX60 #TNI0.0 13 G01 X500 FX10 When 1 % of the positioning path from X0 to X500 has been traversed, the SPC200 switches further to NC record N013. The program waits in this record until the event occurs (here 1−signal at input I0.0). Only then, where applicable, switching is made to the next positioning task (here speed reduction) during the processing procedure.
7. Description of the commands Example 5 Linked further switching condition N010 N011 N012 N013 N014 N015 G01 X0 FX0 Y0 FY0 Z0 FZ0 G25 X10 Y10 Z10 G01 X100 FX10 #SQ0.0 G01 Y100 FY10 Z100 FZ10 ....... The SPC200 saves the preselect values for the axes X, Y and Z in NC record N011. In the next NC record only the X−axis is moved. When the X−axis reaches the preselect value, output Q0.0 will be set. The axes Y and Z are moved in NC record N014.
7. Description of the commands Example 6 Linked further switching condition with correctly used com mand M37 N010 M37 X50 N011 G25 X20 N012 N013 N014 N015 N016 N017 N... 7−50 ;50% of the workpiece mass ;switch to next record after 20% of ;traversing distance G01 X400 FX20 ;position 400 with 20% of the config. speed ;and 50% of workpiece mass #SQ0.0 ;Set ouput Q0.0 M37 X0 ;100% of the workpiece mass G01 X400 Fx50 ;Finish traversing task from N012 with ;50% of the config.
7. Description of the commands G28 Load position value into the position register permitted in operating modes: Start/Stop Nn G28 X [Y.., Z.., U..] @n Number of the target position register @n n = 0 ... 99 n Position value, speed value or acceleration value n = ±9999.99 @n Position value, speed value or acceleration value saved in source position register @n n = 0 ...
7. Description of the commands G29 Add position value and position register permitted in operating modes: Start/Stop Nn G29 X [Y.., Z.., U..] @n Number of the target position register @n n = 0 ... 99 n Position value, speed value or acceleration value n = ±9999.99 @n Position value, speed value or acceleration value saved in source position register @n n = 0 ...
7. Description of the commands G60 Exact stop without damping time pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G60 X [Y, Z, U] Effect Example Switches the specified axis to exact stop without damping time (positioning quality class 3, see also under G61). Output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the specified axis is within the range of the positioning tolerance for the complete duration of the monitoring time (see also Fig. 7/13).
7. Description of the commands G61 Set positioning quality class pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G61 X [Y.., Z.., U..] Effect Example n Positioning quality class n = 0 ... 6 Switches the specified axis to the set positioning quality class. Output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the axis fulfils the criteria of the set positioning quality class (see following table).
7. Description of the commands Type Positioning Description quality class Presetting 0 Switches to the positioning quality class (1...6) set in the applica tion data. Fast stop 1) 1 Fast stop without damping time Output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the axis first enters the range of the positioning tolerance (see Fig. 7/11).
7. Description of the commands 1 Nominal position value 2 Range of the 2 s [m] s [°] 3 1 positioning tolerance 3 Reaching the tolerance range 4 4 MC_A/MC_B or t [s] 1 0 RC_A/RC_B Fig. 7/11: Fast stop without damping time 1 Nominal position value 2 Range of the positioning tolerance 2 s [m] s [°] 3 4 1 3 Reaching the tolerance range 4 Damping time period (200 ms) 5 t [s] 1 0 5 MC_A/MC_B or RC_A/RC_B Fig. 7/12: Fast stop with damping time 7−56 Festo P.
7. Description of the commands 1 Nominal position 2 value 2 Range of the positioning tolerance 3 4 s [m] s [°] 1 3 Monitoring period depending on drive 5 4 Expiry of monitoring time 5 Monitoring time 6 t [s] 1 0 1 0 6 MC_A/MC_B or RC_A/RC_B Fig. 7/13: Exact stop without damping time 1 Monitoring period depending on drive 2 Expiry of 1 2 3 s [m] s [°] monitoring time 3 Expiry of damping time 4 Monitoring time 5 Damping time 6 MC_A/MC_B or RC_A/RC_B 4 5 6 1 0 t [s] 1 0 1 0 Fig.
7. Description of the commands G62 Fast stop without damping time pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G60 X [Y, Z, U] Effect Example Switches the specified axis to fast stop (positioning quality class 1). Output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the axis first enters the range of the positioning tolerance (see Fig. 7/11).
7. Description of the commands G74 Start reference travel 1) pneumatic axis; permitted in operating mode: Start/Stop, Record Select Nn G74 X [Y.., Z.., U..] Effect Example Remark 1) n Reference travel mode n = 0, 5, 6, 7 Starts reference travel of the axis in the mode specified (see Fig. 7/15). After successful reference travel the status flag REF is set.
7. Description of the commands Mode Description 0 The reference point is set at the current position. The status flag REF will be set immediately. There are no restrictions as regards the speed and acceleration limit values (compare with mode 7). This mode may only be used if you can be sure that the axis actually stands at the planned reference position.
7. Description of the commands Mode Description 7 This mode serves exclusively for moving the pneumatic axis slowly and program− controlled, providing referencing has not taken place. When mode 7 is activated with command G74, the axis can be moved with the positioning commands G01 or G02. The speed is limited in each case to the referencing speed (see application data). The acceleration values are clearly reduced. The status flag REF will not be set.
7. Description of the commands G74 Starting reference travel stepping motor axis; permitted in operating modes: Start/Stop, Record Select Nn G74 X [Y.., Z.., U..] Effect Example Remark 7−62 n Reference travel mode n = 0...4 Starts reference travel of the axis in the mode specified (see Fig. 7/16). N000 G74 X0 ;Accept current position as ;reference point All positions refer indirectly to reference point.
7. Description of the commands 1 Starting position LIM− REF LIM+ 2 Position accepted as reference point 3 Switching ranges of limit and reference switches Mode 0: 1 Mode 1: Case a: 2 Case b: Mode 2: Mode 3: Case a: Case b: Mode 4: 3 3 3 Fig. 7/16: Reference travel modes of the electric axis Detailed instructions on carrying out reference travel can be found in the manual for the stepping motor indexer module type P.BE−SPC200−SMX−... .
7. Description of the commands G90 Absolute dimension specification permitted in operating modes: Start/Stop, Record Select Nn G90 X [Y.., Z.., U..] Effect Example n Position in [mm] or [°] n = ±9999.99 @n Position in [mm] or [°] saved in the position register @n n = 0 ... 99 Switches to absolute positioning and moves absolutely at the current speed and, if applicable, with ramp to the specified position.
7. Description of the commands G91 Relative dimension specification permitted in operating modes: Start/Stop, Record Select Nn G91 X [Y.., Z.., U..] Effect Example n Position in [mm] or [°] n = ±9999.99 @n Position in [mm] or [°] saved in the position register @n n = 0 ... 99 Switches to relative positioning and moves relatively at the current speed and, if applicable, with ramp to the specified position.
7. Description of the commands Programmed stop M00 permitted in operating modes: Start/Stop Nn M00 Effect The program sequence will be stopped with command M00 and continued when a synchronization signal is received. In the operating mode Start/Stop a negative edge at input SYNC_IA/IB will be interpreted as a synchronization signal.
7. Description of the commands M02 Sub−program end permitted in operating modes: Start/Stop Nn M02 Effect The end of sub−programs must be marked with this command. If the program is accessed as the main program, it will be executed once and will remain stopped with M02. It can only be restarted with a Program Reset. Example See under L Remark See also under M30 Festo P.
7. Description of the commands M10 Activate the nominal value input permitted in operating modes: Start/Stop Nn M10 X [Y.., Z.., U..] n @n Scaling factor in [mm/V] or [°/V] (see Fig. 7/18) n = 0.1 ... 9999.9 No specification of a scaling factor 1) Scaling factor saved in position register @n 2) n = 0 ... 99 Effect The effect of command M10 depends on the syntax. Without specification of a scaling factor (e.g.
7. Description of the commands The selected nominal value input is deactivated again with command M12. It is deactivated automatically: during a stop status (controlled stop) if enable is missing (0−signal at ENABLE input). If there is a 1−signal again at the relevant input after a stop or missing enable, the nominal value input will be activated again automatically. Example mode 0 Constant position adjustment ....
7. Description of the commands Example mode 3 Analogue nominal value specification without adjustment, ramp N001 M11 X100 N002 M13 X3 ;Offset 100 mm ;Set mode 3 ;Move once N003 G01 G91 X0 FX30 ;Move relative 0 mm ;Speed ramp = 30% N004 G61 X1 ;Fast stop N005 M10 X30 ;Factor = 30, move ;once to analogue ;specified position N006 G00 G90 X300 ;Move absolute ;to position 300 ... ... N020 M30 ;Program end with repeat The speed ramp can be set with the aid of commands G01 and G02.
7. Description of the commands M11 Offset for analogue nominal value specification permitted in operating modes: Start/Stop Nn M11 X [Y.., Z.., U..] n Offset in [mm] or [°] n = ±9999.98 @n Offset saved in position register @n 1) n = 0 ... 99 Effect Equalizes the voltage/position assignment (see Fig. 7/18). Example Example see under M10 Remark The preset reference point for the analogue nominal value specification is the project zero point.
7. Description of the commands M12 Axis stop 1) permitted in operating modes: Start/Stop Nn M12 X [Y, Z, U] Effect Command M12 stops all addressed axes. Active positioning commands (G00, G01, G02, M10) or the output of valve positioning values (M39) of these axes will be discontinued. Any nominal positions will be lost. With pneumatic drives: The current actual positions will be accepted as new positions. Depending on the current speed of the drive there may be overswing.
7. Description of the commands During an axis stop with the M12 command the actual posi tion will be accepted as the new nominal position. Warning If an interfering variable causes a deviation between the actual and nominal positions, the constant repetition of the axis stop command (M12) can cause the drive to drift. Each time the M12 command is accessed, the new actual position will be accepted again as the new nominal posi tion.
7. Description of the commands Type Mode Description Position adjustment 0 1) This mode is only supported by pneumatic drives. Constant position adjustment Constant parallel program processing possible 1 1) This mode is only supported by pneumatic drives.
7. Description of the commands M14 Assign nominal value inputs permitted in operating modes: Start/Stop Nn M14 X [Y.., Z.., U..] Effect Example n Number of the analogue or digital 1) nominal value input n = 1 ... 4 n = 1 ... 5 1) Withanalogue nominal value specification: The analogue input module type SPC200−2AI−U possesses two nominal value inputs (differential inputs). Nominal value module no. 1: Nominal value inputs 1 and 2 Nominal value module no.
7. Description of the commands M37 Set mass assessment pneumatic axis; permitted in operating mode: Start/Stop Nn M37 X [Y.., Z.., U..] Effect Example Remark 1) n Mass assessment of the load in % of the configured work item mass or of the configured mass moment of inertia of the work item; 0 = 100 %, 1 = 1 %.....99 = 99 % n = 0 ... 99 @n Absolute value of the work item mass in [kg] or of the mass moment of inertia in [kgcm2], saved in register @n 1) Permitted value range: 0.0 ...
7. Description of the commands M38 Load actual value permitted in operating modes: Start/Stop Nn M38 @ X [Y, Z, U] Effect Example n Register number n = 0 ... 99 The current position is loaded into the specified position register N003 G00 G91 X100 N004 M38 @1 X N005 G29 @0 X@1 N006 G00 G90 X@0 Festo P.
7. Description of the commands M39 Output valve positioning value 1) pneumatic axis; permitted in operating mode: Start/Stop Nn M39 X [Y.., Z.., U..] l Effect Example Remark 1) n 1) Valve positioning value in % of the range 0...10 V: 1 = 1 % ... 99 = 99 % n = 1 ... 99 Rn 1) Valve positioning value in % saved in register Rn n = 1 ...
7. Description of the commands Valve position ing value [%] Positioning signal 1) Valve voltage [V] 2) 2) 1 −0.98 9.9 2 −0.96 9.8 ... ... ... 49 −0.02 5.1 50 0.00 5.0 51 0.02 4.9 ... ... ... 98 0.96 0,2 99 0.98 0.
7. Description of the commands M40 Set stroke limit value 1) pneumatic axis; permitted in operating mode: Start/Stop Nn M40 X [Y.., Z.., U..] n 1) Stroke limit value in [mm] or [°]; 0 Z Stroke limit value isswitched off permitted: 0 Ţ Limit value Ţ stroke length or angle n= 0 ... 9999.99 @n 1) Stroke limit value in [mm] or [°] saved in the position register @n n = 0 ...
7. Description of the commands M41 Set speed limit value 1) pneumatic axis; permitted in operating mode: Start/Stop Nn M41 X [Y.., Z.., U..] n 1) Speed limit value in [m/s] or [103 °/s]; permitted: 0,01 Ţ Limit value Ţ defined maximum speed n= 0.01 ... 9.99 @n 1) Speed limit value in [m/s] or [103 °/s] saved in position register @n n = 0 ...
7. Description of the commands Access sub−program (load subroutine) L permitted in operating modes: Start/Stop Nn L b n Program number n = 0 ... 99 Rn Program number saved in register Rn n = 0 ... 99 Effect Accesses the specified program as subroutine. Example See below Remark The program number can be specified directly (n) or indirectly via a register (Rn). Maximum nesting depth = 4.
7. Description of the commands Program 0 ... N003 N004 N005 N006 N007 N008 N009 ... ... N080 G28 @1 X200 G28 @2 X50 #LR0=6 L1 #AR0=–1 #TR0=0 10 E05 6 ;Load top row of pallets ;Load distance between rows ;Initialize number of rows ;Access program 1 ;Update counter ;Gap filled? ;Jump to N006 ;further commands M30 ;Program end Subroutine 1: Fill pallet gap N000 N001 N002 N003 N004 N005 ... ... N016 #TNI0.0 0 G00 X0 #SQ0.0 G00 X@1 #RQ0.
7. Description of the commands E05 Unconditional jump permitted in operating modes: Start/Stop Nn E05 b Effect Example n NC record number n = 0 ... 999 Rn NC record number saved in register Rn n = 0 ... 99 The program sequence is always continued at the specified jump target. N005 #TNI1.1 5 N006 G00 X100 N007 E05 5 ;Wait for 1−signal at input I1.1 ;Move to position X100 ;Jump to NC record 5 In NC record 7 the program always branches to NC record 5.
7. Description of the commands #S Set single−bit operand permitted in operating modes: Start/Stop Nn #S Effect Example Fn Flag with number Fn n = 0 ... 63 Qn.n Outputs: all freely programmable outputs n.n = 0.0 ... 13.15 The specified single−bit operand is set. Permitted operands are all single−bit operands, but not inputs. See also chapter 7.2.1. N010 #SQ0.0 ;Set output Q0.0 Output Q0.0 supplies a 1−signal when this record is processed.
7. Description of the commands #T Test single−bit operand for 1−signal permitted in operating modes: Start/Stop Nn #T b Fn Flag with number Fn n = 0 ... 63 Fn Axis status flag 1) n = 64 ... 127 In.n Permitted inputs: all existing inputs n.n = 0.0 ... 13.15 Qn.n Permitted outputs: all existing outputs n.n = 0.0 ... 13.15 n Record number n = 0 ... 999 Rn Record number saved in register Rn n = 0 ...
7. Description of the commands Example The following applies for this example: Operating mode: Start/Stop In the following example binary−coded position numbers are sent to the axis controller via the inputs I0.0 and I0.1. Four position numbers can therefore be specified: I0.1 I0.0 Positions 0 0 Po_1 0 1 Po_2 1 0 Po_3 1 1 Po_4 At the beginning of the program the programmed stop for synchronization with the higher−order PLC/IPC is used.
7. Description of the commands #TN Test single−bit operand for 0−signal permitted in operating modes: Start/Stop Nn #TN b Effect Example Remark 1) Fn Flag with number Fn n = 0 ... 63 Fn Axis status flag 1) n = 64 ... 127 In.n Permitted inputs: all existing inputs n.n = 0.0 ... 13.15 Qn.n Permitted outputs: all existing outputs n.n = 0.0 ... 13.15 n Record number n = 0 ... 999 Rn Record number saved in register Rn n = 0 ...
7. Description of the commands #LR Load register permitted in operating modes: Start/Stop Nn #LR = n Number of the register into which the value is loaded n = 0 ... 99 n Value which is loaded into the specified register n= −32768 ... 32767 Rn Register Rn contains the value which is loaded into the specified register n = 0 ... 99 Effect Example The value specified with n is loaded into the register. N011 #LR1=100 Remark Registers are remanent.
7. Description of the commands #TR Test register permitted in operating modes: Start/Stop Nn #TR = n Number of the register, the contents of which are to be compared n = 0 ... 99 n Value which is to be compared with the contents of the specified register n= −32768 ... 32767 Rn Register Rn contains the value which is to be com pared with the contents of the specified register n = 0 ...
Diagnosis and error treatment Chapter 8 Festo P.
8. Diagnosis and error treatment Contents 8.1 8.2 8.3 8−2 On−the−spot diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault messages on the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.2 Fault classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8. Diagnosis and error treatment Contents of this chapter Further information The SPC200 offers extensive and user−friendly options for diagnosis and fault treatment. The following possibilities are available and are described in this chapter: The LEDs on the SPC200 and on the connected field de vices show directly configuration faults, hardware faults, string faults, etc. The control panel displays detailed fault messages coded in the form of a hexadecimal number.
8. Diagnosis and error treatment 8.1 On−the−spot diagnosis The LEDs on the power supply module, the axis interface and the I/O modules (optional) supply information on the operat ing status of the system. The tables below show how the vari ous operating states are represented by the LEDs.
8. Diagnosis and error treatment Reaction Sequence Operating status Eliminating faults OFF Switch−on phase (3...
8. Diagnosis and error treatment LED on the axis interface Reaction Sequence Operating status Eliminating faults ON Operating voltage applied None Operating voltage not applied Check operating voltage connec tion and load voltage connection on the SPC200 (pin 1 and pin 2). Switch−on phase (3...
8. Diagnosis and error treatment Tip: Use the movement test to check the function of the measur ing system, including the transmission of measured values to the SPC200.
8. Diagnosis and error treatment Short circuit sensor supply If there is a short circuit, the input module will switch off the power supply to the sensors self−locking and communicate the fault to the SPC200. The status LEDs will be switched off and the inputs of the module supply a 0−signal. After elimin ating the short circuit, delete this fault by quitting. Status display Next to the sensor connections there are green LEDs. These show the status of the signal at the relevant input.
8. Diagnosis and error treatment 8.2 Fault messages on the control panel If faults occur, the control panel will display detailed fault messages (fault codes) coded in the form of a hexadecimal number. The coded fault messages contain information on: the fault class the fault number in some cases additional information. Composition of the fault messages The control panel displays fault messages in the form of an eight−figure hexadecimal number.
8. Diagnosis and error treatment Fault class The fault class reflects the type of fault which has occurred (e.g. hardware fault, configuration fault etc.) as well as the time the fault occurred. If the SPC200 is ready for communi cation, the ERROR−LED will flash according to the fault class.
8. Diagnosis and error treatment Axis identifier Fault number and additional information Festo P.BE−SPC200−EN en 0901d With axis−related faults the axis identifer indicates the axis on which the fault has occurred. Meaning: Axis identifier Description 0 Fault is not axis−related (system fault) 1 Fault with the X−axis 2 Fault with the Y−axis 3 Fault with the Z−axis 4 Fault with the U−axis The fault number describes the source of the fault.
8. Diagnosis and error treatment 8.2.1 Fault stages All faults are assigned to a certain fault stage (A ... D). The fault stage specifies how the fault can be quitted and how the system reacts to the occurrence and quitting of the fault.
8. Diagnosis and error treatment 8.2.
8. Diagnosis and error treatment Fault class 1: Initialization phase Fault in the initialization of components and modules Fault stage Fault message Operating status / fault explanation A 00004x01 Actual configuration not the same as nominal configuration (axis configuration and I/O assignment checked) Eliminating faults · Check and if necessary correct the configuration of the internal components and string assignment and switch the SPC200 on again or carry out a System Reset.
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8. Diagnosis and error treatment Fault class 4: Hardware fault in the operating phase Fault stage Fault message Operating status / fault explanation B 00006x04 Load voltage for field devices and propor tional directional control valve is too low. · Eliminate undervoltage on zzz07x04 · Make sure that the field bus C zzz08x04 D zzz09x04 zzz0Ax04 Fault in monitoring the field bus module (PROFIBUS, Interbus, DeviceNet, etc.); field bus module cannot be addressed.
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8. Diagnosis and error treatment Fault class 4: Hardware fault in the operating phase Fault stage Operating status / fault explanation Fault message Eliminating faults zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axis−related) C zzz11x04 zzz12004 The AIF x has detected undervoltage on the load voltage. The valve moves automatically to the mid−position, the axis is no longer in closed−loop control.
8. Diagnosis and error treatment Fault class 5: Sequence control fault Fault stage Fault message Operating status / fault explanation C ppp01x05 Starting program does not exist Eliminating faults · Correct starting program number or load/enter starting program nnn02x05 Sub−program does not exist (L command) · Correct NC record or load/ enter program nnn03x05 NC record does not exist · Correct NC record nnn04x05 Program no.
8. Diagnosis and error treatment Fault class 5: Sequence control fault Fault stage Fault message C 0050Cx05 Conversion for this nominal value has already taken place. · Analogue nominal value zzz0Dx05 Reserved zzz0Ex05 The programmed nominal value input does not exist. · Correct NC record zzz0Fx05 Reserved zzz10x05 Programmed input or output is not avail able. Input/output address or I/O module does not exist. · Correct NC record.
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8. Diagnosis and error treatment Fault class 6: Fault in positioning task or identification travel Fault stage Fault message Operating status / fault explanation Eliminating faults C ssz05x06 Fault in identification travel ss = Service information specifies the identification step in which the fault occurred.
8. Diagnosis and error treatment Fault class 6: Fault in positioning task or identification travel Fault stage Fault message Operating status / fault explanation C nnn06x06 NC command G00 is not possible as a dynamic identification travel has not been carried out · Carry out dynamic identifica nnn07x06 The controller in the SPC200 cannot be initialized · Check controller, axis and nnn08x06 A task for this axis is already active (position ing, identification ...).
8. Diagnosis and error treatment Fault class 6: Fault in positioning task or identification travel Fault stage Fault message Operating status / fault explanation C nnn10x06 Controller is inactive, as enable signal for first commissioning or after movement test is missing or the configuration is faulty.
8. Diagnosis and error treatment Fault class 6: Fault in positioning task or identification travel Fault stage Fault message Operating status / fault explanation C nnn1Ax06 The specified reference run mode is not permissible for this axis. Eliminating faults · Correct the command · Check reference run mode in the application data, com pare with that currently being used. Permitted: Stepping motor axis: Modes 0 to 4 Pneum.
8. Diagnosis and error treatment Fault class 7: Fault in the pre−parametrizing Fault stage Fault message Operating status / fault explanation C 00001x07 Software end position lies outside the possible positioning range Eliminating faults · Correct parameter (permitted value ranges see chapter 6.
8. Diagnosis and error treatment Fault class 7: Fault in the pre−parametrizing Fault stage Fault message Operating status / fault explanation Eliminating faults C zzz0Dx07 Configured assignment of a local I/O range to the specified field bus I/O range in the SPC200 is not permissible because the local module itself is not present. zzz = I/O word no.
8. Diagnosis and error treatment Fault class 8: NC Editor, Upload/download or operation execution fault Fault stage Fault message Operating status / fault explanation D nnn01x08 Syntax fault or non−permitted program ppp01x08 number entered · Correct entry ppp02x08 When using the control panel: Non−permitted program number selected, program cannot be created as it already exists or program cannot be opened as it does not exist.
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8. Diagnosis and error treatment Fault class 8: NC Editor, Upload/download or operation execution fault Fault stage Fault message Operating status / fault explanation Eliminating faults D zzz16x08 Compatibility error between WinPISA and the operating system version of the SPC200. zzz = 001: The function Calibration of operating system version 4.82 requires at least WinPISA 4.41.
8. Diagnosis and error treatment 8.3 8.3.1 Eliminating faults in the system Faults when switching on 1) No display on the SPC200 Cause Remedy Remarks Supply voltage is not correct or SPC 200 is defective Check supply voltage or servicing required See section 3.2.1 2) Axis makes small movements backwards and forwards Cause Remedy Remarks Axis or application data not correct Check axis or application data See section 6.
8. Diagnosis and error treatment 3) Axis moves against end positions Cause Remedy Remarks Cables not connected correctly (incorrect polarity) Check See section A Measuring system is defective or not connected Check See section 3.6.1 Proportional directional control valve is defective Check proportional directional control valve Carry out movement test, see section 4.4.2 8−34 Festo P.
8. Diagnosis and error treatment 8.3.2 Faults when positioning 1) Drive does not move Cause Remedy Remarks No supply pressure Check Valve cable is not connected correctly Check See section 3.6.1 Proportional directional control valve is defective Check and, if necessary, replace. Carry out movement test, see section 4.4.
8. Diagnosis and error treatment 3) Axis has bad positioning behaviour Cause Remedy Remarks System is not fitted correctly Check mechanical parts Check measuring system and cylinder for parallelism, mechan ical play and sluggishness System is not earthed correctly Check See section 3.5.2 Application data are not set optimally (mass, work stroke) Check application data See section 6.2 System identification has not been carried out Carry out system identification See section 4.4.
Notes on installing the pneumatic components Appendix A Festo P.
A. Notes on installing the pneumatic components Contents A.1 A.2 A.3 A.4 A.5 A−2 Axis structure with drive type DGP(L)−... and type DGPI(L)−... . . . . . . . . . . . . Axis structure with standard cylinder type DNC−... . . . . . . . . . . . . . . . . . . . . Axis structure with standard cylinder type DNCM−... . . . . . . . . . . . . . . . . . . . Axis structure with rotary module type DSMI−... . . . . . . . . . . . . . . . . . . . . . . Axis structure with standard cylinder type DNCI−... . . . . . . . .
A. Notes on installing the pneumatic components A.1 Axis structure with drive type DGP(L)−... and type DGPI(L)−... The following diagram shows as an example the axis struc ture in conjunction with a positioning drive type DGP(L)−... . 3 3 SPC200 4 2 1 7 6 5 1 Drive (here type DGP(L)−...) 2 Measuring system (here external measuring system type MLO−POT−...−TLF) 3 Shock absorber (optional) 5 Proportional directional control valve type MPYE−5−...
A. Notes on installing the pneumatic components Valve−drive combination with DGP(L)−... and DGPI(L)... Recommendation: Use only suitable valve−drive combina tions. The following diagram shows valve−drive combinations for type DGP(L)−... and DGPI(L)... . MPYE−5−3/8−010B 63 1 50 40 ∅ [mm] MPYE−5−1/4−010B 2 32 MPYE−5−1/8HF−010B MPYE−5−1/8LF−010B 200 400 600 25 800 1000 1200 1400 1600 1800 2000 L [mm] 1 Proportional directional control valve type MPYE−5−...
A. Notes on installing the pneumatic components Installation instructions for drives DGP(L)−... and DGPI(L)−... Any mounting position is permitted (horizontal, vertical or diagonal) · Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke reduction 1 Permitted work 1 stroke = (stroke length minus stroke reduction) 2 2 Stroke reduction Fig.
A. Notes on installing the pneumatic components · In order to use the end position cushioning as minimum stop protection, tighten completely the adjusting screws for the internal end position cushioning. · Recommendation: Limit the permitted work stroke by shock absorbers, also on drives with adjustable cushion ing. In this way you can avoid damage in the event of operating and system faults. · Arrange the tubing between the valve (MPYE−5−...) and the drive (DGP(L)−...or DGPI(L)−...
A. Notes on installing the pneumatic components Caution If the positioning range of the drive is longer than the posi tioning range of the measuring system: Limit the positioning range by means of shock absorbers, so that the measuring system covers the complete posi tioning range. In this way you can protect the measuring system against damage. Note here the general instructions on measuring systems in sections 3.2.7 and 3.4.
A. Notes on installing the pneumatic components Tubing with slide and yoke operation with the DGP(I)(L)−... The DGP(I)(L)−... is suitable both for slide and yoke mode. When compressed air is applied to port 4 of the proportional directional control valve, the slide must move in the direction of the measuring system zero point (electrical connection of the potentiometer). If compressed air is applied to port 2, the slide must move away from the measuring system zero point.
A. Notes on installing the pneumatic components Drives with unilateral air supply 1 2 1 Electrical connection (measuring system zero point) 2 Identifying the direction of movement Fig. A/7: Tubing on the side with the measuring system zero point 1 2 1 Electrical connection (measuring system zero point) 2 Identifying the direction of movement Fig. A/8: Tubing on the side opposite the measuring system zero point Festo P.
A. Notes on installing the pneumatic components A.2 Axis structure with standard cylinder type DNC−... The following diagram shows the axis structure in conjunction with standard cylinder type DNC−... and measuring system type MLO−POT−...−LWG: 2 3 5 4 SPC200 ÓÓÓ ÓÓÓ ÓÓÓ 1 aJ 9 8 6 7 1 Guide 6 Axis interface type SPC−AIF−POT−LWG 2 Backlash−free coupling 7 Proportional directional control valve 3 Measuring system (here type MLO−POT−...−LWG) 4 Drive (here type DNC−...
A. Notes on installing the pneumatic components An operating system as from version 4.6 is required for operating this drive. Please note The following DNC variants are not permitted for use with the SPC200: constant run variant S10 (slow speed) light run variant S11 (low friction) temperature−resistant variant S6 (only on demand). Use only: Festo P.BE−SPC200−EN en 0901d DNC drives with permitted maximum piston speed Vmax > 1 m/s. permitted valve−drive combinations.
A. Notes on installing the pneumatic components Valve−drive combinations with DNC−... Recommendation: Use only suitable valve−drive combina tions. The following diagram shows valve−drive combinations for type DNC−... . 1 Proportional directional control valve type MPYE−5−...−010B MPYE−5−1/8LF−010B MPYE−5−3/8−010B MPYE−5−M5−010B 1 80 2 Drive diameter the drive 63 50 MPYE−5−1/8HF−010B ∅ [mm] MPYE−5−1/4−010B 3 Stroke length of 2 40 32 50 150 250 350 450 L [mm] 550 650 750 3 Fig.
A. Notes on installing the pneumatic components Installation instructions for standard cylinder DNC−... Any mounting position is permitted (horizontal, vertical or diagonal). · Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke reduction On each side of the drive positioning must not take place in the range of the stroke reduction (see also chapter 3.4).
A. Notes on installing the pneumatic components · Arrange the tubing between the valve (MPYE−5−...) and the drive (DNC−...) symmetrically and as short as possible. Maximum tubing length Ţ Cylinder stroke length + 50 mm. · Lubricate the external guide at suitable maintenance intervals (note manufacturer specifications). · Use only fastening elements which can permanently resist the acceleration forces.
A. Notes on installing the pneumatic components Please note If there is too much coupling play this may cause: noise due to knocking on the coupling increased wear on the coupling bad running behaviour bad positioning accuracy in some cases to faults in identification travel. Make sure that the play of the coupling is as small as possible. Warning Lateral loadings produce false measuring results and may damage the measuring system.
A. Notes on installing the pneumatic components · In order to earth the device, connect the earth strap to the flat plug of the measuring system and to the earth con nection of the axis interface (see Fig. A/9). The earth strap in included with the measuring system. Please note If the measuring system bends or vibrates during oper ation, use additional support for the measuring system. Use suitable measures to cushion the vibrations. Tubing of the DNC−...
A. Notes on installing the pneumatic components A.3 Axis structure with standard cylinder type DNCM−... The following diagram shows the axis structure in conjunction with the standard cylinder with built−on measuring system type DNCM−...: 3 4 2 5 ÔÔ ÔÔ ÔÔ SPC200 6 1 aJ 9 8 7 1 Guide 6 Axis interface type SPC−AIF−POT 2 Backlash−free coupling 7 Proportional directional control valve 3 Built−on measuring system 4 Drive with built−on measuring system (here type DNCM−...
A. Notes on installing the pneumatic components An operating system as from version 4.6 is required for oper ating this drive. Caution The standard cylinder and the measuring system are mounted symmetrically at the factory. Do not loosen the mechanical connections between the standard cylinder housing and the measuring system housing. When fitting the coupling plate, observe the operating instructions for the DNCM−...−POT. Fig. A/13: Do not loosen the mechanical connection A−18 Festo P.
A. Notes on installing the pneumatic components Valve−drive combinations with DNCM−... Recommendation: Use only suitable valve−drive combina tions. The following diagram shows valve−drive combinations for type DNCM−... . MPYE−5−M5−010B directional control valve type MPYE−5−...−010B MPYE−5−1/8HF−010B MPYE−5−1/8LF−010B 2 Drive diameter 50 3 Stroke length of 32 ∅ [mm] 1 Proportional 1 2 the drive 100 200 300 L [mm] 400 500 3 Fig. A/14: Suitable valve−drive combinations with DNCM−...
A. Notes on installing the pneumatic components Installation instructions for standard cylinder type DNCM−...−POT Any mounting position is permitted (horizontal, vertical or diagonal) · Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke reduction On each side of the drive positioning must not take place in the range of the stroke reduction (see also chapter 3.4).
A. Notes on installing the pneumatic components · Lubricate the external guide at suitable maintenance intervals (note manufacturer specifications). · Use only fastening elements which can permanently resist the acceleration forces. Recommendation: Use the following fastening elements from Festo: · Fastening elements Type Base fastening HNC−... Flange fastening FNC−... Use a suitable guide for absorbing lateral forces.
A. Notes on installing the pneumatic components Please note If there is too much coupling play this may cause: noise due to knocking on the coupling increased wear on the coupling bad running behaviour bad positioning accuracy in some cases to faults in identification travel. Make sure that the play of the coupling is as small as possible. Warning Lateral loadings produce false measuring results and may damage the measuring system.
A. Notes on installing the pneumatic components 1 4 2 1 1 Electrical connection Fig. A/15: Tubing of the DNCM−... Festo P.
A. Notes on installing the pneumatic components A.4 Axis structure with rotary module type DSMI−... The following diagram shows as an example the axis struc ture in conjunction with the rotary module type DSMI−... . 3 4 2 SPC200 ÓÓÓÓÓÓÓ ÓÓÓ ÓÓÓÓÓÓÓ ÓÓÓ 1 5 8 7 6 1 Shock absorber (optional) 5 Axis interface type SPC−AIF−POT−LWG 2 Rotary module with integrated 6 Proportional directional control valve measuring system type DSMI−...−...
A. Notes on installing the pneumatic components For this drive an operating system as from version 4.6 and WinPISA as from version 4.3 are required. Valve−drive combinations with DSMI−... Recommendation: Use only suitable valve−drive combina tions. The following table shows valve−drive combinations for type DSMI−... as well as the dimensions of the compressed air tubing and tube connectors. Horizontal mounting position Type DSMI DSMI−... Valve type MPYE−... Screw connectors for MPYE−... DSMI−...
A. Notes on installing the pneumatic components Case A: The centre of gravity of the mass load lies outside the rotary axis (output drive shaft of the DSMI−...) · 1 Centre of gravity Only the vertical mounting position is permitted. The out put drive shaft points vertically upwards or downwards. The load is moved only in a horizontal plane. 1 of the mass load 1 Fig.
A. Notes on installing the pneumatic components Installation instructions for rotary module type DSMI−... · Note that in conjunction with the SPC200, the complete swivel range of the rotary module must not be used. Permitted swivel range = max. swivel range minus stroke reduction On each side of the drive positioning must not take place in the range of the stroke reduction (see also chapter 3.4). Festo P.
A. Notes on installing the pneumatic components Please note Observe the operating instructions for the DSMI−... . Make sure that: the permitted lateral force the permitted longitudinal force and the maximum permitted swivel frequencies are observed. · Make sure that the cushioning plate is fitted on the stop lever of the DSMI−... . · Recommendation: Limit the swivel range by means of shock absorbers. In this way you can avoid damage in the event of operating and system faults.
A. Notes on installing the pneumatic components Please note Internal vibrations of the mass load can lead to malfunc tioning. Fasten the mass load so that vibration is kept to a minimum. Avoid masses on long, flexible lever arms. 1 Favourable internal vibration behaviour 1 2 2 Unfavourable internal vibrations are not permitted Fig. A/19: Example: Favourable and unfavourable internal vibration behaviour of the mass Tubing of the DSMI−...
A. Notes on installing the pneumatic components 1 Shock absorber for end position 1 2 Stop lever 2 3 Shock absorber for end position 2 4 Work connection 1 3 has effect in direction of end position 1 5 Work connection 5 has effect in direction of end position 2 4 Fig. A/20: Work connections and fixed stops on the DSMI−...−... 2 4 Fig. A/21: Tubing of the DSMI−... A−30 Festo P.
A. Notes on installing the pneumatic components A.5 Axis structure with standard cylinder type DNCI−... The following diagram shows the axis structure in conjunction with the standard cylinder type DNCI−...
A. Notes on installing the pneumatic components An operating system as from version 4.82 is required for operating this drive. For commissioning, WinPISA from version 4.41 is additionally recommended. Warning There is a danger of injury caused by pressure forces which can eject the sensor if the connecting screws are loosened under pressure. · Make sure that the following sources of power are switched off: operating voltage compressed air (drive vented on both sides).
A. Notes on installing the pneumatic components Please note The piston rod of the DNCI is flat on both sides the double piston rod. The incremental magnetic measuring tape is integrated into the piston rod on one side. Do not damage this side of the piston rod; the measuring tape could be damaged and thus falsify the measuring signal. This can disable the function of the measuring system.
A. Notes on installing the pneumatic components Valve−drive combinations with DNCI−... Recommendation: Use only suitable valve−drive combina tions, see the following illustration. 1 Proportional MPYE−5−1/8LF−010B 1 MPYE−5−M5−010B MPYE−5−1/4−010B 2 Drive diameter 63 50 3 Stroke length of the drive MPYE−5−1/8HF−010B ∅ [mm] directional control valve type MPYE−5−...−010B 2 40 32 50 150 250 350 450 L [mm] 550 650 750 3 Fig. A/24: Suitable valve−drive combinations with DNCI−...
A. Notes on installing the pneumatic components Installation instructions for standard cylinder type DNCI−... Any mounting position is permitted (horizontal, vertical or diagonal) · Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke reduction On each side of the drive positioning must not take place in the range of the stroke reduction (see also chapter 3.4). Festo P.
A. Notes on installing the pneumatic components Recommendation: Use the following fastening elements from Festo: · Fastening element Type Base fastening HNC−... Flange fastening FNC−... Use a suitable guide for absorbing lateral forces and external torques. Recommendation: If necessary, use standard cylinder type DNCI from Festo in the variant with built−on guide unit type FENG.
A. Notes on installing the pneumatic components Please note If there is too much play in the coupling between the mass load and the drive this may cause: noise due to knocking on the connecting elements high wear on the connecting elements bad running behaviour bad positioning accuracy in some cases to faults in identification travel. Make sure that there is as little play as possible between the connecting elements.
A. Notes on installing the pneumatic components Tubing of the DNCI−... When compressed air is applied to port 4 of the proportional directional control valve, the piston must retract, and the mass load then moves to the right in the depiction shown here (see Fig. A/25). When compressed air is applied to port 2, the piston must advance, and the mass load then moves to the left here. 1 Electrical connections 1 2 Compressed air source (4...8 bar) 4 2 2 1 Fig. A/25: Tubing of the DNCI−...
Optimizing the positioning behaviour Appendix B Festo P.
B. Optimizing the positioning behaviour Contents B.1 B.2 B.3 Basic information on control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−3 Description of the controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−7 Optimize positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−10 B.3.1 Proceed as follows if the compressed air supply is unstable . . . . . B−16 B−2 Festo P.
B. Optimizing the positioning behaviour B.1 Basic information on control The basis for control of the pneumatic axes is a model control path stored in the SPC200. This model assumes a pneumatic axis which is built up in accordance with specifications, e.g. with regard to: the compressed air provided the valve−cylinder combination used the permitted mass load tubing sizes and lengths, etc.
B. Optimizing the positioning behaviour In addition to point−to−point positioning (G00), the SPC200 controller also enables profile travel (G01/G02) of the pneu matic axes. Point−to−point With point−to−point positioning, nominal value curves for path, speed and acceleration are generated by the SPC200. These should enable reproducible, if possible fast and overswing−free movement towards the nominal position (see chapter 7.4, command G00).
B. Optimizing the positioning behaviour 4 5 3 2 1 6 7 aJ 9 8 1 Programmed speed 6 Nominal value curve with G02 2 Identified maximum speed 7 Nominal value curve with G01 3 Configured maximum speed 8 Braking phase (t2) 4 Approach ramp (G08) 9 Consistent movement (t3) 5 Braking ramp (G09) aJ Acceleration phase (t1) Fig. B/1: Nominal speed value curve (G01/G02) Festo P.
B. Optimizing the positioning behaviour Please note With dynamic identification, the maximum speed and the maximum acceleration values of the positioning system concerned are ascertained. When NC commands G01, G02 and G08, G09 are used, these values must not be ex ceeded.
B. Optimizing the positioning behaviour B.2 Description of the controller factors From the basic parameters the SPC200 ascertains various controller parameters. These determine the dynamics (speed) as well as transition behaviour (damping) of the con troller. The aim is to guarantee fast, overswing−free position ing with little contouring fault (dynamic control deviation). The controller data ascertained by the SPC200 are usually therefore the optimum values.
B. Optimizing the positioning behaviour Behaviour of the axis Factor The drive tends towards instability (tendency to vibrate during positioning, up to continuous vibration around the nominal position). Reduce Bad positioning accuracy or high contouring fault as well as long positioning time. Increase The positioning process is carried out quickly and accurately. Optimal Permitted: 0.1 ... 10.
B. Optimizing the positioning behaviour Signal filter factor Speed and acceleration are derived from the positioning signal and filtered to improve the signal quality. If in practice there is bad signal quality, e.g. due to electrical interfer ence, filtering of the signal can be influenced by the signal filter factor. If filtering is too strong it may destabilize control. Behaviour of the axis Factor The drive tends towards instability (despite low gain and good damping).
B. Optimizing the positioning behaviour B.3 Optimize positioning behaviour The following problems can occur during positioning: the axis stops prematurely on several occasions swinging around the nominal position stability problem, very frequent swinging around the nominal position overswing underswing.
B. Optimizing the positioning behaviour If problems still occur, proceed as follows: 1. Observe the positioning behaviour. If possible, use the WinPISA software package here. With WinPISA you can record and represent graphically nominal and actual values for e.g. path, speed and acceleration. Detailed information on this can be found in the WinPISA user manual. 2. Compare the positioning behaviour or the graph compiled with WinPISA with the following examples. 3.
B.
B.
B.
B. Optimizing the positioning behaviour Effect Cause Remedy Overswing (no or minimum standstill time before MC) 1 2 Too high mass load entered (in some cases causes over dampened controller) · Reduce mass load Overstressing (too high, fast" nominal values) · Adapt nominal values or (see chapter 3.2.9) carry out dynamic identifica tion travel (automatic limiting) 1 Nominal position 2 Actual position Festo P.
B. Optimizing the positioning behaviour B.3.1 Proceed as follows if the compressed air supply is unstable If your compressed air supply does not reliably fulfil the requirements (tolerance of +/− 1 bar in operation), although a compressed air reservoir has been installed (see chapter 3.2.3), the maximum values for acceleration and delay ascertained during system identification may, under some circumstances, not be reached. This may result e.g.
Technical appendix Appendix C Festo P.
C. Technical appendix Contents C.1 C.2 C.3 C.4 C−2 Sequence plans for the programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Creating readiness to operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Start NC record in Record Select mode . . . . . . . . . . . . . . . . . . . . . . C.1.3 Start program or NC record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.4 Carry out fault acknowledgement . . . . . . . . . . . . . . . . . . . . . . .
C. Technical appendix C.1 Sequence plans for the programmer The following sequence plans will support you in program ming a higher−order PLC/IPC. They show you how to: create readiness to operate start NC records in Record Select mode start NC programs in Start/Stop mode quit fault. The signal names are printed in upper−case letters. For example: READY stands for READY signal, 1 stands for 1−signal, 0 stands for 0−signal. C.1.
C. Technical appendix The following signal states must exist at the control inputs before the readiness to operate can be created: Record Select mode Control input Signal ENABLE 0−signal STOP 0−signal RESET 0−signal CLK_B Not relevant CLK_A Not relevant Start/Stop mode C−4 Control input Signal ENABLE 0−signal STOP 0−signal START/RESET 0−signal SYNC_IB Not relevant SYNC_IA Not relevant Festo P.
C. Technical appendix Create readiness to operate Reset: ENABLE STOP RESET or START/RESET 1 2 Yes Switch on the operating voltage and load voltage at the same time Switch on operating and load voltage supplies at the same time? No Switch on the operating voltage 2 Wait ţ 10 s Wait ţ 10 s Initialization phase Switch on the load voltage 2 Wait ţ 1 s Set ENABLE 1 1 Operating and load voltage supplies of the SPC200 2 Each voltage must be stable 24 V DC −5/+25 % Fig.
C. Technical appendix 1 Wait for the readiness of the stepping motor and the pneumatic axes to operate (reaction time max. 2 s). Start timer ţ 2 s No No Timer expired? READY =1? Yes Yes Waiting for faults Wait ţ 100 ms READY =1? No Yes Set STOP Wait ţ 10 ms SPC200 is ready for operation Debounce time SPC200 is faulty End Fig. C/2: Create readiness to operate (continued) C−6 Festo P.
C. Technical appendix C.1.2 Start NC record in Record Select mode Start NC record in Record Select mode ACK_A/B =0? No Yes Create NC record number RECBIT1...10 Wait ţ 10 ms Set CLK_A/B Start timer ţ 2 s No ACK_A/B =1? No Timer expired? Yes Fault Yes Reset CLK_A/B 1 2 Fig. C/3: Start NC record in Record Select mode Festo P.
C. Technical appendix 1 2 Start timer ţ 2 s No ACK_A/B =0? No Timer expired? Yes Fault Yes Time requirement depends on the application Start timer No RC_A/B= 1? No Timer expired? Yes Fault Yes End Fig. C/4: Start NC record in Record Select mode (continued) C−8 Festo P.
C. Technical appendix C.1.3 Start program or NC record Prerequisites The program must already be saved in the program memory The axis, application and system data must be set correctly The operating mode must be set The SPC200 is ready to operate (1−signal at ENABLE and STOP inputs and at READY output) Start NC program in Start/Stop mode In the operating mode Start/Stop the sequence is started or continued with a rising signal edge at the START input.
C. Technical appendix C.1.4 Carry out fault acknowledgement When serious faults have been quitted, the SPC200 carries out the initialization and self−test of the connected modules again. This initialization phase can take a certain amount of time (max. 10 seconds), depending on the equipment fitted on the system. Please note During this initialization phase no further rising signal edge may be created at the Start/Reset input. When a fault has been quitted, there may still be faults (e.g.
C. Technical appendix The following signal states must exist at the control inputs before the readiness to operate can be created: Record Select mode Control input Signal ENABLE 1−signal STOP When acknowledging with the RESET signal: 0−signal When acknowledging with the CLK signal: 1−signal RESET 0−signal CLK_B 0−signal CLK_A 0−signal Tab.
C. Technical appendix Fault treatment Yes READY =1? No Acknowledgem. counter = 0 Carry out fault acknowledge− ment (see Fig. C/7) Increment acknowledge− ment counter No READY =1? Yes SPC200 is ready for operation No Acknow− ledgem. counter >3? Yes Fault cannot be quitted Diagnosis required End Fig. C/6: Fault treatment C−12 Festo P.
C. Technical appendix Fault acknowledgement Create necessary signal states The necessary signal states depend on the operating mode used (see Tab. C/1 and Tab. C/2). Wait ţ 10 ms Debounce time Set START or CLK Rising edge starts the fault acknowledgement Wait ţ 10 ms Debounce time Reset START or CLK Restore standard setting Start timer ţ 10 s Max. waiting time until READY signal is applied No No Timer expired? READY =1? Yes Yes Wait ţ 100 ms Wait for next fault End Fig.
C. Technical appendix C.2 Cable length and cross−sectional area Please note In the following section it is assumed that the reader is familiar with the information in the chapter 3 Installation" in this manual. This section is directed exclusively at personnel trained in electrotechnology. A load−dependent drop in voltage occurs on all three supply cables of the SPC200.
C. Technical appendix Ascertain by formula Proceed as follows: 1. Calculate the maximum current consumption of the inter nal electronics, the connected modules and measuring systems (I1) as well as the load supply for outputs, field devices and proportional directional control valves (I2) (see also chapter 3.5.1). 2. Ascertain the lowest voltage to be expected during oper ation (VBmin) on the power unit.
C. Technical appendix Switch on Equivalent circuit diagram VB RL1 I1: Electronics etc. (24 V) I2: Outputs/valves etc. (24 L) I1 I2 AC SPC200 I0 RL2 VL2 1 I1 I2 Pin 1 Pin 2 DC VL1 RI2 RI1 VOUT/VAL Pin 3 2 L RL0 3 VL2+VL1 0 V 1 Line resistor (outgoing) RL1 + RL2 2 Line resistor (returning) RL0 3 L = distance (cable length) Fig. C/8: Equivalent circuit diagram for power supply C−16 Festo P.
C. Technical appendix Formula for maximum cable length: Lv NJǒV Bmin * V OUTńVALminǓ @ A @ ËCUNj {2 @ I 2 ) I 1} Meaning · VOUT/VALmin w 22.8 V · VBmin = minimum operating voltage supply (on the power unit) · Current I1 = current for electronics etc. (24 V) · Current I2 = current for outputs, field devices and proportional directional control valves etc. (24 L) · A = cross−sectional area (uniform e.g. 1.5 mm2) · κ = conductance value of the cables (uniform e.g.
C. Technical appendix C.3 Internal layout of the inputs/outputs Internal layout of type SPC200−DIO (PNP inputs) 24 V +10/−15 % 1 4 3 0...9 *) 5 2 0 V 0V 1 Diagnosis (short−circuit, overload, protection against incorrect polarity) 2 SPC200, inputs 0...9 3 Logic recognition 4 24 V sensor supply (not with separate potential) 5 *) Designation on plug X5/X7 (inputs 0...9) Fig. C/9: Internal layout of type SPC200−DIO (PNP inputs) C−18 Festo P.
C. Technical appendix Internal layout of type SPC200−DIO (PNP outputs) 1 24 V +10/−15 % 2 3 5 0...7 *) 4 0 V 1 Load voltage connection 2 SPC200, outputs 0...7 3 Electrical isolation 0V 4 Diagnosis (short circuit, overload, load voltage failure) 5 *) Designation on plug X6/X8 (outputs 0...7) Fig. C/10: Internal layout of type SPC200−DIO (PNP outputs) Festo P.
C. Technical appendix Internal layout of type SPC−FIO−2E/2A (PNP inputs) 1 +24 V 4 Pin 1 2 Pin 4 3 5 0 V 1 Sensor supply via AIF string 2 SPC−FIO−..., input 1.0 or 1.1 3 Electrical isolation Pin 3 4 Diagnosis (short circuit, overload, protection against incorrect polarity) 5 green LED Fig. C/11: Internal layout of type SPC−FIO−2E/2A (PNP inputs) C−20 Festo P.
C. Technical appendix Internal layout of type SPC−FIO−2E/2A (PNP outputs) 2 1 Pin 4 (n.c.) 3 4 Pin 1 0 V Pin 3 1 Load supply via AIF string 3 SPC−FIO−..., output 1.0 or 1.1 2 Diagnosis (short circuit, overload, 4 Electrical isolation load voltage failure) Fig. C/12: Internal layout of type SPC−FIO−2E/2A (PNP outputs) Festo P.
C. Technical appendix C.4 Technical specifications C.4.1 Technical specifications for the SPC200 Type SPC200−CPU−... Dimensions Height Width Depth Locations 4 120 mm 126 mm 96.5 mm 6 120 mm 167 mm 96.5 mm Weight Not fitted Approx. 675 g Approx. 850 g Temperature range: Operating temperature storage/transport − 5 ... + 50 °C − 20 ...
C. Technical appendix Type SPC200−PWR−AIF Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight 82 g Relative humidity 95 %, non−condensing Operating voltage at pin 1 (load voltage) Rated value Tolerance 1) Residual ripple Current consumption (SPC200−CPU−4 and SPC200−CPU−6) 24 V DC −5 ... +25 % (22.8...30.0 V DC) 2% 500 mA + 1.
C. Technical appendix Type SPC200−MMI−DIAG Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight 68 g Relative humidity 9%, non−condensing Serial interface (RS232C) Baud rates Data bits Stop bits Parity Protocol 9600, 19200, 38400, 57600, 115200 Baud 8 bits 1 Straight No handshake CE symbol (declaration of conformity) è www.festo.
C. Technical appendix Type SPC200−DIO (PNP) Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight 62 g Relative humidity 95 %, non−condensing Digital inputs Design Logic level: 10 inputs as per IEC 1131−2 type 2 inputs 24 V DC positive−switching (PNP) > 11 V <5V At logical 1"; typ. 8 mA ON OFF Current consumption (at 24 V) (input current from sensor to input) Response delay (at 24 V) Reference potential Typ.
C. Technical appendix Type SPC200−2AI−U Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight Approx. 55 g Relative humidity 95 %, non−condensing Analogue nominal value input Input voltage Resolution Input resistor 0...10 V 12 bits > 200 k CE symbol (declaration of conformity) è www.festo.com Vibration and shock Vibration Shock C−26 In accordance with EU EMC Directive Tested as per DIN/IEC 68 part 2−6: 0.15 mm path at 10...
C. Technical appendix Type SPC200−SCU−AIF Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight Approx. 80 g Relative humidity 95 %, non−condensing Current consumption Typ. 100 mA CE symbol (declaration of conformity) è www.festo.com In accordance with EU EMC Directive Vibration and shock Vibration Shock Festo P.BE−SPC200−EN en 0901d Tested as per DIN/IEC 68 part 2−6: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...
C. Technical appendix C.4.2 Technical specifications of axis interface type SPC−AIF−... Type SPC−AIF−... Dimensions (plug exit on top, without cable; incl. fastening bracket) ...−POT/−LWG/−MTS Width: appr. 100 mm Height: appr. 42 mm Length: appr. 66 mm ...−INC appr. 91 mm appr. 46 mm appr. 66 mm Weight ...−POT/−LWG/−MTS approx. 300 g ...−INC approx. 240 g Temperature range Operating temperature Storage/transport 0 ... + 50 °C − 20 ...
C. Technical appendix Continued type SPC−AIF−... CE symbol (declaration of conformity) è www.festo.com In accordance with EU EMC Directive Vibration and shock Vibration Shock Tested as per DIN/IEC 68 part 2−6: 0.35 mm path at 10...60 Hz; 5 g acceleration at 60...150 Hz Tested as per DIN/IEC 68 part 2−27: ± 30 g at 11 ms duration; 5 shocks per direction The device is intended for use in industrial applications Festo P.
C. Technical appendix C.4.3 Technical specifications of the I/O function module type SPC−FIO−... Type SPC−FIO−2E/2A−M8 1) (PNP) Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight 42 g Relative humidity 95 %, non−condensing Protection class as per EN 60529 plug connectors inserted or fitted with protective cap IP65 CE symbol (declaration of conformity) è www.festo.
C. Technical appendix C.4.4 Technical specifications of control panel type SPC200−MMI−1 Type SPC200−MMI−1 Dimensions Height Width Depth Approx. 67 mm Approx. 59 mm Approx. 52 mm Weight Approx. 90 g Temperature range Operating temperature Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Relative humidity 95 %, non−condensing Protection class as per EN 60529 Control panel inserted IP20 Vibration and shock Vibration Shock Festo P.
C. Technical appendix C.4.5 Technical specifications of control panel type SPC200−MMI−1F Type SPC200−MMI−1F Dimensions Height Width Depth Approx. 102 mm Approx. 102 mm Approx. 37 mm Weight Approx. 225 g Temperature range Operating temperature Storage/transport 0 ... + 50 °C − 20 ... +70 °C Relative humidity 95 %, non−condensing Protection class as per DIN 40050 (DIN EN 60529) On front side: IP65 (fitted) On rear: IP20 CE symbol (declaration of conformity) è www.festo.
Index Appendix D Festo P.
D. Index D−2 Festo P.
D. Index A Absolute dimension specification with positioning commands (NC command G90) . . . . . . . . 7−64 Acceleration switching (example) . . . . . . . . . . . . . . . . . . 7−45 Acceleration, maximum Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7−36 Determining (dynamic identification) . . . . . . . . . . . . . . B−3 Setting with the control panel (pneumatic axis) . . . . . 6−22 Setting with the control panel (stepping motor) . . . .
D. Index Angle measuring system . . . . . . . . . . . . . . . . . . . . . . . . . 3−24 Angle of rotation of the drive . . . . . . . . . . . . . . . . . . . . . . 3−25 Application data For electric axes (setting with control panel) . . . . . . . 6−23 for pneumatic axes (setting with control panel) . . . . . 6−18 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−19 Ascertain acceleration, Maximum (dynamic identification) . . . . . . . . . . . . . . . 7−32 Autonomous mode . .
D. Index Axis structure of the pneumatic drives DGP(I)(L)−... (drive without piston rod) . . . . . . . . . . . . . A−3 DNC−... (standard cylinder, piston rod drive) . . . . . . . A−10 DNCI−... (standard cylinder, measuring system integrated) . . . . . . . . . . . . . . . . . A−31 DNCM−... (standard cylinder, measuring system built on) . . . . . . . . . . . . . . . . . . . A−17 DSMI−... (rotary drive, measuring system integrated) . . . . . . . . . . . . . . . . . A−24 Axis type, Supported NC commands . . .
D. Index Commissioning Calibrating (WinPISA) . . . . . . . . . . . . . . . . . . . . . . . . . . 4−35 Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−13 Enter test program . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−39 Explanation of the control signals . . . . . . . . . . . . . . . . 4−11 First commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−5 Multiple−axis systems (overview) . . . . . . . . . . . . . . . . 4−42 Of a pneumatic axis . . .
D. Index Connecting a differential signal . . . . . . . . . . . . . . . . . . . . 3−49 Connecting a potentiometer . . . . . . . . . . . . . . . . . . . . . . 3−49 Connection assignment Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−43 , 3−45 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−46 digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−44 Connection diagram for the first commissioning . . . . . .
D. Index Controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−22 Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−13 Controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−7 Controller factors for pneumatic axes, Setting with the control panel . . . . . . . . . . . . . . . . . . . 6−51 Coordinated mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−25 Cylinder diameter . . . . . . . . . . . . . . .
D. Index Digital I/O module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−38 Nominal value specification . . . . . . . . . . . . . . . . 7−28 , 7−75 Dimensional reference system (definitions) . . . . . . . . . . DGP(I)L) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC(M) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI . . . . . . . . . . . .
D. Index ENABLE input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−11 ENABLE signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−12 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−43 ENABLE signal (Record Select) . . . . . . . . . . . . . . . . . . . . 5−23 Enter test program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−39 Exact stop Setting parameters with control panel . . . . . . . . . . . .
D. Index Fault number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8−9 , 8−11 Display on the control panel . . . . . . . . . . . . . . . . . . . . 6−49 Fault quitting Reset with the control panel . . . . . . . . . . . . . . . . . . . . 6−47 Time behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−8 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8−12 Field bus module (see separate manuals) . . . . . . . . . . . .
D. Index G Gain factor Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−7 Definition (controller data) . . . . . . . . . . . . . . . . . . . . . . 4−22 Examples . . . . . . . . . . . . . . . . . . . . . . . . . B−12 , B−13 , B−14 Setting on the control panel . . . . . . . . . . . . . . . . . . . . 6−51 I I/O address range . . . . . . . . . . . . . . . . . . . . 1−31 , 3−41 , 7−15 I/O function module type SPC−FIO−... . . . . . . . . . . . 1−5 , 3−61 Diagnosis (LEDs) . .
D. Index Inputs (I/O module) . . . . . . . . . . . . . . . . . . . . . . . . 3−39 , 3−40 Address range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7−14 Circuitry example . . . . . . . . . . . . . . . . . . . . . . . . 3−39 , 3−40 Display status with the control panel . . . . . . . . . . . . . 6−48 External supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−40 Inputs with control function . . . . . . . . . . . . . . . . . . . . . 3−43 Inputs without control function . .
D. Index Instructions on editing with the control panel . . . . . . . . 6−33 Integer operands (integer variables) . . . . . . . . . . . . . . . 7−14 Integer variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7−14 J Jump instruction (NC command E05) . . . . . . . . . . . . . . . 7−84 L LED on the axis interface . . . . . . . . . . . . . . . . . . . . . . . . . . 8−6 LED on the function I/O module . . . . . . . . . . . . . . . . . . . .
D. Index Maximum acceleration, Setting with the control panel . 6−22 Maximum speed Configuring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−19 , 4−21 Determining (dynamic identification) . . . . . . . . . . . . . 4−32 Setting with the control panel . . . . . . . . . . . . . . . . . . . 6−22 Setting with the control panel (stepping motor) . . . . 6−23 Maximum speed, Determining (dynamic identification) . B−3 MC (axis status flag Motion Complete) . . . . . . . . . . . . . .
D. Index Mounting position (of the axis) . . . . . . . . . . . . . . . 3−15 , 4−19 DGP(I)(L)−... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−5 DNC−... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−13 DNCI−... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−35 DNCM−... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−20 DSMI−... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. Index Nominal value input Activate (NC command M10) . . . . . . . . . . . . . . . . . . . . 7−68 Assign (NC command M14) . . . . . . . . . . . . . . . . . . . . . 7−75 Nominal value ramp with NC command G01, 7−35 Nominal value specification . . . . . . . . . . . . . . . . . . . . . . . 7−68 Analogue via analogue input card . . . . . . . . . . . . . . . . 3−48 Digital . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. Index Operating modes Multi−axis mode Autonomous mode . . . . . . . . . . . . . . . . . . . . . . . . . . 1−25 Coordinated mode . . . . . . . . . . . . . . . . . . . . . . . . . . 1−25 Multi−axis operation Autonomous operation . . . . . . . . . . . . . . . . . . . . . . . 7−9 Coordinated operation . . . . . . . . . . . . . . . . . . . . . . . . 7−8 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−24 , 5−4 Record Select mode . . . . . . . . . . . . . . . . . .
D. Index P Parameters of a positioning axis . . . . . . . . . . . . . . . . . . . 4−17 Application data . . . . . . . . . . . . . . . . . . . . . . . . . 4−19 , 4−21 Axis data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−18 , 4−20 Controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−22 Performance limits of the drives . . . . . . . . . . . . . . . . . . . . 1−8 Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. Index Positioning accuracy, Notes . . . . . . . . . . . . . . . . . . . . . . 2−21 Positioning quality class . . . . . . . . . . . . . . . . . . . . 4−19 , 7−55 Set (NC command G61) . . . . . . . . . . . . . . . . . . . . . . . . 7−54 Setting with the control panel . . . . . . . . . . . . . . . . . . . 6−22 Positioning signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7−79 Positioning stroke, Minimal . . . . . . . . . . . . . . . . . . . . . . . .
D. Index Programming with the control panel Create new program . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−28 Delete program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−41 Edit program . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−27 , 6−39 Exit program editor . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−32 First NC word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−36 Program test in single steps . . . . . . . . . . . . . . .
D. Index REF (axis status flag reference set) . . . . . . . . . . . . . . . . . 7−22 Reference configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 4−6 Saving with the control panel . . . . . . . . . . . . . . . . . . . 6−24 Reference point (DNCI) . . . . . . . . . . . . . . . . . . . . . . . . . . 3−23 Reference position (stepping motor) . . . . . . . . . . . . . . . 4−21 Setting with the control panel . . . . . . . . . . . . . . . . . . . 6−23 Reference speed (pneumatic axis) . . . . . . . .
D. Index S Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Save the configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−25 Saving the hardware configuration . . . . . . . . . . . . . . . . . 4−24 Screw connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10 Sequence plans for the programmer . . . . . . . . . . . . . . . . C−3 Carry out fault acknowledgement . . . . . . . . . . . . . . . . C−10 Create readiness to operate . . . .
D. Index Software end position Definition . . . . . . . . . . . . . . . . . . . 3−19 , 3−21 , 3−23 , 3−25 Lower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−21 Upper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−21 Software end position, Setting with the control panel . . 6−21 Software versions, Notes . . . . . . . . . . . . . . . . . . . . . . . . . XVII Speed, Minimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. Index Stepping motor, project−specific parameters Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−20 Motor (type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−20 Steps per revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−20 STOP input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−14 STOP signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−11 Pin assignment . . . . . . . .
D. Index Swivel angle Setting with the control panel . . . . . . . . . . . . . . . . . . . 6−17 Usable range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−25 SYNC_IA/B signal Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−11 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−43 SYNC_OA/B signal Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−13 Pin assignment . . . . . . . . . . . . . .
D. Index Test single−bit operand for 1−signal (NC command #T) . 7−86 Text markings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV Time behaviour Time behaviour at start of sequence . . . . . . . . . . . . . . 5−7 Time behaviour in Record Select mode . . . . . . . . . . . 5−19 When acknowledging a fault . . . . . . . . . . . . . . . . . . . . . 5−8 With a Programmed Stop . . . . . . . . . . . . . . . . . . . . . . . 5−15 TOL (axis status flag Axis in the tolerance window) . . . .
D. Index W WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−29 WinPISA programming software . . . . . . . . . . . . . . . . . . . 1−29 Working stroke . . . . . . . . . . . . . 3−19 , 3−21 , 3−23 , 3−25 , A−5 Workpiece mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . In initial state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum workpiece mass . . . . . . . . . . . . . . . . . . . . . Setting with the control panel . . . . .
