Motor controller SFC−LACI Manual Motor controller Type SFC−LACI−...
Contents and general instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0812NH Designation . . . . . . . . . . . . . . . . P.BE−GDCP−SFC−LACI−PB−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567 375 © (Festo AG & Co. KG, D 73726 Esslingen, Germany, 2009) Internet: http://www.festo.com E−Mail: service_international@festo.
Contents and general instructions Adobe® and Reader® are either a registered trademark or a trademark of Adobe Systems Incorporated in the United States and/or other countries. II Festo P.
Contents and general instructions Contents Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1 3.1 3.2 Installation overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Function of the hardware enable . . . . . . . . . . . . . . . . . . . . . . . . . . . Earthing . . . . . . . . . .
Contents and general instructions 5. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−1 5.1 Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Checking the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.2 Checking the power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.3 Before switching on . . . . . . . . . . . . .
Contents and general instructions 5.6 5.8 Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . . . . . . . . . . . . 5−36 5.6.1 FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−36 5.6.2 Structure of the cyclic I/O data (FHPP standard) . . . . . . . . . . . . . . 5−38 5.6.3 Description of the I/O data (Record select) . . . . . . . . . . . . . . . . . . . 5−40 5.6.4 Description of the I/O data (Direct mode) . . . . . . . . . . . . . . . . . . .
Contents and general instructions A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−1 A.1 A.2 A.3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Converting the units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3 A−5 A−6 B.
Contents and general instructions VIII Festo P.
Contents and general instructions Intended use The single−axis field controller (Single Field Controller) type SFC−LACI−... is used as a position controller and position servo for the electric drives, types DNCE−...−LAS and DFME−...−LAS. This manual deals with the basic functions of the SFC−LACI and the PROFIBUS interface of the SFC−LACI−...−PB. The drives DNCE−...−LAS and DFME−...−LAS and additional components are documented in separate operating instructions.
Contents and general instructions Safety instructions When commissioning and programming positioning systems, the safety regulations in this manual as well as those in the operating instructions for the other components used should be observed unconditionally. The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the possible danger area must be prevented by suitable measures such as protective screens and warning signs.
Contents and general instructions Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service or write to the following e−mail address if you have any technical problems: service_international@festo.
Contents and general 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 SFC−LACI motor controller manual This manual contains basic general information on operating, mounting, installing and commissioning the positioning systems with the motor controller SFC−LACI−...−PB. It also contains information on the functions of the PROFIBUS interface as well as information on commissioning with the Festo Configuration Tool (FCT) software package. Information on additional components can be found in the operating instructions supplied with the product.
Contents and general instructions Information on the version The hardware version specifies the version status of the mechanical and electronic components of the SFC−LACI. The firmware version specifies the version status of the operating system of the SFC−LACI.
Contents and general instructions Product−specific terms and abbreviations Term / abbreviation Meaning 0−Signal 0 V present at input or output (positive logic, corresponds to LOW) 1−Signal 24 V present at input or output (positive logic, corresponds to HIGH) Acknowledge Confirm, reply message, e.g. Acknowledge START". Acknowledge a fault". The user confirms that he has noted the fault. The device then leaves the fault status (if the fault still exists, it will be displayed again).
Contents and general instructions Term / abbreviation Meaning Log mode Manual positioning in positive or negative direction MMI Man Machine Interface"; corresponds to HMI PLC/IPC Programmable logic controller/industrial PC Positioning mode (Profile position mode) See overview of operating modes in section 1.1.
Contents and general instructions 1 2 3 1 Tool load 2 Additional load 3 The total of 1 and 2 : see under Effective load" in the operating instructions for the drive Fig. 0/1: Tool load and additional load PROFIBUS−specific terms and abbreviations Term / abbreviation Meaning 0x1234 or 1234h Hexadecimal numbers are marked by a prefixed 0x" or by a suffixed h" AK See under response identifier or task identifier BCD Binary coded decimal Bus segment Bus cable between two terminating resistors.
Contents and general instructions Term / abbreviation Meaning Parameter channel (PKW) Telegram part used for transmitting parameters. (PKW = parameter channel value). Parameter identifier (PKE) Integral part of the parameter channel (PKW) which contains the task and reply identifiers (AK) and the parameter number (PNU) Parameter number (PNU) Parameters which can be transmitted via the parameter channel are ad dressed with the parameter number (PNU).
Contents and general instructions XX Festo P.
System summary Chapter 1 Festo P.
1. System summary Contents 1.1 1.2 1.3 1−2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.2 Operating principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.3 Operational reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.
1. System summary 1.1 Overview 1.1.1 Components 1 Higher−order control 2 Software level: Festo Configuration Tool (FCT) ÌÌÌÌÌÌ ÌÌÌÌÌÌ ÏÏÏ ÏÏ Ï ÏÏ Ï ÏÏ Ï ÏÏ ÏÏ Ï ÏÏÏ Ï ÏÏ Ï ÏÏ Ï ÏÏ ÏÏ Ï ÏÏÏ ÏÏÏ ÏÏÏ ÏÏ ÏÏ 3 Controller level: 1 2 SFC−LACI 4 Drive level: DFME−...−LAS or DNCE−...−LAS 3 4 Fig. 1/1: Principle of a positioning system with the SFC−LACI Festo P.
1. System summary To construct a positioning system with the SFC−LACI, you need the following components: SFC−LACI Motor controller, optionally with control panel. Drive Electric drive DNCE−...−LAS or DFME−...−LAS, with accessories and mounting attachments Power supply unit 24 V For logic voltage supply Power supply unit 48 V For load voltage supply Power supply cable For supplying the SFC−LACI with logic and load voltage } section 3.
1. System summary 1.1.2 Operating principle 1 2 3 4 5 6 Reference variable input State vector feedback 7 Observer Fig. 1/2: Simplified diagram of control structure No. Block Task 1 Setpoint generator Generates executable position and velocity curves 2 Reference variable input Uses desired position, velocity and acceleration curves to calculate a force curve and from that a current curve, which is then directly input as the current setpoint value.
1. System summary The SFC−LACI has three types of memory: FLASH The FLASH memory stores the default settings and the firmware. The data from the FLASH memory are loaded when the device is switched on the first time or when the EEPROM has been deleted. RAM The volatile RAM memory stores the parameters that are currently being used and which can be modified using the control panel or FCT. When the modifications have been saved, they are transferred to the EEPROM.
1. System summary 1.1.3 Operational reliability A complex system of sensors and monitoring functions ensures operational reliability: Temperature monitoring: Final output stage in the SFC−LACI and linear motor Voltage monitoring: detection of faults in the logic power supply and detection of undervoltage in the load voltage supply I2t monitoring / overload protection Contouring error monitoring (e.g.
1. System summary · Note also the following points: Remedy Reaction Cancelling the ENABLE signal at the controller interface Without brake/clamping unit: The controller end stage is switched off. The effective load on the drive will continue to move due to inertia, or it will fall if mounted in a vertical or sloping position. When using a brake/clamping unit: If the drive moves when ENABLE is cancelled, then it will initially be brought to a standstill (using quick stop deceleration).
1. System summary Warning There is no plausibility check to see whether the deceleration (braking) that is set is actually achievable. The deceleration that can be achieved depends on your application (e.g. power and switching speed of your power supply unit, effective load, mounting position). If the deceleration cannot be achieved, an error will occur and the controller may be turned off (depending on the fault).
1. System summary 1.1.4 Operating modes of the SFC−LACI−PB Profile position mode Positioning mode. Standard operating mode when the SFC−LACI is switched on. The specification of the positioning tasks occurs: via Record selection: Selection of one, from a maximum of 31 positioning records stored in the SFC−LACI. via direct mode: The positioning task is directly trans ferred with the appropriate setpoint values over the field bus. Profile Torque Mode Force control.
1. System summary 1.1.5 Measuring reference system Homing determines the position of the homing reference point REF. When homing is concluded, the axis stands at the axis zero point AZ. The homing method defines how the homing point REF is determined. Reference point REF binds the measuring reference system to a proximity sensor or a fixed stop, depending on the homing method. Axis zero point AZ is shifted by a defined distance to the reference point REF (offset of the axis zero point).
1. System summary Measuring reference system 1) LSE USE e b c a 0 1 2 3 d AZ PZ g TP/AP REF f REF Reference point a Offset axis zero point AZ Axis zero point b, c Offset software end positions PZ Project zero point d Project zero point offset LSE Lower software end position e Effective stroke USE Upper software end position f Nominal stroke TP/AP Target position / Actual position g Offset TP/AP to PZ 1) Represented using the example of a drive of the DFME−...
1.
1. System summary 1.1.6 Homing methods to switch with index search The following can be used for homing to a proximity sensor: 1. The integrated reference switch of the drive (recom mended). It is located on the retracted (negative) end position and must not be moved (exception: minimum offset with an Index pulse warning", see section 6.7). 2. A proximity sensor to be externally attached by the user. The proximity sensors can be configured as reference switches or as limit switches.
1. System summary Homing methods to switch with index search Switch negative (at the retracted end position) 1 2 + REF AZ OffsetRef Switch positive (at the extended end position) 1 2 REF AZ OffsetRef 1 The drive (here: DFME−...−LAS) moves at search speed v_rp to the switch and reverses. After leaving the switching range, the drive moves to the next index signal of the displacement encoder. The reference point REF is there.
1. System summary Special features of homing To reference switch If a reference signal is not found when homing to the reference switch before the drive reaches a fixed stop or a limit switch, then the drive will reverse and search for the switch in the opposite direction. If a reference signal is found there, the drive runs through the switching range of the reference switch. The reference point is subsequently the following index pulse at the end of the switching range.
1. System summary 1.1.7 Homing methods to the stop Exact homing by reference to a fixed stop can only be carried out against externally fitted stops (without rubber buffer or similar). Therefore you should preferably use the homing methods to switch. Homing methods to the stop Negative fixed stop (retracted end position, near to motor) REF + 2 1 REF AZ OffsetRef Positive fixed stop (extended end position, remote from motor) 1 REF 3 OffsetRef AZ 2 REF 1 The drive (here: DFME−...
1. System summary 1.2 1.2.1 Communication Data exchange via PROFIBUS DPV0 Control Control with DPV0 takes place via the 8 cyclic control and status bytes in accordance with FHPP standard, see section 5.6.2. Parameterisation Parameterising with DPV0 takes place via the Festo parameter channel (FHPP−FPC, further 8 I/O bytes), see section B.2.1. DPV1 Parameterisation Parameterisation with DPV1 is performed via the parameter channel according to PROFIdrive V3.1.
1. System summary 1.2.2 Festo handling and positioning profile (FHPP) Customised for handling and positioning tasks, Festo developed an optimised data profile, the Festo Handling and Positioning Profile (FHPP)". FHPP enables uniform sequence control and programming for the various field bus systems and controllers from Festo. Communication over the field bus can occur cyclically (DPV0) or acyclically (DPV1).
1. System summary FHPP standard FHPP standard is used for time−critical sequence control. Here there are two FHPP operation modes: Record selection: The higher−level control (PLC) selects positioning records (positioning tasks) stored in the SFC−LACI. Direct mode: Positioning tasks are formulated directly into the master’s cyclical output data. Possible are positioning mode, continuous setpoint specification and gasoline operation.
1. System summary SFC... .gsd Process control / Process data Parameterising / Service data DPV0 (cyclic data channel) DPV0 (cyclic data channel) 8 Byte I/O DPV1 (acyclic data channel) 2 x 8 Byte I/O FHPP standard FHPP standard + FHPP FPC DPV1 SPOS/CPOS SCON/CCON Record selection 1 ... 2 ... ... n ... Positioning mode ...CON.B6/B7 PNU 100 ... 1043 SI ... PROFIdrive V3.1 Parameter Channel Direct mode SDIR/CDIR Positioning mode ...DIR.B1/B2 Force mode Fig.
1. System summary 1.3 Commissioning options You can parameterise and commission the SFC−LACI as follows: with the Festo Configuration Tool (FCT), } section 5.3 at the control panel (HMI, only type SFC−LACI−...−H2), } chapters 4 and 5 via PROFIBUS (PB), } section 5.
Fitting Chapter 2 Festo P.
2. Fitting Contents 2.1 2.2 2.3 2−2 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensions of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mounting the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1 Wall mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.2 H−rail mounting . . . . . . . . . . . .
2. Fitting 2.1 General Information Caution Uncontrolled drive motion may cause personal injury and material damage. · Before carrying out fitting, installation and/or mainten ance work, always switch off the power supply. Caution If a drive is mounted in a sloping or vertical position, loads may fall down and cause injury to persons. · Check whether external safety measures are necessary (e.g. toothed latches or moveable bolts).
2. Fitting 2.2 Dimensions of the controller 247 mm 120 mm Fig. 2/1: Dimensions of the controller 2−4 Festo P.
2. Fitting 2.3 Mounting the controller You can mount the SFC−LACI in one of two ways: 1. Wall mounting on a flat surface 2. H−rail mounting Note Mount the SFC−LACI or hat rail so that there is sufficient space for heat dissipation (above and below at least 40 mm). 2.3.1 Wall mounting You will need: A mounting surface of approximately 250 x 320 mm 2 sets of central supports type MUP−8/12 (accessory items), (the four brackets are clipped into the edge of the housing, see Fig. 2/2).
2. Fitting 2.3.2 H−rail mounting Procedure: 1. Make sure that the mounting surface can support the weight (approx. 1500 g) of the SFC−LACI. 2. Install an H−rail (mounting rail EN 50022 35 x 7.5 or better still 35 x 15). 3. With rail 35 x 7.5: Consider the max. distance of 3.3 mm between the housing and the H−rail: · If possible, use a part of the H−rail where there are no mounting screws. · If screws are necessary below the SFC−LACI: use e. g. an M6 screw as per ISO−7380ULF. 4.
Installation Chapter 3 Festo P.
3. Installation Contents 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3−2 Installation overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Function of the hardware enable . . . . . . . . . . . . . . . . . . . . . . . . . . . Earthing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3.1 Installation overview Warning Before carrying out fitting, installation and/or maintenance work, always switch off the power supply. In this way, you can avoid: uncontrolled movements of the connected actuators undefined switching states of the electronic components damage to the electronic components. Caution Faulty pre−assembled lines may destroy the electronics and trigger unexpected movements of the motor.
3. Installation 1 Parameterising 1 interface (RS232) 2 2 Controller interface 3 Voltage supply 3 4 Earth terminal 5 Local digital I/Os 6 Motor connection (e.g. DNCE−...−LAS) 6 5 4 Fig. 3/1: Connections to the SFC−LACI Connection to the SFC−LACI−PB Description 1 Parameterising interface M8 socket, 4−pin RS232 interface for parameterising, commissioning and diagnosis via FCT } section 3.5 2 Controller interface Sub−D, 9−pin, socket Interface for connecting to a PLC controller } section 3.
3. Installation If unused plug connectors are touched, there is a danger that damage may occur to the SFC−LACI or to other parts of the system as a result of ESD (electrostatic discharge). Place protective caps on unused terminal connections in order to prevent such discharges.
3. Installation 3.2 Voltage supply Warning · For the power 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 packs that guarantee reliable electrical isolation of the operating voltage as per IEC/DIN EN 60204−1.
3. Installation Connection 1) 2) 3) Pin Designation Function Colour 1) A1 Load voltage +48 VDC load Black, 1 A2 Load voltage GND load Black, 2 1 Logic voltage +24 VDC logic White 2 Logic voltage GND logic Brown 3 Hardware enable +24 VDC Green hardware enable 4 FE FE 3) 2) 5 Hardware enable GND hardware enable yellow Plug housing FE 3) Earthing strap with cable lug M4 Earth terminal (housing) FE 3) Wire colours of supply cable KPWR−MC−1−SUB−15HC−...
3. Installation Requirements to be met by the power supply Voltage Use Currents 48 VDC +5/−10 % Load supply (pins A1, A2) Nominal current (peak current): 10 A (20 A) Internal fuse: 16 A slow−blow (external as an option) 24 VDC ±10 % Logic supply (pins 1, 2) Nominal current: 0.4 A Peak current: 0.8 A (without local outputs) Internal fuse: 4 A slow−blow (external as an option) Local outputs OUT1/2 Supply via logic supply (pins 1, 2) Max.
3. Installation 3.2.1 Function of the hardware enable Application of 24 VDC to pin 3 (relative to pin 5) of the power supply connection is essential for operation of the SFC−LACI. In a similar fashion to the relay, Hardware enable" switches the load voltage on and off, whereby the voltage of the hardware enable represents the control voltage: Hardware enable applied: the load voltage is switched through. Hardware enable missing: the load voltage is blocked.
3. Installation 3.3 Earthing Note · Connect one of the earth terminals of the SFC−LACI at low impedance (short cable with large cross−section) to the earth potential. You can thereby avoid interference from electromagnetic sources and ensure electromagnetic compatibility in accordance with EMC directives. To earth the SFC−LACI, use one of the following terminals (see Tab. 3/3): earth terminal on the housing of the SFC−LACI, or earthing strip with cable lug on the plug housing.
3. Installation 3.4 Motor connection The linear motor is controlled via the motor connection and the signals from the displacement encoder are transmitted via the motor connection.
3. Installation Displacement encoder for BiSS interface The BiSS interface is a 2−wire interface for interference−im mune sensor connection. In contrast to the SSI interface, the data transmission is bi−directional, which means, for example, that data can also be written into the sensor for parametrisa tion. Data is transmitted via a pulse cable controlled by the master and a data cable controlled by the sensor as serial trans mission.
3. Installation Fig. 3/3: Sensor data communication Bits Type Label [19:30] DATA Cycle counter 12 bit (multiturn position) [8:18] DATA Angle data 11 bit (singleturn position) [7] Error Error bit E1 (amplitude error) [6] Error Error bit E0 (frequency error) [0:5] CRC Polynomial 0x43; x6+x1+x0 (inverted bit output) Tab. 3/6: BiSS Interface Festo P.
3. Installation 3.5 Parameterising interface Serial interface for parameterising, commissioning and diagnosing. Note For connecting a PC to the SFC−LACI, use only the cable specified in Tab. 3/2. · If necessary, remove the protective cap from the parameterising interface. · Connect the following terminals with the programming cable: the socket on the SFC−LACI a serial interface COMx of the PC.
3. Installation Information on commissioning and parameterising the SFC−LACI via the parametrising interface can be found in section 5.3.2 and in the help system for the Festo Configuration Tool software package. Information on transmitting CI commands via the parameterising interface can be found in appendix B. Note The parameterising interface (RS232) is not electrically isolated and is not real−time capable. It is not suitable for permanent connection to PC systems, or as a control interface.
3. Installation 3.6 Controller interface Communication with the higher−order controller (PLC/IPC) occurs via the controller interface. There is a 9−pin sub−D socket on the SFC−LACI terminal for connecting it to the field bus. This connection is used for the incoming and continuing field bus cables. Note Only the field bus plugs type FBS−SUB−9−GS−DP−B or FBA−2−M12−5POL−RK from Festo comply with IP54. Note the instructions in section 3.7.4 if other Sub−D plugs are used.
3. Installation 3.7 3.7.1 Connecting the field bus Field bus cable Note Faulty installations or high transmission rates may cause data transmission errors as a result of signal reflections and attenuations. Transmission errors can be caused by: missing or incorrect terminating resistor incorrect screened connection. branches transmission over long distances. unsuitable cables. Observe the cable specifications.
3. Installation 3.7.2 Field bus baud rate and field bus length Note The maximum permitted field bus segment lengths depend on the baud rate used. · Note the maximum permitted segment length (cable length without repeater), if you connect the SFC−LACI to a field bus segment. · Avoid branch lines. · Note the information in the manufacturer’s manuals for your controller. The baud rate is defined by the master and is recognized automatically by the SFC−LACI. Baud rate Maximum segment length 9.6; 19.2; 45.
3. Installation 3.7.3 Connection with field bus plugs from Festo Connection with field bus plugs from Festo You can connect the SFC−LACI easily to the field bus with the field bus plug from Festo (type FBS−SUB−9−GS−DP−B). You can disconnect the plug from the SFC−LACI without breaking the bus connection (T−Tap function). · Observe the fitting instructions for the field bus plug. Tighten the two fastening screws at first by hand and then with max. 0.4 Nm.
3. Installation 1 Folding cover with 1 inspection window 2 2 Blanking plug if 3 Bus in Bus out connection unused 3 Clamp strap for screen connection 4 Field bus incoming (IN) A B ON A B 5 Switch for bus termination and continuing field bus 6 Field bus continuing (OUT) 7 Only capacitively 7 connected 6 5 4 Fig.
3. Installation Connection with M12 adapter With the adaptor type FBA−2−M12−5POL−RK ( reverse key" coded), you can connect the SFC−LACI to the field bus using an M12 plug connector. You can disconnect the M12 adapter from the SFC−LACI without interrupting the bus cable (T−Tap function). Connection to the field bus is made with a 5−pin M12 plug with PG9 screw connector. Use the second connection socket for the continuation of the field bus. M12 adapter (reverse key coded) 2 2 3 3 1 1 5 4 5 4 Pin no.
3. Installation 3.7.4 Connection by other Sub−D plugs If plug type FBS−SUB−9−WS−PB−K from Festo or Sub−D plugs of other manufacturers are used, you must replace the two flat screws, with which the field bus plug is fastened in the SFC−LACI, with a bolt type UNC 4−40/M3x5 (included in delivery). Note Note that when using Sub−D plugs from other manufac turers, only IP20 protection is attained.
3. Installation 3.8 Bus termination with terminating resistors Note If the SFC−LACI is at the start or end of the field bus segment, a bus terminator is required. · Fit a bus termination to both ends of a bus segment. Recommendation: Use the ready−to−use field bus plugs from Festo for the bus termination. A suitable resistor network is incorporated in the housing of this plug (see Fig. 3/5).
3. Installation 3.9 Local digital inputs and outputs Out1 Out2 In1 In2 3 4 1 3 4 1 3 4 1 3 4 1 Connection Pin Function Output 1 (Out1) 3 Ground (GND) 4 Signal 1 +24 VDC logic voltage output 3 Ground (GND) 4 Signal A 1 Signal /A 3 Ground (GND) 4 Proximity sensor contact 1 +24 VDC voltage output for proximity sensor 3 Ground (GND) 4 Proximity sensor contact 1 +24 VDC voltage output for proximity sensor Output 2 (Out2) Input 1 (In1) Input 2 (In2) 3−24 Festo P.
3. Installation 3.9.1 Specifications of the outputs The local digital outputs are supplied by the 24−V logic voltage (no electrical isolation). They are ESD−protected and short circuit proof, but do not have reverse polarity protection against infeed. Caution If 24 V DC voltage is applied and the output pins are used incorrectly, the device may be seriously damaged. There fore: · Do not apply voltage to the outputs. · Note the current limitation for the outputs (max. 1 A permissible per output).
3. Installation 3.9.2 Specifications of the inputs based on DIN/EN 61131, Part 2 (IEC 1131−2), Type 1 are supplied by the 24−V logic voltage (no electrical separation). Note Damage to the device The 24 V DC voltage at pin 1 does not have any special protection against overload. · Use this connection only for proximity sensors (sensor supply). Use of this connection as a power supply for other devices is not permitted.
Control panel (only type SFC−LACI−...−H2) Chapter 4 Festo P.
4. Control panel (only type SFC−LACI−...−H2) Contents 4.1 4.2 4.3 4.4 4.5 4.6 4−2 Design and function of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . The menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [Diagnostic] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [Positioning] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Control panel (only type SFC−LACI−...−H2) The control panel of the SFC−LACI−...−H2 provides many functions for commissioning, parameterisation and diagnostics. An overview of the key and menu functions can be found in this chapter. Commissioning with the control panel is described starting from section 5.2. With the SFC−LACI−...−H0 (without control panel), you can commission the device via the parametrising interface using the Festo Configuration Tool (FCT).
4. Control panel (only type SFC−LACI−...−H2) 4.1 Design and function of the control panel The control panel allows: Parameterizing and referencing the drive (Homing run methods: to the stop and to the integrated reference switch of the drive) Teaching and editing the positioning records Execution/testing of positioning records 1 LC display 1 2 Operating buttons 2 3 LEDs 3 Power (green) I/F (green/red) Error (red) Fig. 4/1: Control panel of the SFC−LACI−...
4. Control panel (only type SFC−LACI−...−H2) Operator keys Basic functions of the operator keys: Key Function MENU Activates the main menu from the status display ESC Discards the current entry and switches back in stages to the higher−order menu level or status display EMERG.
4. Control panel (only type SFC−LACI−...−H2) 4.2 The menu system Status display and main menu When the logic voltage is switched on, the SFC−LACI carries out an internal check. The display briefly shows the Festo logo then changes to the status display. The status display shows the following information: SFC–LACI... D... Xa = 0.
4. Control panel (only type SFC−LACI−...−H2) Menu command Description } Diagnostic Displays the system data and the settings currently in effect (} section 4.3) } Pos. set table Displays the position set table } } } Axis parameters Displays axis parameters and data } System paramet.
4. Control panel (only type SFC−LACI−...−H2) 4.3 [Diagnostic] menu In order to display the system data and the currently effective settings: } Diagnostic Pos.set table Axis parameter System paramet. PROFIBUS Diag SW information 1. Select the [Diagnostic] menu in the main menu . 2. Select a menu command . { } You can scroll through the data with the arrow keys. ESC You can use the
4. Control panel (only type SFC−LACI−...−H2) [Diagnostic] [...] Description [Axis parameter] v max Maximum speed x neg Stroke limitation: Software end position, negative x pos Stroke limitation: Software end position, positive x zp Offset axis zero point Tool load Tool load (e.g. a gripper on the front plate or on the piston rod) Load Power Load voltage ok? VDig Digital voltage (= Logic voltage) [V] I max Max.
4. Control panel (only type SFC−LACI−...−H2) [Diagnostic] [...] Description [PROFIBUS Diag] ConState Configuration status WaitPrm: Wait for parameterising WaitCfg: Waiting for configuration DataEx: Data exchange Baud rate Current baud rate MasterAdr Address of the master SlaveAdr Address of the SFC−LACI ActCFG Pre−set data profile. Current bus configuration. Invalid: No or incorrect configuration by master (e.g. by invalid GSD file) FHPP Std.
4. Control panel (only type SFC−LACI−...−H2) 4.4 [Positioning] menu Starting a homing run or a positioning run Warning Electric axes move with high force and at high speed. Collisions may cause injury. · Make sure that nobody can place his/her hand in the positioning range of the moveable mass and that there are no objects in its path. Note · Before starting the reference run, make sure that: The positioning system is set up and wired completely, and is supplied with power.
4. Control panel (only type SFC−LACI−...−H2) } Positioning Homing Move posit. set Demo posit. tab The Positioning" menu includes entries for starting a homing run or a positioning run. Note Carry out the homing run and the positioning runs as described in the following sections: Homing: sections 5.2.1 to 5.2.3 Positioning runs / test runs: section 5.2.
4. Control panel (only type SFC−LACI−...−H2) 4.5 Menu [Settings] For parameterising the axis system and the positioning records: } Settings Axis type Axis parameter Homing paramet. Position set Jog mode PB parameter Password edit 1. Select the entry [Settings] in the main menu. 2. Select a menu command. [Settings] Description Section [Axis type] The axis controlled by the SFC−LACI 4.5.1 [Axis parameter] Teach mode for setting the axis parameters 4.5.2 [Homing paramet.
4. Control panel (only type SFC−LACI−...−H2) 4.5.1 [Settings] [Axis type] The connected drive is automatically detected. 4.5.2 [Settings] [Axis parameter] Teach mode for setting the axis parameters Observe the instructions in sections 5.2.4 and 5.2.5. · [Axis parameter] Description [Zero point] *) Offset axis zero point [SW−limit−neg] *) Software end position, negative [SW−limit−pos] *) Software end position, positive [Tool load] Tool mass, e.g. a gripper on the front plate/ piston rod [SAVE..
4. Control panel (only type SFC−LACI−...−H2) 4.5.3 [Settings] [Homing paramet.] Setting the homing method and the speed during reference travel. · Observe the instructions in section 5.2.1. [Hom. paramet.] Param.
4. Control panel (only type SFC−LACI−...−H2) 4.5.4 [Settings] [Position set] Parameterising the position set table · Observe the instructions in section 5.2.7. · Select first the number of the desired positioning record. The following settings refer to the currently selected positioning record. [Position set] Param. Description [Position nr] Nr Number of positioning set [1 ... 31] [Pos.
4. Control panel (only type SFC−LACI−...−H2) 4.5.5 [Settings] [Jog mode] You can use the arrow keys to move the drive continuously (also possible without previous reference run). The software end positions have no effect here. 4.5.6 [Settings] [PB parameter] Setting the field bus parameters [PB parameter] Description [PROFIBUS ADR] PROFIBUS address of the SFC−LACI−PB Festo P.
4. Control panel (only type SFC−LACI−...−H2) 4.5.7 [Settings] [Password edit] Access via the control panel can be protected by a (local) password in order to prevent unauthorized or unintentional overwriting or modification of parameters in the device. No password has been preset at the factory (presetting = 000). · Keep the password for the SFC−LACI in a suitable place, e.g. in the internal documentation for your system.
4. Control panel (only type SFC−LACI−...−H2) Entering a password Enter Password: [ ? x x ] = 0 EDIT <––> ESC
4. Control panel (only type SFC−LACI−...−H2) 4.6 Menu command HMI control" To select the menu commands [Positioning] and [Settings], the HMI: on" setting is required. Only then is the SFC−LACI ready to process user entries on the control panel. Caution When control via the control panel or FCT is activated (HMI: on), the drive cannot be stopped with the STOP bit of the control interface. When selecting the menu commands, you will be prompted to modify the HMI setting as necessary.
Commissioning Chapter 5 Festo P.
5. Commissioning Contents 5.1 5.2 5.3 5.4 5.5 5−2 Preparations for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Checking the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.2 Checking the power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.3 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.4 Simultaneous attempts to access the controller .
5. Commissioning 5.6 5.7 5.8 Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . . . . . . . . . . . . 5−36 5.6.1 FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−36 5.6.2 Structure of the cyclic I/O data (FHPP standard) . . . . . . . . . . . . . . 5−38 5.6.3 Description of the I/O data (Record select) . . . . . . . . . . . . . . . . . . . 5−40 5.6.4 Description of the I/O data (Direct mode) . . . . . . . . . . . . . . . . . . . . 5−41 5.6.
5. Commissioning 5.1 Preparations for commissioning Warning Danger of injury. Electric axes can move suddenly with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. · Make sure that nobody can reach into the operating range of the axes or other connected actuators (e.g. with a protective grille) and that no objects lie in the positioning range while the system is still connected to a power supply.
5. Commissioning 5.1.1 Checking the drive Note During operation, the drive must not strike a stop without shock absorption. · Use shock absorbers or buffers on all stops (exception: homing to a fixed stop). 5.1.2 · Before commissioning, make sure that drive and con troller are completely set up and wired and that the working space is adequate for operation with an effective load · Observe the notes in the operating instructions for the axis used.
5. Commissioning 5.1.3 Before switching on When the SFC−LACI is switched on, the controller interface is activated as standard [HMI = off ]. Caution Unexpected movements of the drive due to incorrect or incomplete parametrising · Make sure that there is no active ENABLE signal when switching on the SFC−LACI on the controller interface. · Parameterise the entire system completely before activating the controller with ENABLE or [HMI = on]. 5−6 Festo P.
5. Commissioning 5.1.4 Simultaneous attempts to access the controller Caution Simultaneous or alternating attempts to access the SFC−LACI via FCT, control panel and controller interface can cause unpredictable errors. · Make sure that the FCT, the control panel and the controller interface of the SFC−LACI are not used at the same time. Note In the following cases, it is not permitted to use the FCT to access the SFC−LACI for purposes of writing data (e.g. downloading parameters) or for control (e.g.
5. Commissioning 5.2 Commissioning with the control panel (only type SFC−LACI−...−H2) Information on the button functions and the menu structure of the control panel can be found in chapter 4. Overview of initial commissioning Commissioning steps Section 1. Before switching on: make sure that there is no active ENABLE signal on the controller interface 5.1.3 2. Set the parameters for the reference run: Homing method Search speed to reference point Positioning speed to axis zero point 5.2.1 3.
5. Commissioning 5.2.1 Setting the reference run parameters Switch the SFC−LACI on. When the logic voltage is switched on, the SFC−LACI carries out an internal check. The display briefly shows the Festo logo then changes to the status display. The reference point is determined as follows, depending on the homing method: by means of the drive’s integrated reference switch with a subsequent index search (recommended) or by means of a fixed stop (to be fitted externally by the customer).
5. Commissioning When homing to a fixed stop: 1. Measure the distance between your reference point and the retracted end position (OffsetRef } Tab. 1/3). 2. Enter the value (±1 mm) in FCT or via the CI object 6410/16h / PNU 1055. Note Controller inaccuracies If you do not enter the offset of the reference point, control inaccuracies (e.g. overshooting) can occur with small (100 mm) and large nominal strokes (400 mm).
5. Commissioning Setting parameters } Settings Homing paramet. Homing method Velocity v_rp Velocity v_zp SAVE... 1. Set the following: Homing method [Homing method] Search speed for ascertaining the reference point [Velocity v_rp] Speed of travel to axis zero point [Velocity v_zp]. 2. Accept each setting with OK . The setting will then take effect in the drive. 3. Save the parameter settings in EEPROM with the [SAVE] menu command.
5. Commissioning 5.2.3 Carrying out homing Overview Warning Danger of injury ! Electric axes move with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. · Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources.
5. Commissioning Start homing } Positioning Homing Move posit. set Demo posit. tab 1. Select [Positioning] [Homing]. 2. Start the homing run with START . If necessary, the homing run can be interrupted with the
5. Commissioning 5.2.4 Teach the axis zero point Factory setting Axis zero point with: Homing to reference switch: Homing to negative fixed stop: Homing to a positive fixed stop: 0 mm +1 mm 1 mm Note Risk of overloading when homing to stop: The drive must not press continuously against a mechanical stop (excessive warming). · Make sure that the axis zero point is at least 1 mm away from the mechanical stop.
5. Commissioning Note If the axis zero point is modified: Existing software end positions and the target positions in the position set table will be shifted together with the axis zero point. · Teach the software end positions and the target positions again if needed. The project zero point PZ can only be set via FCT or PNU 500 / Objekt 21F4h. Festo P.
5. Commissioning 5.2.5 Teach software end positions Factory settings by homing method: Homing method Factory settings [mm] Reference switch (AZ: 0 mm) SW−limit−neg = 0 SW−limit−pos = (nominal stroke −10) Negative stop (AZ: +1 mm) SW−limit−neg = 0 SW−limit−pos = nominal stroke Positive stop (AZ: −1 mm) SW−limit−neg = −nominal stroke SW−limit−pos = 0 If necessary, teach the software end positions: 1. Select [Settings] [Axis parameter] [SW−limit−neg] or [SW−limit−pos]. 2.
5. Commissioning 5.2.6 Setting the tool mass The weight of tools (e.g. grippers) on the front plate (or piston rod) of the drive has to be entered here. 1. Select [Settings] [Axis parameter] [Tool load]. 2. Set the tool mass with the arrow keys. 3. Accept the setting with OK . The setting will then take effect in the drive. 4. Save the parameter settings in EEPROM with the [SAVE] menu command.
5. Commissioning 5.2.7 Teaching positioning records Requirements: The axis must be set up completely, wired and supplied with voltage. The SFC−LACI has been correctly parametrised. The reference (homing) run has been carried out successfully. The axis zero point and the software end positions have been set correctly. Enter the positioning records as follows: } Settings Position set Position nr Pos set mode Position Velocity Acceleration Deceleration Jerk Acc. Jerk Dec.
5. Commissioning 3. Teach the target position of the position record: · Select [Position]. · Move the drive manually to the desired target position with the arrow keys. · Accept the position reached with OK . The setting of the target position and the positioning mode will then take effect in the drive. 4. Set the speed: · Select [Velocity]. · Set the nominal speed with the arrow keys. · Accept the setting with OK . The setting will then take effect in the drive. 5.
5. Commissioning 5.2.8 Test run 1. Enter several positioning records (} section 5.2.7). } Positioning Homing Move posit. set Demo posit. tab · You may wish to set target positions at the limits of the positioning range in order to check the software end positions. · You may wish to set various speeds, for example. 2. Select [Positioning] [Move posit. set] in order to process a certain positioning record or 3. Select [Positioning] [Demo posit. tab] in order to execute all position records.
5. Commissioning 5.2.9 Setting the PROFIBUS address } Settings PB parameter PROFIBUS ADR Permitted station numbers: 0 ... 125. The invalid station number 255 is preset. This is to make sure that a correct address is set during commissioning or exchange. Addresses cannot be assigned by the master (the service Set_Slave_Address is not supported). 1. Select [Settings] [PB parameter] [PROFIBUS ADR] (see also section 4.5.6). 2. The current address is displayed with . PROFIBUS Address 3.
5. Commissioning 5.3 Commissioning with FCT The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different components and devices from Festo. The FCT consists of the following components: Printed information A framework as program start and entry point with uniform project and data management for all supported types of devices. PlugIns for the special requirements of each device type (e.g. SFC−LACI) with the necessary descriptions and dialogues.
5. Commissioning 5.3.1 Installing the FCT Note FCT PlugIn SFC−LAC V 3.0.0 supports the motor controller SFC−LACI−...−PB with firmware version V1.00. Check with later versions of the SFC−LACI whether an updated PlugIn is provided. If necessary, consult Festo. Note Administrator rights are required for installing the FCT. The FCT is installed on your PC with an installation program. 1. Close all programs. 2. Place the Festo Configuration Tool" CD in your CD ROM drive.
5. Commissioning 5.3.2 Procedure Starting the FCT 1. Connect the SFC−LACI to your PC via the parametrising interface (RS232) } section 3.5. 2. Start the FCT: Double click on the FCT icon on the desktop or Switch to Windows and select the entry [Festo Software] [Festo Configuration Tool] in the menu [Start]. 3. Create a project in the FCT or open an existing project. Add a device to the project with the SFC−LAC PlugIn.
5. Commissioning Device control When the SFC−LACI is switched on, the controller interface is activated as standard [HMI = off ]. Caution Unexpected movements of the drive due to incorrect parametrising · Make sure that there is no active ENABLE signal when switching on the SFC−LACI on the controller interface. · Parameterise the entire system completely before activating the controller with ENABLE (controller interface), Enable" (FCT), or [HMI = on] (control panel).
5. Commissioning 5.4 Overview of commissioning on the PROFIBUS The following steps are required for commissioning the SFC−LACI as a field bus participant: 1. Set the PROFIBUS address of the SFC−LACI: · on the control panel (only with type SFC−LACI−...−H2, see section 5.2.9), or · with the Festo Configuration Tool (see help for the Festo Configuration Tool). Permitted address range: 0 ... 125 Modification by a DP master is not possible. 2. Install the GSD file and icon file, see section 5.5.1. 3.
5. Commissioning 5.5 Configuration 5.5.1 Install device master file (GSD file) and icon files If a new hitherto unknown device is to be incorporated in a configuration program when a PROFIBUS−DP system is to be configured, an appropriate device master file (GSD file) must be installed for this device. The device master file contains all the necessary information for the configuration program. You will require the appropriate icon files for representing the device graphically.
5. Commissioning Icon files For representation of the SFC−LACI in the configuration software: Normal operating status Diagnostic case Special operating status File: sfclacin.dib or sfclacin.bmp File: sfclacid.dib or sfclacid.bmp File: sfclacis.dib or sfclacis.bmp Tab.
5. Commissioning 5.5.3 Configuration with STEP 7 General Information The Simatic Manager software package provides project planning and commissioning in conjunction with PROFIBUS masters from Siemens or compatible masters. In order to understand this chapter, you should be sure of how to handle your configuration program. If necessary, refer to the documentation for the Simatic Manager. This description refers to software version V 5.3.
5. Commissioning Insert SFC−LACI as slave The Hardware Configuration" window graphically represents the structure of the master system. When the GSD file has been installed, the SFC−LACI can be selected in the hardware catalogue. It can be found in the group [PROFIBUS−DP] [Additional Field Devices] [Drives] [Festo], (see Fig. 5/1). In order to insert the SFC−LACI: 1.
5. Commissioning 1 1 PROFIBUS line 2 3 3 Enter Festo SFC−LACI from GSD file 2 Symbol for SFC−LACI Fig. 5/1: Station selection STEP 7 Festo P.
5. Commissioning Configuring the slave properties After clicking the icon for the SFC−LACI, you can configure the Slave properties in the lower part of the screen. Here you can determine the number and size of the I/O ranges of the slave and assign them with address ranges of the master. In order to configure the slave features of the SFC−LACI: 1. Open the available modules (configurations) in the hardware catalogue under [Festo SFC−LACI ...]. 2. Then pull the desired configuration (see section 5.5.
5. Commissioning 2 1 1 DP identifiers 3 3 Modules (configurations) 2 I/O address range Fig. 5/2: Configuring the slave properties When the configuration is concluded, transfer the data to the master. Festo P.
5. Commissioning 5.5.4 Start parameterising When the connection is built up, parameters are automati cally transferred to the slave by the master. These are para meters for the extended configuration of the data exchange. These serve to guarantee improved compatibility with various masters. Parameter Type Values Diagnostic behaviour: Device−related diagnosis switched on/off Bool = 0: In the case of an error, diagnosis will be requested by the master (Default).
5. Commissioning 5.5.5 Watchdog monitoring The watchdog monitoring influences the behaviour when field bus communication fails, e.g. due to wire break. The SFC−LACI can be operated with active or inactive response monitoring. With active response monitoring, the drive is stopped with the emergency stop ramp and remains still under control when the response monitoring time has expired. With inactive response monitoring, the current drive function is still carried out if field bus communication fails. 5.5.
5. Commissioning 5.6 5.6.1 Festo Handling and Positioning Profile (FHPP) FHPP operating modes The FHPP operating modes differ regarding their contents and the meaning of the cyclic I/O data and in the functions which can be accessed in the SFC−LACI. Operation mode Description Record selection A total of 31 position sets can be saved in the SFC−LACI. A record contains all the parameters which are required for a positioning task. The record number is transferred in the cyclic I/O data.
5. Commissioning The SFC−LACI cannot function autonomously, i.e. it does not have its own user program. However, record switching can be used to define a sequence of records. There are also 3 records with special functions (which cannot be executed in Record selection mode): Record 32 contains the parameters for the Jog mode. Record 33 contains the parameters for Direct mode. Record 34 is the direct set for the FCT software.
5. Commissioning 5.6.2 Structure of the cyclic I/O data (FHPP standard) FHPP standard contains 8 bytes of input and 8 bytes of output data: Data Byte 1 Output data Bytes 1 and 2 (fixed) are retained in each operating mode and transmit control and status bytes for en abling the SFC−LACI and for setting the operating modes.
5. Commissioning Assignment of the control bytes (overview) CCON CPOS CDIR (only Direct mode) B7 OPM2 B6 OPM1 B5 LOCK B4 B3 (F) RESET B2 BRAKE B1 STOP B0 ENABLE Operating mode selection Block HMI access Acknowl. Clamping Stop fault unit Enable drive B7 B6 CLEAR B5 TEACH B4 JOGN B3 JOGP B2 (F) HOM B1 (F) START B0 HALT Clear re maining path Teach value Jog negativ Jog positiv Start homing Start position.
5. Commissioning 5.6.3 Description of the I/O data (Record select) Description of the output data: Record selection Byte EN Description 1 CCON Control bytes, see section 5.6.5 2 CPOS 3 Record number Pre−selection of record number (0 ... 31) 4 ... 8 Reserved (= 0) Description of the input data: Record selection Byte EN Description 1 SCON Status bytes, see section 5.6.6 2 SPOS 3 Record number Reply message of record number (0 ...
5. Commissioning 5.6.4 Description of the I/O data (Direct mode) Output data Direct mode Byte EN Description 1 CCON Control bytes, see section 5.6.5 2 CPOS 3 CDIR 4 Velocity In % of the basic speed (PNU 540/CI 21F8h) 5 ... 8 new Force, ... Position in increments or force in % of rated force Input data Direct mode Byte EN Description 1 SCON Status bytes, see section 5.6.
5. Commissioning 5.6.5 Description of the control bytes CCON, CPOS, CDIR CCON With control byte 1 (CCON) all the states which must be available in all operating modes are controlled. The cooperation of the control bits can be found under the description of the drive functions in section 5.7. Control byte 1 (CCON) Bit EN Description B0 ENABLE Enable Drive = 1: Drive (controller) enable = 0: Drive (controller) blocked B1 STOP Stop = 1: Enable drive. Any error will be deleted.
5. Commissioning CPOS Control byte 2 (CPOS) controls the positioning sequences as soon as the drive is enabled. Control byte 2 (CPOS) Bit EN Description B0 HALT Halt = 1: HALT is not active = 0: HALT is activated. The axis stops with a defined braking ramp, the positioning job remains active (with B6 the remaining path can be deleted). B1 START Start positioning job With a rising edge the current setpoint data will be transferred and positioning started (record 0 = reference travel).
5. Commissioning CDIR Control byte 3 (CDIR) is a special control byte for the operating mode Direct mode".
5. Commissioning 5.6.6 Description of the status bytes SCON, SPOS, SDIR (RSB) Status byte 1 (SCON) Bit EN Description B0 Drive Enabled ENABLED = 0: Drive blocked, controller not active = 1: Drive (controller) enabled B1 OPEN Operation Enabled = 0: STOP active = 1: Operation enabled, positioning possible B2 WARN Warning = 0: Warning not applied = 1: Warning applied B3 FAULT Fault = 0: No error = 1: An error exists or an error reaction is active.
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5. Commissioning 5.6.7 Examples of control and status bytes On the following pages you will find typical examples of control and status bytes as per FHPP standard: 1. Create readiness to operate Record selection 2. Create readiness to operate Direct mode 3. Fault handling 4. Homing 5. Positioning using record selection 6. Direct mode: Positioning mode 7. Direct mode: Force mode A description of the status machine of the SFC−LACI can be found in section B.1. 5−48 Festo P.
5. Commissioning 0. Safeguard device control Step/ D Description i ti 0.
5. Commissioning 1. Create readiness to operate Record select Step/ D Description i ti Control bytes Byte 1.1 Basic status Byte 1 OPM2 OPM1 CCON 0 (Device control HMI = off ) Byte 2 0 1.2 Disable device control by FCT/HMI (optional) 0 OPM2 OPM1 CCON x Byte 2 1.3 Enable drive, enable operation (Record selection) x x OPM2 OPM1 CCON 0 Byte 2 0 Tab.
5. Commissioning 2. Create readiness to operate Direct mode Step/ D Description i ti Control bytes Byte 2.1 Basic status Byte 1 (Device control HMI = off ) OPM2 OPM1 CCON 0 Byte 2 0 2.2 Disable device control by FCT/HMI (optional) 0 OPM2 OPM1 CCON x Byte 2 2.3 Enable drive, enable operation (Direct mode) x x OPM2 OPM1 CCON 0 Byte 2 1 Tab.
5. Commissioning 3. Fault handling Step/ D Description i ti 3.1 Error Control bytes Byte Byte 1 OPM2 OPM1 CCON x Byte 2 CPOS x 3.2 Warning Byte 1 CPOS x 3.3 Acknowledge fault CCON 0 with CCON.B3 (RESET) CPOS x 3.4 Acknowledge fault with CCON.
5. Commissioning Description to 3. Fault handling Description of errors and warnings see section 6.3. 3.1 An error is shown with SCON.B3 FAULT. } Positioning can no longer be undertaken. 3.2 A warning is shown with SCON.B2 WARN. } Positioning can still be undertaken. 3.3 Acknowledge fault with positive edge at CCON.B3 RESET. } Fault bit SCON.B3 FAULT or SCON.B2 (WARN) will be reset. } SPOS.B2 MC will be set. } Drive is ready to operate. or 3.4 Acknowledge fault with negative edge at CCON.
5. Commissioning 4. Reference travel (requires status 1.4 or 1.5) Step/ D Description i ti Control bytes Byte 4.1 Start homing Byte 1 OPM2 OPM1 CCON 0 Byte 2 x 4.2 Homing running 0 OPM2 OPM1 CCON 0 Byte 2 4.3 Homing finished x 0 OPM2 OPM1 CCON 0 Byte 2 x Tab.
5. Commissioning 5. Positioning record selection (requires status 1.3/2.3 and 4.) Step/ D Description i ti 5.1 Preselect record number (control byte 3) Control bytes Byte Status bytes B7 B6 B5 B4 B3 B2 B1 B0 Byte Byte 3 Record No. 5.2 Start task Byte 1 Record number CCON 0 Byte 2 CPOS x 5.3 Job running Byte 1 0 0 Byte 2 CPOS x LOCK x CLEAR TEACH 0 OPM2 OPM1 CCON 0 0 LOCK x CLEAR TEACH 0 0 Byte 3 Record No. 5.
5. Commissioning Description of 5. Positioning record select (steps 5.1 ... 5.4 conditional sequence) When the readiness to operate is created and the reference travel has been carried out, a positioning task can be started. 5.1 Preselect record number: Byte 3 of the output data 0 = Reference travel 1 ... 31 = Programmable positioning records 5.2 With CPOS.B1 START the preselected positioning task will be started. The start is confirmed with SPOS.B1 (Acknowledge start) as long as CPOS.B1 START is set.
5. Commissioning 6. Direct mode: Positioning mode (requires status 1.3/2.3 and 4.) Step/ D Description i ti 6.1 Preselect position and speed (control bytes 4 and 5 ... 8) Control bytes Byte Status bytes B7 B6 B5 B4 B3 B2 B1 B0 Byte Byte 4 RVelocity Byte 4 Velocity Speed preselection (0 ... 100 %) Byte 5...8 new Byte 1 0 Byte 2 CPOS Byte 3 CDIR 6.3. Order runs 6.4 Job finished 0: 1: x: F: S: OPM2 OPM1 CCON Byte 1 Byte 5...
5. Commissioning Description of direct mode positioning mode (step 6.1 ... 6.4 conditional sequence) When the readiness to operate is created and the reference travel has been carried out, a setpoint position must be preselected. 6.1 The setpoint position in increments is transferred to bytes 5 ... 8 of the output word. The setpoint speed is transferred in % of the base value in byte 3 (0 = no speed; 100 = base value). 6.2 With CPOS.B1 START the preselected positioning task will be started.
5. Commissioning 7. Direct mode: Force mode (requires status 1.3/2.3 and 4.) Step/ D Description i ti Control bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte Status bytes B7 B6 B5 B4 B3 B2 B1 B0 7.1 Specify setpoint value 4 Not relevant Actual value in % of the rated force 4 5 ... 8 Setpoint value in % of the rated force 7.2 Prepare force control Byte 1 OPM2 OPM1 CCON 0 Byte 2 CPOS x 7.
5. Commissioning Step/ Description Control bytes Byte B7 B6 Status bytes B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 7.6 Job discontinued (stroke limit or CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1 software end position Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT reached) CPOS x 7.7 Stop job (e.g.
5. Commissioning Description of force mode When the readiness to operate is created and the reference travel has been carried out, a setpoint value must be specified and the force control must be prepared. 7.1 Specify the setpoint value in % of the rated motor force. Value range: 30 ... 100 % (values under 30 % are rounded up to 30 %). 7.2 Prepare force control Set bit CDIR.B1 COM1 and if desired set bit CDIR.B5 XLIM for the stroke limitation. 7.3 Start the job with CPOS.B1 START.
5. Commissioning 5.7 5.7.1 Drive functions Homing When the device is switched on, homing must be carried out before a positioning task can be executed. The drive homes against a stop or a reference switch. A stop is reached when there is an increase in the motor current at the same time as the drive shaft comes to a stop. As the drive must not position continuously against the stop, it must move at least 1 mm into the stroke range again (offset axis zero point). Sequence 1.
5. Commissioning Overview of parameters involved (see also section B.3.9) Parameters involved Description FCT PNU CI Offset axis zero point x 1010 607Ch Homing method x 1011 6098h Homing speeds x 1012 6099h Homing required 1014 23F6h Maximum homing current x 1015 23F7h Start (FHPP) CPOS.B2 = positive edge: Start Referenzfahrt Feedback (FHPP) SPOS.B1 = positive edge: Acknowledge start SPOS.
5. Commissioning 5.7.2 Jog mode In the Operation enabled" status, the drive can be jogged to the left/right. This function is usually used for Moving to teach positions Moving the drive out of the way (e.g. after a system fault) Manual movement as the normal operating mode. Sequence 1. When one of the signals Jog left / Jog right" is set, the drive starts to move slowly. Due to the slow speed, a position can be defined very accurately. 2.
5. Commissioning 1 Low speed phase 1 (slow travel). 2 Speed for phase 2 Speed v(t) (fast travel). 3 1 3 Acceleration/delay 4 Duration of phase 1 2 3 t [s] CPOS.B3 or CPOS.B4 (Jog positive/ negative) 1 0 4 Fig. 5/4: Sequence diagram for jog mode Overview of parameters involved (see section B.3.8) Parameters involved Description FCT PNU CI Speed Phase 2 2 x 531 20ED/21h Acceleration or deceleration 3 x 532 20EE/21h Duration phase 1 4 x 534 20E9/21h Start (FHPP) CPOS.
5. Commissioning 5.7.3 Teaching via field bus Position values can be taught via the field bus. Previously taught position values will then be overwritten. Sequence 1. The drive is moved to the desired position using the jogging mode. 2. The user must make sure that the desired parameter is selected. For this, the parameter Teach target" and, if applicable, the correct record address must be entered. Teach target (PNU 520) Is taught = 1 (specification) Target position in position record.
5. Commissioning 3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS: 1 Ready for teaching Teach value CPOS.B5 2 Value transferred 1 0 1 Acknowledgement SPOS.B3 0 1 2 Fig. 5/5: Handshake when teaching The drive must not stand still for teaching. However, a speed of 1 m/s means that the actual position changes by 1 mm every millisecond.
5. Commissioning 5.7.4 Record selection: Carrying out a record A record can be started in the Drive enabled" state. This function is usually used for: optional movement from positions in the record list, processing a positioning profile by linking records known target positions that seldom change (formulation change). Sequence 1. Set the desired record number in the output data of the master. Until the start, the controller replies with the number of the record last processed. 2.
5. Commissioning Start/stop record 1 Setpoint record number Output data N−1 N N+1 0 1 Stop CCON.B1 (STOP) 0 6 1 Start CPOS.B1 (START) 3 0 2 1 Acknowledge start SPOS.B1 (ACK) 1 4 5 0 1 Motion Complete SPOS.B2 (MC) 0 1 Axis is moving SPOS.
5. Commissioning Stop record with HALT and continue 1 Setpoint record number Output data N−1 N N+1 0 1 Halt CPOS.B0 (HALT) 1 0 1 Start CPOS.B1 (START) 2 0 1 Confirm Halt SPOS.B0 (HALT) 0 1 Acknowledge start SPOS.B1 (ACK) 0 1 Motion Complete SPOS.B2 (MC) 0 1 Axis is moving SPOS.B4 (MOV) 0 1 Actual record number Input data N−1 N 0 1 Record is stopped with HALT, the actual record number N is retained, Motion Complete" remains reset.
5. Commissioning Stop record with HALT and delete remaining path 1 Setpoint record number Output data N−1 N N+1 0 1 Halt CPOS.B0 (HALT) 1 0 1 Start CPOS.B1 (START) 0 1 Clear remaining path CPOS.B6 (CLEAR) 2 0 1 Confirm Halt SPOS.B0 (HALT) 0 1 Acknowledge start SPOS.B1 (ACK) 0 1 Motion Complete SPOS.B2 (MC) 0 1 Axis is moving SPOS.B4 (MOV) 0 1 Actual record number Input data N−1 N N+1 0 1 Interrupt record 2 Clear remaining path Fig.
5. Commissioning Parameters involved (record selection) The entries in the positioning table can be written via the field bus (PNU 401 ... 417). The composition of the positioning table as per FHPP is described in section B.3.7. Record chaining is described in section 5.7.5. Overview of parameters involved (see section B.3.
5. Commissioning 5.7.5 Record selection: Switching to next record Switching to the next record (= record chaining) allows a sequence of records to be defined. To do this, for every record in the table you can specify whether another record should be processed afterwards (PNU 402), and if so, then which record (PNU 416) is to be processed after which delay (PNU 405). Overview of supplementary parameters (see Tab.
5. Commissioning 5.7.6 Direct mode: Specification of a position or force In the status Operation enabled" a positioning task is formulated directly in the I/O data which are transmitted via the field bus. The setpoint values for position or force/torque are managed in the PLC. The function is used in the following situations: moving to any position. the target positions are unknown during planning or change frequently (several different work item positions).
5. Commissioning Procedure for specifying a force Notes on force control Control of the motor force occurs indirectly via current regulation. All force specifications refer to the rated motor force (relative to the rated motor current). The actual force at the axis should be calculated/checked and then set with external measuring devices during commissioning. Force control is prepared when the control mode is switched over. The drive stands with the position controlled.
5. Commissioning Starting the task 1 Setpoint values Output data N−1 N+1 N N+2 0 1 START CPOS.B1 0 1 Acknowledge start SPOS.B1 0 1 Motion Complete SPOS.B2 0 Fig. 5/9: Start the task The sequence of the remaining control and status bits as well as the functions HALT and STOP react as with the function Record select, see Fig. 5/6, Fig. 5/7 and Fig. 5/8. Causes of errors 5−76 No referencing carried out. When specifying a position: Target position outside the software end positions.
5. Commissioning Overview of parameters involved (see section B.3.
5. Commissioning 5.7.7 Direct mode: Continuous setpoint specification (Continuous mode) With continuous setpoint specification (Following mode) the higher level controller continuously specifies position values at fixed time intervals (typically 4 ... 10 ms). Since this time interval is usually longer than a position controller cycle (350 s, the controller independently interpolates the values between the specified position values. At every specified interval, the CDIR.
5. Commissioning Continuous setpoint specification can be used to travel curved paths or for coupling axis motion (use of several axes). Overview of parameters involved (see section B.3.8) Parameters involved Start (FHPP) Description FCT PNU CI Interpolation time, i. e. the time interval used by the higher level controller for sending position setpoints 570 20B6h CDIR.B3 CONT = 1 CPOS.B1 START = positive edge, must remain set while the setpoint specification is active CDIR.
5. Commissioning 5.7.8 Standstill monitoring With the standstill monitoring it is clear that the target position window is exited at a standstill. When the target position has been reached and MC is signalled in the status word, the drive switches to the standstill" state and bit SPOS.B6 STILL (standstill monitor) is reset. If, in this status, the drive is removed from the standstill position window for a defined time due to external forces or other influences, the bit SPOS.B6 STILL will be set.
5. Commissioning Standstill monitoring becomes inactive when the standstill position window is set to 0". Overview of parameters involved (see section B.3.9) Parameter Description FCT PNU CI Setpoint position 1040 6062h Actual position 1041 6064h Standstill position window 1042 2040h Standstill monitoring time 1043 2041h Start (FHPP) SPOS.B2 = positive edge: Motion Complete Feedback (FHPP) SPOS.
5. Commissioning 5.7.9 Using hardware enable Reaction Controller not enabled If the controller enable is not set (no ENABLE signal at the controller interface and [HMI = off ] on the control panel): If the hardware enable is missing, the Power" LED flashes. The SFC−LACI can be parameterised, however, and records the position of the drive. Controller enabled If the controller enable is set: When the hardware enable is removed, the load voltage is switched off.
5. Commissioning 5.7.10 Using the local digital outputs Purpose Switching logic The outputs can be used for the following: Displaying an internal logical status of the SFC−LACI, (e.g. occurrence of an error) Displaying that certain values have been reached (e.g. position values) Controlling a brake/clamping unit (see section 5.7.11) Operating a fan, DC motor or similar Positive switching logic: when the output is set (switching state true, logic 1"), the output is set to 24 V.
5. Commissioning Behaviour depending upon pin use Out1 Standard When the output is set, a continuous signal (24 V) appears. If the output is not set: 0 V. Inverted By inverting" the output: when the output is set, 0 V applied. If the output is not set: 24 V. Out2 Signal A Signal /A For the connection of the consumer between pin 4 (signal A) and pin 1 (signal /A), i. e. use of the differential output: PWM value 1 ... 100 %: Positive switching logic.
5. Commissioning Overview of parametrisation of Out2 Basis settings Without PWM The behaviour is set via Operating mode of object 2422/01h: Values 1 (brake), 2 (digital signal) or 3 (output compare) PWM value of object 2422/0Ah: Values 0 ... 100 % Setting inverted" object 2422/09h: Value 0 = not inverted, otherwise inverted. Without pulse−width modulation, the following options are available: 1.
5. Commissioning Overview of the parameters for the local digital outputs Out1/2 Parameter / Description PNU FCT CI 304 x 60FE/01h 304 60FE/02h Out1: Use Value Out1 is used as: 0 No function 1 Brake output (see section 5.7.
5. Commissioning Parameter / Description PNU FCT CI Out1: Value for setting condition The saved value that when reached means that the comparison condition is considered fulfilled in accordance with 2421/02h. With record number comparison: bit number Z record number: bit 1 = record 1 (bit 0: do not use). Example: 0x6 = in record1 and also in record2, the condition is considered fulfilled and the output is set.
5. Commissioning Parameter / Description PNU FCT CI Out2: Use Value Out2 is used as: 0 No function 1 Brake output (see section 5.7.
5. Commissioning Parameter / Description PNU FCT CI Out2: Setting condition rising/falling Value = 0: The output is set if the reference value accrued from lower values has been reached in accordance with 2422/04h. Value = 1: The output is set if the reference value accrued from higher values has been reached in accordance with 2422/04h.
5. Commissioning 5.7.11 Using a brake/clamping unit One of the local digital outputs (Out1 or Out2) can be used to control a brake/clamping unit. Options here are a continuous signal or, in the case of Out2, both a continuous and a pulsed signal (PWM, see Fig. 5/12). The parameterisation can easily be carried out via FCT. Note the detailed functional descriptions in the help section for PlugIn SFC−LAC. Note When using the DNCE/DFME−...−LAS−...
5. Commissioning Overview of parameters when using a brake/clamping unit Parameter / Description PNU FCT CI Out1: Use Value = 1: Out1 is the defined brake output 1240 x 2421/01h Out2: Use Value = 1: Out2 is the defined brake output 1250 x 2422/01h Switch−on delay Time in [ms] between setting the enable (ENABLE = 1) or a START signal (if the automatic brake is activated) and the start of a positioning motion. The brake can open completely in this period of time. Values: 0 ...
5. Commissioning Example of an automatic brake Drive moves 1 0 MC 1 0 START 1 0 Brake 1 0 T Record chaining 1 T Automatic 1 0 0 T Switch−on 1 0 T Switch−off 1 0 Controller energised 1 0 Record completed Start of new positioning motion Fig. 5/13: Pulse−time diagram automatic brake In this example, both the time for switching to the next record and the activation time of the automatic brake (T Automatic) starts to run after the completion of a positioning record (MC).
5. Commissioning 5.7.12 Position sampling (on−the−fly measurement) A local digital input (IN1 or IN2) not occupied by the reference or limit switch can be used as a fast sample input. With a falling (depending on configuration: a rising) edge at the configured sample input, the current position value is written (in 204A/05h or 06h) into a tab of the SFC−LACI and can afterwards be read out by the higher−level control system (PLC/IPC) (PNU 350 or PNU 351).
5. Commissioning Parameter / Description PNU FCT CI Transfer edge status to FHPP status byte SPOS and status word (CI object 6041h) Value = 0: If an edge occurs (see subindex 02h), this event is not displayed in the status word. Writing 0 resets bit 14 to 0 in the status word. Value = 1: If a rising edge occurs (see subindex 02h), bit 14 is set in the status word. Value = 2: If a falling edge occurs (see subindex 02h), bit 14 is set in the status word.
5. Commissioning 5.8 Notes on operation Warning Danger of injury. Electric axes can move suddenly with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. · Make sure that nobody can reach into the operating range of the axes or other connected actuators (e.g. with a protective grille) and that no objects lie in the positioning range while the system is still connected to a power supply.
5. Commissioning Caution Errors in the parameterisation can cause injury to people and material damage if you enable the controller with ENABLE. · Make sure that there is no active ENABLE signal when switching on the SFC−LACI on the controller interface. · Parameterise the entire system completely before activating the controller with ENABLE or [HMI = on]. Caution The SFC−LACI does not carry out any positioning tasks if it is not referenced.
5. Commissioning Note Damage to components Movement to the mechanical end positions is not permitted during operation. Note Observe the instructions in the documentation for the drives and additional components used. Festo P.
5. Commissioning Password protection The factory setting does not provide active protection by a password. All download and control functions can be blocked in order to prevent unauthorised or unintentional overwriting or modification of parameters in the device. · Recommendation: Protect your settings against undesired modifications with a password: FCT password protection (8 characters, see Help for SFC−LAC PlugIn) HMI password protection on the control panel of the SFC−LACI−...−H2−...
Diagnosis and fault display Chapter 6 Festo P.
6. Diagnosis and fault display Contents 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6−2 Diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and fault display 6.1 Diagnostics options Overview organised according to the type of diagnostic information Type of diagnostic information Access via ... See ... General status display LEDs on the SFC−LACI Section 6.2 FCT: virtual LEDs in the Device status" window Help for PlugIn FHPP status bytes SCON and SPOS Section 5.6.2 Control panel of the SFC−LACI (only type ...−H2) Section 6.
6. Diagnosis and fault display Overview organised according to the type of access to the diagnostic information Access Brief description Advantages/ features Detailed description LEDs The LEDs indicate the readiness to operate, positioning status, errors and bus status. Fast on−the−spot" recognition of errors Section 6.2 Control panel of an SFC−LACI−...−H2 On the LCD display: Messages, warnings and errors Fast diagnosis on−the−spot" diagnosis Section 6.
6. Diagnosis and fault display 6.2 LED status displays Voltage supply POWER Status Logic and load voltages applied green Logic voltage is present Load voltage is not present or missing hardware enable flashing There is no voltage off Tab. 6/3: LED Power" Malfunction indicator ERROR Status Error The SFC−LACI is not ready for operation red Warning Check cause and rectify if necessary; see section 6.3 flashing No internal malfunction indicated off Tab. 6/4: Festo P.
6. Diagnosis and fault display Bus status, positioning status and controller enable I/F 1) Status green: MC Motion complete 1) Positioning procedure is completed or stopped (motion complete) ON OFF lights up green No motion complete Target position not yet reached (positioning procedure running) ON OFF off 1) Two−colour LED Tab.
6. Diagnosis and fault display 6.3 Error messages Malfunction Warning Messages Malfunctions can have different levels of severity. A warning or error message is displayed depending on the level of severity. Error message Messages inform about operating states. Message Cause Attention Motor moves... Message before the start of a positioning movement. After confirmation with the button the drive moves. Please wait! Commut. Point evaluation is active The commuting point is being sought.
6. Diagnosis and fault display Warnings Warnings have no influence on the behaviour of the drive. The cause of the warning should be eliminated in order that it does not lead to a malfunction. If a warning occurs, the error LED will flash and the SCON.B2 WARN output will be set (FHPP status bits, see section 5.6.2). Warning Cause PNU 215 Fault no. *) INDEX PULSE WARNING During homing: The homing switch signal lies too close to the index pulse.
6. Diagnosis and fault display Error messages The drive is stopped in the event of an error. The fault LED flashes, the output SCON.B3 FAULT is set. 1. Rectify the cause of the error. 2. Acknowledge the error message: Using on the control panel. Using the Acknowledge Error" button in the FCT. via the field bus with a rising edge of the RESET signal CCON.B3 or with a falling edge of the ENABLE signal.
6. Diagnosis and fault display Error Possible cause and remedy PNU Fault no. *) BLOCK DURING JOG MODE A fixed stop was reached in job mode PNU 208 0x008 9 POSITION ERROR Drag error.
6. Diagnosis and fault display Error Possible cause and remedy PNU Fault no. *) COMMUTATION POINT ERROR Commutation point is invalid. Possible cause and remedy: The drive is blocked: Ensure freedom of movement. Excessive load: Reduce the load Controller parameter wrongly set: Determine the relevant controller parameter and set it to the correct value.
6. Diagnosis and fault display Error Possible cause and remedy PNU Fault no. *) DIGITAL−POWER− DOWN Logic voltage < 15 V Voltage drops under load: Power supply too weak, cable too long, cable cross−section too small? PNU 205 0x0040 71 OVERCURRENT POWER STAGE Output stage current consumption too high, e.g. due to short circuit · Contact Festo service PNU 208 0x002 72 ERROR SFC−LACI HOT Temperature > 85 °C · Remain within all maximum values and check the mechanical system, e.g.
6. Diagnosis and fault display 6.4 Diagnostic memory The diagnostic memory contains the last 16 diagnostic messages. It is backed up if possible in the event of power failure. If the memory is full, the oldest element will be overwritten (ring buffer).
6. Diagnosis and fault display The faults are divided into logical groups according to the fault numbers. Group Name Comment 0 No fault active 1 ... 19 Processing error Examples: No homing run, nominal position outside software end positions, nominal value calculation not possible. Although the system is OK, a user command cannot be processed. In most cases there is an error in operation. Source: Sequence control, controller 20 ...
6. Diagnosis and fault display 6.5 Diagnosis via PROFIBUS−DP The SFC−LACI supports the following diagnostic possibilities via PROFIBUS−DP: FHPP Status−Bytes (see section 5.6.2): SCON.B2 WARN Warning SCON.B3 FAULT Error SPOS.B5 DEV Drag error SPOS.B6 STILL Standstill monitoring Diagnosing the PROFIBUS−DP : PROFIBUS service GetDiag" with device−related diagnosis (GbD) when activated. The alarm model as per DPV1 is not supported.
6. Diagnosis and fault display 16 bytes are reserved for diagnosis in the SFC−LACI: Byte Diagnostic address Description 0 Station status 1 1 Station status 2 Gives an overview of the communication status and the general status of the SFC−LACI SFC LACI (see ( Tab. 6/12 / ff ) 2 Station status 3 3 Master PROFIBUS address PROFIBUS address of the DP master via which the SFC−LACI was parameterised and which has both read and write access.
6. Diagnosis and fault display Station status 1 Bit 3 is especially of interest with station status 1. If this bit is set, it is sensible to evaluate the device−related diagnosis. Station status 1 Bit Meaning Explanation 0 Diag.Station_Non_Existent SFC−LACI no longer/not yet addressable. Possible causes: Operating voltage not present. Data cable broken. Fault in data cable 1 Diag.Station_Not_Ready SFC−LACI not yet ready for data exchange. 2 Diag.
6. Diagnosis and fault display Station status 2 (only SFC−LACI−related bits) Station status 2 Bit Meaning Explanation 0 Diag.Prm_Req 1 = The master must configure the SFC−LACI again 1 Diag.Stat_Diag 1 = The master must request diagnostic data until this bit is set to 0 2 Always 1 (set to logical 1 by the SFC−LACI) 3 Diag.WD_On 1 = Response monitoring/watchdog activated 4 Diag.Freeze_Mode 1 = Freeze activated 1) 5 Diag.Sync_Mode 1 = Sync activated 1) 6 Reserved 7 Diag.
6. Diagnosis and fault display 6.6 Diagnosis via parameter channel (FPC) The Festo Parameter Channel (FPC) and the parameter channel as per PROFIdrive (see section 1.2.1) offer access to the following diagnostic information (see section B.3.5): Diagnostic memory (PNU 200 ... 202) Error (PNU 205 and 208) Warnings (PNU 215) PROFIBUS diagnosis (PNU 206) Festo P.
6. Diagnosis and fault display 6.7 Warning Index pulse warning" In the homing run to the proximity sensor, the drive initially moves into the switching range of the sensor and then reverses. After the switching range is exited, the SFC−LACI searches for the nearest index pulse. This applies as the homing point.
Technical appendix Appendix A Festo P.
A. Technical appendix Contents A.1 A.2 A.3 A−2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Converting the units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3 A−5 A−6 Festo P.
A. Technical appendix A.1 Technical data General Protection class of the entire system according to EN 60529 IP54 (plug connector inserted or fitted with protective cap) Relative air humidity (at 25 °C) 0 ... 95 %, non−condensing Temperature range Operation: 0 ... +40 °C storage/transport: −20 ...
A. Technical appendix Electrical data Load voltage supply Nominal voltage Nominal current (max. contin. motor current) Peak current Power connection, pins A1, A2) 48 VDC (+5/−10 %) (Load power down: Ţ 36 V) 10 A 20 A Logic voltage supply Nominal voltage Peak current Power connection, pins 1, 2 24 VDC ±10 % 3.8 A (when using the local digital outputs, see section 3.
A. Technical appendix A.2 Accessories Connection Accessory Type Length [m] Voltage supply Power supply cable KPWR−MC−1−SUB−15HC−... 2.5 / 5 / 10 Motor connection Motor cable NEBM−T1G6−T1G6−... 2.5 / 5 / 10 Encoder cable NEBM−T1G12−T1G12−... 2.5 / 5 / 10 Parameterising interface Programming cable KDI−MC−M8−SUB−9−2,5 fix 2.5 Control (PROFIBUS), see section 3.7.
A. Technical appendix A.3 Converting the units of measurement The CI interface works with increments [Inc, Inc/s, Inc/s2, Inc/s3]. DNCE−...−LAS The distance between two index lines (= north or south pole of the magnetic displacement encoder) is 5 mm. The resolution of the measurement system is 11 bits, which is the same as 2048d (800h) increments. The increments are calculated by means of interpolation.
Supplementary information Appendix B Festo P.
B. Supplementary information Contents B.1 B.2 B.3 B.4 B.5 B−2 FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 Create readiness to operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameterisation via FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.
B. Supplementary information B.1 FHPP finite state machine From all statuses Switched off T7* always has the highest priority T7* S5 S1 Controller switched on T1 S2 Drive locked T5 S Reaction to5fault T8 T11 S6 Malfunction T9 T2 T10 S4 T6 Drive enabled T4 SA5 Jog mode positive TA9 T3 SA1 TA10 SA4 Homing is performed TA7 Ready SA6 Jog mode negative TA8 TA11 TA12 TA2 TA1 SA2 Positioning job active TA4 S4 TA5 TA6 TA3 SA3 Intermediate stop Operation enabled Fig.
B. Supplementary information Notes on representing the finite status machine The transition T3 changes to state S4, which itself contains its own sub−state machine, the states of which are marked with SAx" and the transitions of that are marked with TAx".
B. Supplementary information B.1.1 Create readiness to operate With the transitions only those internal conditions are named which are new. There must therefore not be any faults for T2. T Internal conditions T1 SFC−LACI was switched on No error is detected T2 Supply voltage applied Drive control for field bus master Actions of the user ENABLE = 1 (drive enabled) CCON = xxx0.xxx1 T3 STOP = 1 CCON = xxx0.xx11 T4 STOP = 0 CCON = xxx0.xx01 T5 ENABLE = 0 CCON = xxx0.
B. Supplementary information B.1.2 Positioning Fundamentally, the following applies: Transitions T4, T6 and T7* always have priority. TA Internal conditions Actions of the user TA1 There is homing START = 0→1 (Start positioning) HALT = 1 CCON = xxx0.xx11 CPOS = 0xx0.00P1 TA2 Motion Complete = 1 The current record is completed. The next record is not to be carried out automatically HALT" status is any CCON = xxx0.xx11 CPOS = 0xxx.xxxx TA3 Motion Complete = 0 HALT = 1→0 CCON = xxx0.
B. Supplementary information TA Internal conditions Actions of the user TA8 Homing concluded or HALT Only for HALT: HALT = 1→0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN TA9 Jog positive = 0→1 HALT = 1 CCON = xxx0.xx11 CPOS = 0xx0.Pxx1 TA10 Either Jog positive = 1→0 CCON = xxx0.xx11 CPOS = 0xx0.Nxx1 or HALT = 1→0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN TA11 Jog negative = 0→1 HALT = 1 CCON = xxx0.xx11 CPOS = 0xxP.0xx1 TA12 Either Jog negative = 1 → 0 CCON = xxx0.xx11 CPOS = 0xxN.
B. Supplementary information Special features dependent on operating mode Record selection No restrictions Direct mode B−8 TA2: The condition that no new record may be processed no longer applies. TA5: A new record can be started at any time. Festo P.
B. Supplementary information B.2 Parameterisation via FPC B.2.1 Structure of the Festo Parameter Channel (FPC) The Festo Parameter Channel" is used for transmitting parameters. It consists of 8 octets: FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Output data 0 IND PKE (ParID) PWE (ParVal) Input data 0 IND PKE (ParID) PWE (ParVal) IND PKE PWE Tab. B/1: Byte 8 Subindex Parameter identifier: PNU and AK Parameter value: with double word: Bytes 5 ...
B. Supplementary information Parameter identifier (PKE) The parameter identifier contains the Task or Response identifier (AK) and the parameter number (PNU). Spontaneous messages via bit 11 are not supported by the SFC−LACI. PKE (ParID) Byte 3 Bit 15 14 Byte 4 13 12 11 10 9 8 7 6 5 Order ReqID (AK) res. PNU (parameter number) Reply ResID (AK) res. PNU (parameter number) ReqID (AK) ResID (AK) PNU Tab. B/3: B−10 4 3 2 1 0 Request Identifier job identifier (read, write, ...
B. Supplementary information B.2.
B. Supplementary information If the task cannot be carried out, reply identifier 7 as well as the appropriate error number will be transmitted.
B. Supplementary information If the task cannot be carried out, an error number will be transmitted in the reply telegram (octets 7 and 8 of the FPC range).
B. Supplementary information B.2.
B. Supplementary information Sequence of parameter processing Caution Observe the following when modifying parameters: An FHPP write signal referring to a modified parameter may only occur when the Response identifier Parameter value transferred" is received for the relevant parameter and if applicable for the index.
B. Supplementary information B.2.
B.
B. Supplementary information B.3 Reference FHPP parameters (PNU) B.3.1 Parameter groups Group PNU Description Device data 100 ... 199 Device identification and device−specific settings, version numbers, identifier words, etc. Diagnostic memory 200 ... 299 Memory for diagnostic events: Fault numbers, fault time, incoming/outgoing event Process data 300 ... 399 Current setpoint and actual values, local I/Os, status data etc Position record table (= Record list) 400 ...
B. Supplementary information B.3.2 Overview of parameter numbers (PNU) The following overview shows the avaiilable FHPP parameters arranged according to the parameter number PNU for parameterizing as per FPC. A detailed description of the parameters can be found in the sections B.3.4 to B.3.10. You will find an overview of the available CI objects in section B.5.
B. Supplementary information Name PNU SI Diagnostic Event 0200 1 ... 16d Fault Number 0201 1 ... 16d Time Stamp 0202 1 ... 16d Additional Information 0203 1 ... 16d Diagnostic Memory Parameter (Diagnostic memory parameter) 0204 1 ... 4 Device Errors 0205 PROFIBUS Diagnosis 0206 1 ... 6 Extended Device Errors B 0208 Device Warnings 0215 Position Monitoring 0300 1 ... 2 Torque/Force Monitoring 0301 1 ... 2 Digital Inputs 0303 Digital Outputs 0304 1 ...
B. Supplementary information Name PNU SI Position Sampling Position Falling Edge (On−the−fly measurement position with falling edge) 0351 Position Sampling Trigger Mode (on−the−fly measurement trigger mode) 0352 Position Sampling Status (on−the−fly measurement status) 0353 Position Sampling Status Mask (on−the−fly measurement status mask) 0354 Position Sampling Control byte (on−the−fly measurement control byte) 0355 Record Number FHPP 0400 1 ...
B. Supplementary information Name PNU SI Force Control Stroke Limit 0510 Force Control Min. Torque/Force 0511 Force Control Max.
B. Supplementary information Name PNU SI 0570 Polarity (reversal of direction) 1000 Encoder Resolution 1001 1 ... 2 Gear Ratio 1002 1 ... 2 Feed Constant Linear Axis 1003 1 ... 2 Position Factor 1004 1 ... 2 Axis Parameter 1005 1 ... 6 Offset Axis Zero Point 1010 Homing Method (reference travel method) 1011 Homing Velocities 1012 1 ... 2 Homing Required (reference travel necessary) 1014 Homing Max. Torque/Force (reference travel max.
B. Supplementary information Name PNU SI I2t Value 1027 Max. Phase Current 1028 Quick Stop Deceleration 1029 Motor Type 1030 Max.
B. Supplementary information Name PNU SI Positioning Time 1058 Actual Current 1059 Actual Coil Temperature (Temperature of the linear motor coils) 1060 Max. Coil Temperature 1061 Lower Coil Temp Threshold 1062 Upper Coil Temp Threshold 1063 Output Stage Temperature SFC−LACI 1066 Output Stage Max.
B.
B. Supplementary information B.3.3 Representation of the parameter entries 1 2 3 4 5 8 Encoder resolution 6 PNU 1001 Description Encoder resolution in increments / revolutions The encoder resolution is fixed and cannot be modified by the user. The calculated value is derived from the fraction (encoder increments/motor revolution). 7 1 ... 2 0 ... 1 uint32 rw Encoder 1001 1 0 Increments (encoder Value range: 0 ...
B. Supplementary information B.3.
B. Supplementary information Version FCT PlugIn BCD PNU 104 1 ... 2 Array uint16 r Description FCT PlugIn Min. 1 Minimum necessary FCT version in BCD (binary coded decimal) Format = xxyy" (xx = main version, yy = secondary version) FCT PlugIn Opt. 2 Optimum FCT version in BCD (binary coded decimal) Format = xxyy" (xx = main version, yy = secondary version) CI 206Bh 01 ...
B. Supplementary information Controller Serial Number PNU 114 1 ... 12d 0 ... 11d char r Description Serial number of the controller, e.g.: K402P1212345" CI 2072h 00h V−string r PNU 115 uint16 r Description SFC−LACI−...−IO: SFC−LACI−...−PB: SFC−LACI−...−CO: SFC−LACI−...
B. Supplementary information HTTP Drive Catalog Address PNU 123 1 ... 30d Description www.festo.com CI 6505h 0 ... 29d 00h char r V−string r char r V−string r uint8 rw Festo Order Number PNU 124 1 ... 30d 0 ... 29d Description Order number for SFC−LACI CI 6503h 00h PNU 125 Description Corresponds to HMI control" on the control panel and FCT" on the FCT.
B. Supplementary information HMI Parameter PNU 126 Description Control panel settings (SFC−LACI−...−H2 only) LCD Current 126 1 ... 4 1 0 ... 3 uint8 r 0 Brightness. Values: 1 ... 5. Default: 5 LCD Contrast 126 2 1 Contrast. Values: 0 ... 63 (0x00 ... 0x3F). Default: 0 Measure 126 3 2 Unit of measurement system on the control panel (see 20D0/01h) Fixed = 1 Millimetre, e.g.
B. Supplementary information Data Memory Control PNU 127 Description Commands for EEPROM Delete EEPROM 127 1 ... 2 1 0 ... 2 uint8 w 0 Fixed 16 (0x10): Delete data in EEPROM. Once the object has been written, and after power off/on, the data in the EEPROM are reset to the factory settings. Save Data 127 2 1 The data in EEPROM will be overwritten with the current user−specific settings.
B. Supplementary information B.3.5 Diagnosis Description of the method of operation of the diagnostic memory: see section 6.4. Diagnostic Event PNU 200 Description Type of fault or diagnostic information saved in the diagnostic memory. Displays whether an incoming or outgoing fault is saved. Value 0 (0x00) 1 (0x01) 2 (0x02) 3 (0x03) 4 (0x04) Event 1 200 1 ... 16d 0 ...
B. Supplementary information Fault Number PNU 201 Description Fault number saved in the diagnostic memory, serves for identifying the fault. Fault numbers with descriptions: see section 6.3. Event ... 201 1 ... 16d ... 0 ... 15 uint16 r ... See PNU 200 CI 20C9h 01h ... 10h uint16 r PNU 202 1 ... 16d uint32 r Description Time stamp: Time point of the diagnostic event since device was switched on, in the time unit as per PNU 204/2. Time Stamp Event ... 202 ... 0 ... 15 ...
B. Supplementary information Diagnostic Memory Parameter PNU 204 Description Configuration of the diagnostic memory Fault Type 204 1 ... 4 1 0 ...
B. Supplementary information Device Errors PNU 205 Description Reading or deleting the error message(s). Explanations of the error messages can be found in section 6.3 Diagnosis.
B. Supplementary information PROFIBUS Diagnosis PNU 206 Description Reading the PROFIBUS diagnostic data Connection State 206 1 ... 6 1 0 ... 5 uint8 r 0 0 (0x00): Waiting for parameterising 16 (0x10): Waiting for configuration 32 (0x20): Data exchange Baud Rate 206 0 (0x00): 1 (0x01): 2 (0x02): 3 (0x03): 4 (0x04): 5 (0x05): Master Address 206 2 12 MBaud 6 MBaud 3 MBaud 1.5 MBaud 500 kBaud 187.5 kBaud 3 1 6 (0x06): 93.75 kBaud 7 (0x07): 45.45 kBaud 8 (0x08): 19.2 kBaud 9 (0x09): 9.
B. Supplementary information Extended Device Errors PNU 208 uint16 rw Description Reading or deleting the error message(s). Explanations of the error messages can be found in section 6.3 Diagnosis.
B. Supplementary information B.3.6 Process data Position Monitoring PNU 300 Description Position monitoring Position Actual Value 1 ... 2 int32 r 1 Actual position in increments Position Demand Value 2 Controller setpoint position in increments CI 2800h 01h ... 02h int32 r 1 ... 2 int16 r Torque/Force Monitoring PNU 301 Description Force monitoring Torque Actual Value 1 Actual force in permil of rated force. Values: 0 ...
B. Supplementary information Digital Inputs PNU 303 uint32 Description Mapping the digital inputs Bit 0: Negative limit switch Bit 1: Positive limit switch Bit 2 Reference switch Bit 3 ... 15: reserved (= 0) Bit 16 ... 20: Current record number (compare control byte 3) Bit 21: STOP (CCON.B1) Bit 22: ENABLE (CCON.B0) Bit 23: START (CPOS.B1) Bit 24: Sample input Bit 25 ... 31: reserved (= 0) CI 60FDh 00h PNU 304 1 ...
B. Supplementary information Cycle Number PNU 305 uint32 Description Number of positioning records executed, homing runs etc. CI 2FFFh r 00h uint32 r 1 ... 2 int32 r int32 r uint32 r Velocity Monitoring PNU 310 Description Velocity monitoring Velocity Actual Value 1 Actual speed value in [Inc/s] Velocity Demand Value 2 Speed setpoint value in [Inc/s] CI 2802h 01h ... 02h PNU 320 1 ...
B. Supplementary information FHPP Control Data PNU 321 1 ... 2 Record uint32 Description FHPP output data (8 bytes of status date), 4 bytes each, consistent r 1 FHPP control bytes 1 ... 4 (CCON, CPOS, ...) 2 FHPP control bytes 5 ... 8 (setpoint position) CI 20A1h 01h ... 02h uint32 r PNU 330 uint16 rw Description Control word: Modify the current controller status or trigger an activity.
B. Supplementary information Bit Value 0 ... 8 Description Bits 0 ... 8 are only used together for access via the CI interface: see Tab. B/9 9 0x0200 Reserved (= 0) 10 0x0400 11 0x0800 Jog mode positive (like FHPP CPOS.B3) 12 0x1000 Jog mode negative (like FHPP CPOS.B4) 13 0x2000 Teach (like FHPP CPOS.B5) 14 0x4000 In direct mode: 0 = normal path generator 1 = energy optimized Note: Only available for control via the field bus, not via CI.
B. Supplementary information Bit Value Description 0 0x0001 Ready to switch on 1 0x0002 Switched on 2 0x0004 Operation enabled 3 0x0008 Fault (error) 4 0x0010 Voltage enabled (output stage is energised) 5 0x0020 Quick stop 6 0x0040 Switch on disabled (Switching on not possible) 7 0x0080 Warning 8 0x0100 Drive is moving (like FHPP SPOS.B4) 9 0x0200 Higher−order controller ( Remote", like FHPP SCON.
B.
B. Supplementary information Position Sampling Trigger Mode PNU 352 Var Description Continuous or one−time recording. See section 5.7.12 CI 204Ah 01h uint16 Position Sampling Status PNU 353 Var Description Specifies whether an edge was registered. See section 5.7.12 CI 204Ah 02h uint8 Position Sampling Status Mask PNU 354 Var Description Display in the status byte SPOS and status word 6041h. See section 5.7.
B. Supplementary information B.3.7 Position set table (Record list) Parametrising: With FHPP, record selection for reading and writing is done via the subindex of the PNUs 401 ... 417. Positio ning record Sub index 0 00 1 01 ... ... ... 2 02 ... ... ... ... ... 31 31 ... PNU 401 PNU 402 PNU 404 PNU 405 RCB1 RCB2 Target position ... PNU 417 ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... Wait time Homing Tab.
B. Supplementary information Record pointer: The active record for positioning or teaching is selected via PNU 400. Record Number FHPP PNU 400 Description FHPP record number Record Number 400 1 ... 3 1 0 ... 2 uint8 0 r(w) rw Record pointer for positioning and teaching. It is also valid when the drive is not in Record select mode (e.g. during teaching). For record selection this parameter is transferred in the cyclic I/O data. Value range: 0 ... 34 (0x00 ...
B. Supplementary information Record Control Byte 1 PNU 401 Description Record control byte 1 Settings for record selection: Relative/absolute positioning Path generator, standard/energy optimized Bit 0: Bit 1 ... 2: Bit 3 ... 7: 1 ... 34d 0 ...
B. Supplementary information Record Control Byte 2 PNU 402 1 ... 32d Description Record control byte 2 For record selection: step enabling condition for record chaining (see section 5.7.5). Values: Bit 0: = 0 No record chaining = 1 Record chaining Bit 7: = 0 Record chaining is not locked out; = 1 Record chaining is locked out Record 0 401 1 (positioning record 0) Do not use (Homing) 0 ... 31d uint8 rw 0 Record 1 401 2 1 (positioning record 1) Record control byte 2. Positioning record 1 Record ...
B. Supplementary information Target Position PNU 404 1 ... 34d Description Target positions in [Increments] Record 0 404 1 (positioning record 0) Do not use (Homing) 0 ... 33d int32 rw 0 Record 1 404 2 1 (positioning record 1) Target position of positioning record 1 Record ... 404 ... ... (positioning record ...)) Target positions of positioning records 2 ...
B. Supplementary information Record Delay PNU 405 1 ... 32d Description Waiting time for record chaining (= set chaining): The time between Motion Complete" of a chained positioning record and the start of the next positioning record. Value range: 1 ... 60000 ms Record 0 404 1 (positioning record 0) Do not use (Homing) 0 ... 31d int32 rw 0 Record 1 404 2 1 (positioning record 1) Delay after positioning record 1 Record ... 404 ... ... (positioning record ...)) Delay after positioning record 2 ...
B. Supplementary information Acceleration PNU 407 1 ... 32d Description Acceleration in [Increments/s2]. The value applies only to positioning, with force control the value is ignored. Record 0 407 1 (positioning record 0) Do not use (Homing) 0 ... 31d uint32 rw 0 Record ... 407 ... ... (positioning record ...)) Acceleration setpoint value positioning record 1 ... 30 Record 31 407 32 (20h) 31 (1Fh) (positioning record 31) Acceleration setpoint value positioning record 31 CI 20EEh 01h ...
B. Supplementary information Jerk Acceleration PNU 409 1 ... 33d Description Acceleration jerk in [Increments/s3]. The internal calculation is done with 1/10 of the value. Record 0 409 1 (positioning record 0) Do not use (Homing) 0 ... 32d uint32 rw 0 Record ... 409 ... ... (positioning record ...)) Jerk for position records 1 ... 30 Record 31 409 32 (20h) 31 (1Fh) (positioning record 31) Jerk for position record 31 Jog Mode 409 33 (21h) (inching operation) Jerk in Jog mode CI 20E7h 01h ...
B. Supplementary information Work Load PNU 410 1 ... 33d 0 ... 32d uint32 rw Description Applied load: Mass in [g] of the workpiece to be transported by a positioning record. Note: The mass of a tool mounted on the piston rod (or front plate) of the drive, which remains the same for all positioning records, is entered in object 6510/51h. Record 0 410 1 (positioning record 0) Do not use (Homing) 0 Record ... 410 ... ... (positioning record ...)) Applied load for positioning record 1 ...
B. Supplementary information Position Window Time PNU 415 1 ... 33d Description Damping time in milliseconds [ms] If the actual position has been in the target position window for this amount of time, the Motion Complete" bit is set in the status word. Also referred to as Adjustment time". Value range: 1 ... 60000 ms. Default: 10 ms Record 0 415 1 (positioning record 0) Do not use (Homing) 0 ... 32d uint16 rw 0 Record ... 415 ... ... (positioning record ...
B. Supplementary information Record Following Record PNU 416 1 ... 32d Description The subsequent positioning record for a positioning record with a chaining condition = 1. Value range: 1 ... 31 Record 0 410 1 (positioning record 0) Do not use (Homing) 0 ... 31d uint8 rw 0 Record ... 410 ... ... (positioning record ...)) The position record following position record 1 ... 30 Record 31 410 32 (20h) 31 (1Fh) (positioning record 31) The record following record 31 CI 20E5h 01h ...
B. Supplementary information B.3.8 Project data General project data Project Zero Point PNU 500 Description Offset of the project zero point PZ to the axis zero point AZ. Reference point for target positions with absolute positioning (compare PNU 401 and PNU 404). CI 21F4h 00h int32 rw int32 rw int32 rw Software End Positions PNU 501 Description Software end positions in increments. Plausibility rule: Min. limit Ţ Max. limit Factory settings: see section 5.2.5 Lower Limit 501 1 ...
B. Supplementary information Max. Velocity PNU 502 uint32 r Description Max. permitted speed in [Inc/s] CI 607Fh 00h uint32 r PNU 503 uint32 r Description Max. permitted acceleration in [Inc/s2] CI 60C5h 00h uint32 r int16 r int16 r Max. Acceleration Motion Profile Type PNU 506 Description Ramp profile. Fixed = −1 (linear ramp) CI 6086h B−60 00h Festo P.
B. Supplementary information Force mode Stroke Limit PNU 510 Description Stroke limitation: Maximum permitted stroke with force control. The distance of the actual position from the start position must not be more than the amount specified in this parameter. In this way you can ensure that, if force control is activated by mistake (e.g. missing work item), the axis will not perform an un controlled movement.
B. Supplementary information Teaching Teach Target PNU 520 Description Teach target: The parameter that is described in the next teach command with the actual position (see section 5.7.3). Values: 1 (0x01): Target position in positioning record (default).
B. Supplementary information Jog mode Jog Mode Velocity Phase 2 PNU 531 Description Jog mode: Speed in phase 2 (fast travel) in [Inc/s] CI 20EDh 21h uint32 rw uint32 rw uint32 rw uint32 rw uint32 rw Jog Mode Acceleration PNU 532 Description Jog mode: Acceleration in [Inc/s2] CI 20EEh 21h Jog Mode Time Phase 1 PNU 534 Description Jog mode: Duration of phase 1 (slow travel) in [ms]. Default: 2000 CI 20E9h 21h Festo P.
B. Supplementary information Direct mode: Positioning mode Direct Mode Base Velocity PNU 540 Description Reference value for speed specifications in FHPP direct mode. The master transmits a percent value, which is multiplied by the base value to reach to the final setpoint speed.
B. Supplementary information Direct Mode Work Load PNU 544 Description Applied load = mass of the workpiece in [g]. Note: The mass of a tool mounted on the piston rod (or front plate) of the drive, which remains the same for all positioning records, is entered in object 6510/51h. CI 20E8h 22h uint32 rw uint32 rw uint32 rw Direct Mode Jerk Deceleration PNU 547 Description Jerk when decelerating in direct mode in [Inc/s3]. The internal calculation is done with 1/10 of the value.
B. Supplementary information Direct mode: Force mode Torque/Force Slope PNU 550 Description Speed with which the force changes CI 6087h 00h uint32 r uint32 r uint16 rw Force Target Window PNU 552 Description Target window of the force: This is the amount by which the actual force may differ from the setpoint force in order to be interpreted as still being in the target window.
B. Supplementary information Direct mode: FHPP Continuous Mode Interpolation Time PNU 570 Description Time gap between two position specifications in FHPP Continuous Mode" in [1/10 ms]. Value range: 0 ... 65535. See section 5.7.7 CI 20B6h 00h uint16 uint16 rw rw B.3.9 Axis parameters for electric drives 1 Mechanical parameters Polarity PNU 1000 Description Reversal of direction.
B. Supplementary information Gear Ratio PNU 1002 Description Gear unit ratio (1:1 for linear motors) Motor Revolutions 1002 1 ... 2 0 ... 1 1 0 2 1 uint32 r uint32 r uint32 r Fixed = 1 Shaft Revolutions 1002 Fixed = 1 CI 6091h 01h ... 02h Feed Constant Linear Axis PNU 1003 Description Feed constant/measurement system pitch: Distance in [ m] between two index pulses. Reflects 6410/13h Feed 1003 1 ... 2 0 ... 1 1 0 DFME−...−LAS: fixed = 2000 m. DNCE−...
B. Supplementary information Axis Parameter PNU 1005 Description Axis parameter Axis Length 1005 1 ... 6 1 0 ...
B. Supplementary information Parameter reference travel Offset Axis Zero Point PNU 1010 int32 rw Description Offset of the axis zero point AZ to the reference point REF in [Increments] (= distance from reference point). Factory settings: see section 5.2.4. The drive is no longer referenced after the axis zero point has been modified. CI 607Ch 00h PNU 1011 Description Reference travel (homing) method.
B. Supplementary information Homing Required PNU 1014 uint8 r Description Defines whether or not homing must be carried out after switching on in order to carry out positioning tasks. Fixed = 0: Homing run must be carried out CI 23F6h 00h uint8 r uint8 rw uint8 rw Homing Max. Torque/Force PNU 1015 Description Maximum force during homing in [%]. Value range: 10 ... 100 CI 23F7h 00h Festo P.
B. Supplementary information Controller parameters Quick Stop Option Code PNU 1019 uint16 r Description Quick stop option: Fixed = 6: Remain in stop with fast stop ramp and in the status Fast stop active" CI 605Ah 00h PNU 1020 Description Describes the reaction to a HALT signal at the controller interface (CPOS.
B. Supplementary information Target Position Window PNU 1022 Description Target position window: Tolerance window in [increments] Amount by which the current position may deviate from the target position, in order that it may still be regarded as being within the target window. The width of the window is twice the value transferred, with the target position in the centre of the window.
B. Supplementary information Position Control Parameter PNU 1024 Description 18d ... 21d 17d ... 20d int32 rw Caution: People and material damage ! The factory settings for the controller parameters should only be modified in exceptional cases. Unfavourable settings can lead to uncontrollable behaviour of the entire system. · Only change the controller parameters with the aid of FCT. · Follow the instructions in FCT for the controller parameters.
B. Supplementary information Drive Data PNU 1026 Various Various Description General data of the SFC−LACI uint32 r(w) Output Stage 1026 1 0 Temp Temp. Temperature of the SFC−LACI; range: −20 ... +120 °C r Output Stage 1026 2 1 Max Temp Max. Temp. Highest temperature measured to date for the SFC−LACI, in °C. Stored in EEPROM r Max. Current rw 1026 4 3 Current limiting.
B. Supplementary information Max. Phase Current PNU 1028 Description Max. string current. Value range: 0 ... 20000 mA. Default: 15000 mA CI 6410h 05h uint32 rw uint32 rw uint32 rw Quick Stop Deceleration PNU 1029 Description Braking during quick stop, in [Increments/s2] CI 6085h B−76 00h uint32 rw Festo P.
B. Supplementary information Electronic type plate Motor Type PNU 1030 uint16 r Description Classification of the motor. Fixed: 0x0000 CI 6402h 00h PNU 1034 Description Maximum motor current in per mill of rated current (PNU 1035). Note: The current limitation also limits the max. possible speed (or force). Higher setpoint speeds may not therefore be reached, or the drive stops.
B.
B. Supplementary information B.3.10 Supplementary parameters Following Error Window PNU 1044 Description Permissible size of following error (offset between actual position and nominal position). Write 0xFFFFFFFF = following error monitoring OFF CI 6065h 00h uint32 rw uint32 rw uint16 rw Following Error Timeout PNU 1045 Description Time that a following error may remain larger than the value specified in PNU 1044 before a following error is reported. Value range: 1 ...
B.
B.
B. Supplementary information Actual Coil Temperature PNU 1060 Description Temperature of the coils of the linear motor. Measuring range: −20 ... +120 °C CI 6410h 31h int16 r int16 r int16 r Max. Coil Temperature PNU 1061 Description Highest coil temperature measured to date (= motor). Is saved in EEPROM. Measuring range: −20 ...
B. Supplementary information Output Stage Temperature PNU 1066 Description Temperature of the SFC−LACI output stage. Range: −20 ... +120 °C CI 6510h 31h int16 r int16 r int16 r Output Stage Max Temp PNU 1067 Description Highest temperature measured to date for the SFC−LACI, in °C.
B. Supplementary information Power Supply PNU 1070 int32 rw Description Output of power supply unit in [W]. Value range: 0 ... 3000 W. Default: 960 W. The nominal power rating must be stated exactly. Rounding up (e.g. from 960 W to 1000 W) is not permitted. CI 6510h 50h PNU 1071 Description Tool load, e.g.
B. Supplementary information Local Digital Output 1 Function PNU 1240 Description Out1: Use. See section 5.7.10 CI 2421h 01h uint8 rw uint8 rw uint8 rw Local Digital Output 1 Trigger ON PNU 1241 Description Out1: Setting condition. See section 5.7.10 CI 2421h 02h uint8 rw uint8 rw Local Digital Output 1 Trigger OFF PNU 1242 Description Out1: Resetting condition. See section 5.7.
B. Supplementary information Local Digital Output 1 Direction Value OFF PNU 1246 Description Out1: Edge type for resetting condition. See section 5.7.10 CI 2421h 07h uint8 rw uint8 rw uint16 rw Local Digital Output 1 Delay PNU 1247 Description Out1: Delay time for resetting. See section 5.7.10 CI 2421h 08h uint16 rw uint8 rw uint8 rw uint8 rw uint8 rw uint8 rw Local Digital Output 1 Inverted PNU 1248 Description Out1: Invert. See section 5.7.
B. Supplementary information Local Digital Output 2 Trigger OFF PNU 1252 Description Out2: Resetting condition. See section 5.7.10 CI 2422h 03h uint8 rw uint8 rw int32 rw Local Digital Output 2 Value ON PNU 1253 Description Out2: Setting with record number comparison: See section 5.7.10 CI 2422h 04h int32 rw int32 rw Local Digital Output 2 Value OFF PNU 1254 Description Out2: Resetting with record number comparison: See section 5.7.
B. Supplementary information Local Digital Output 2 Delay PNU 1257 Description Out2: Delay time for resetting. See section 5.7.10 CI 2422h 08h uint16 rw uint16 rw uint8 rw Local Digital Output 2 Inverted PNU 1258 Description Out2: Invert. See section 5.7.10 CI 2422h 09h rw Local Digital Output 2 PWM Value PNU 1259 Description Out2: PWM value. See section 5.7.
B.
B. Supplementary information Sample Input PNU 1305 Description Parameters for on−the−fly measurement (position sampling) Value = 1: Sampling at IN1; value = 2: Sampling at IN2. See section 5.7.12 CI 6510h 16h uint32 rw uint32 rw uint8 rw Limit Switch Polarity PNU 1306 Description Type of proximity switch used for position sampling.
B. Supplementary information B.4 The CI interface B.4.1 Using the parametrising interface The parameterising interface (RS232) can be used to access the objects of the Command Interpreter" (CI) for the SFC−LACI. The FCT accesses the CI objects, too. 1 1 Parametrising interface (RS232) Caution Not using the parametrising interface as designated causes injury to people and material damage The parametrising interface (RS232) is not electrically isolated and not real−time capable.
B. Supplementary information B.4.2 Accessing the CI objects CI objects are accessed via FCT or a terminal program. Caution Faulty parameterisation can cause personal injury and material damage. Incorrect parameterisation of the CI objects can cause the controller to react unexpectedly and the motor may start uncontrolled. · It is preferable to use the FCT or the control panel for parametrising and commissioning.
B. Supplementary information B.4.3 Access via a terminal program For data transmission you will require a commercially− available terminal program or the integrated CI terminal of the SFC−LAC PlugIn in the Festo Configuration Tool. 1. Connect the SFC−LACI to your PC (see section 3.5). 2. Configure your PC’s COM interface: Settings of the COM interface Transmission speed (baud rate) 38400 Baud Data format Asynchronous character frame: 1 start bit 8 data bits no parity bit 1 stop bit Tab.
B. Supplementary information B.4.4 Composition of the CI commands The CI objects implemented in the SFC−LACI are based on CANopen DS402: Group 1xxx Objects for device description Group 2xxx Festo objects Group 6xxx Objects as per CANopen The CiA Draft Standard 402" deals with the implementation of CANopen in drive controllers. Access procedure Every object has a unique number (index, subindex) which is used for accessing the object.
B. Supplementary information Syntax of the read and write commands Acc 1) Command Reply W W 2) =IIIISS: =IIIISS: =IIIISS: R R 2) ?IIIISS 2) ?IIIISS =IIIISS: 1) 2) Access: W = write, R = read When checksum checking is activated (Object 20F3h) Tab.
B. Supplementary information Data type The transmitted value (1, 2 or 4 data bytes as hex number) depends on the data type of the object to be read or written. The following data types are supported: Type Hex Format UINT8 2H 8 bits without sign: 0 ... 255 8 bits with sign: −128 ... 127 INT8 UINT16 4H 16 bits without sign: 0 ... 65535 INT16 16 bits with sign: UINT32 32 bits without sign: 0 ... (232 − 1) 8H INT32 32 bits with sign: V−string −32768 ... 32767 −231 ...
B. Supplementary information B.4.5 Checking the data Permitted value ranges Transferred parameters and values are checked by the SFC−LACI before being accepted. Note In the case of invalid parameters or values, an error message will not appear in the response; rather, the received value will always be returned (Echo). Recommendation: Check that values have been written correctly by downloading the current contents of the object with a subsequent Read command.
B. Supplementary information Checksum If checksum checking of telegrams received from the SFC−LACI was activated (see CI object 20F3h), then the higher level controller must also provide a checksum before the termination character (CR = Carriage return) (for syntax, see Tab. B/14). If the SFC−LACI detects a deviation in the checksum, then − instead of the usual response − the value <0xFFFF> will be transferred (see Object 2FF0h).
B. Supplementary information B.5 Reference: CI objects Note The following table contains an overview of all CI objects. The objects may be used only with certain product variants or only with limitations (e.g. writing only for Festo service purposes). Note the detailed description if you are using the objects: in section B.2 (sorted according to PNU, see table column FHPP PNU) or in the section B.5.1 (additional CI objects).
B. Supplementary information Name CI object FHPP Index Sub PNU 204A 1h 352 Position Sampling Status 2h 353 Position Sampling Status Mask 3h 354 Position Sampling Control Byte 4h 355 Position Sampling Position Rising Edge 5h 350 Position Sampling Position Falling Edge 6h 351 Position Sampling Trigger Mode Commutation Status 2050h 1056 Start Delay Commutation 2051h 1072 FHPP Version 2066h 102 Version FCT PlugIn Min. 2067h Version FCT PlugIn Opt.
B. Supplementary information Name CI object FHPP Index Sub PNU Additional Information 20CBh 1 ... 10h 203 Diagnostic Memory Parameter 20CCh 1 ... 4h 204 Scaling 20D0h 1 ... 2h Record Table Element 20E0h 1 ... Bh Axis Parameter 20E2h 1 ... 6h 1005 Controller Type 20E3h Record Delay 20E4h 1 ... 20h 405 Record Following Record 20E5h 1 ... 20h 416 Position Window Time (incl. jog mode) 20E6h 1 ... 21h 415 22h 1023 1 ... 21h 409 22h 543 1 ...
B. Supplementary information Name Jerk Acceleration (incl. jog mode) CI object FHPP Index Sub PNU 20EFh 1 ... 21h 408 22h 542 Direct Mode Deceleration Data Memory Control 20F1h 1 ... 3h 127 Trace Control 20F2h 1 ... Ah CI Receive Checksum Active 20F3h FCT Password 20FAh 1 ... 2h Local Password 20FBh User Device Name 20FDh 121 HMI Parameter 20FFh 1 ... 4h 126 Jerk Deceleration (incl. jog mode) 21E1h 1 ...
B.
B. Supplementary information Name CI object FHPP Index Sub PNU Device Warnings 2FF2h 215 PROFIBUS Address 2FF3h PROFIBUS Diagnosis 2FF4h 1 ...
B. Supplementary information Name CI object FHPP Index Sub PNU Max. Torque 6072h 512 Max. Current 6073h 1034 Motor Rated Current 6075h 1035 Motor Rated Torque 6076h 1036 Actual Torque 6077h Target Position 607Ah Software End Positions 607Bh 1 ... 2h 501 Offset Axis Zero Point 607Ch 1010 Polarity 607Eh 1000 Max.
B. Supplementary information Name CI object FHPP Index Sub PNU 60F6h 1h 510 Speed Limit 2h 554 Force Target Window 3h 552 Force Damping Time 4h 553 Min. Torque 5h 511 Stroke Limit Position Control Parameter Set 60FBh 12 ... 15h 1024 Digital Inputs 60FDh 303 Digital Outputs 60FEh 1 ... 2h 304 Motor Type 6402h 1030 B−106 Festo P.
B. Supplementary information Name CI object FHPP Index Sub PNU 6410h 1, 3 1025 I2t Value 4h 1027 Max Phase Current 5h 1028 Commutation Point 11h 1050 Measurement System Resolution 12h 1051 Measurement System Pitch 13h 1052 Nominal Power 14h 1053 Actual Power 15h 1054 Offset Reference Point 16h 1055 Record Power Consumption 17h 1057 Positioning Time 18h 1058 Actual Current 19h 1059 Actual Coil Temperature 31h 1060 Max.
B. Supplementary information Name CI object FHPP Index Sub PNU 6510h 1 ... 7h 1026 Limit Switch Polarity 11h 1300 Limit Switch Selector 12h 1301 Homing Switch Selector 13h 1302 Homing Switch Polarity 14h 1303 Limit Switch Deceleration 15h 1304 Sample Input 16h 1305 Brake Delay Time Switch ON 17h 1310 Brake Delay Time Switch OFF 18h 1311 Automatic Brake Time 19h 1312 Limit Switch Polarity 1Ch 1306 Output Stage Temperature 31h 1066 Max.
B. Supplementary information B.5.1 Additional CI objects Some objects cannot be accessed via the field bus, rather only via the CI interface. These objects are listed here. Representation of additional CI objects 1 2 3 4 5 8 Password 6 7 CI 20FAh 01h ... 02h Array V−string Description Managing the FCT password, entering the super password. rw/r FCT password 20FAh 01h V−string (FCT password) Password for the FCT software Value: <........
B. Supplementary information Additional CI objects group 1xxx Device Type CI 1000h 00h Description Device type fixed = 0 Var uint32 r Var V−string r Manufacturer Hardware Version CI 1009h 00h Description Hardware version in the format = V xx.yy" (xx = main version, yy = secondary version) Manufacturer Firmware Version CI 100Ah Description Firmware version in the format = V xx.yy" (xx = main version, yy = secondary version) B−110 00h Var V−string r Festo P.
B. Supplementary information Additional CI objects group 2xxx Record Number CI 2032h Description Selection of a positioning record (record pointer): from the CI object for the position record table 20E0h or from the individual objects 607Ah: Target position 6081h: Profile velocity (speed) 6083h: Profile acceleration 6084h: Profile deceleration Record Number 2032h 01h Array 1) CI 01h uint8 rw uint8 Read or write record number.
B. Supplementary information Version FCT PlugIn Min. CI 2067h 00h Var V−string Description Minimum FCT version required Format = xx.yy" (xx = main version, yy = secondary version) r Version FCT PlugIn Opt. CI 2068h 00h Var V−string Description Optimum FCT version Format = xx.yy" (xx = main version, yy = secondary version) r Scaling CI 20D0h 01h, 02h Array uint8 Description Units of measurement and decimal places on the control panel.
B. Supplementary information Record Table Element CI 20E0h 01h ... 0Bh Description Editing the entries in the positioning record table: 1. Selection of line with object 2032h (record pointer) 2. Select column under subindex 20E0: 01 ... 0Bh Record number Record Various rw 20E0/01 20E0/02 V 20E0/03 20E0/04 20E0/05 20E0/... RCW Target position Velocity Acceler ation Jerk ... <1> <...> 02 2032h} 03 ...
B. Supplementary information Acceleration 20E0h 04h int32 (acceleration) Acceleration in [Increments/s2] (matches 6083h and 20EEh) Jerk Acc. 20E0h 05h uint32 (jerk) 3 Acceleration jerk in [Increments/s ]. Matches 20E7h Work Load 20E0h 06h uint32 (workpiece load) Mass of a work item in [g] for a positioning record. Matches 20E8h Damping Time 20E0h 07h uint16 Damping time in milliseconds [ms].
B. Supplementary information Trace Control CI 20F2h 01 ... 0Ah Record Various Description Settings for recording positioning procedures using the Festo Configuration Tool (FCT) CI Receive Checksum Active CI 20F3h 00h Var uint8 rw Description When checksum checking is activated, the CI commands to the SFC−LACI must be provided with a checksum (see Tab. B/14). The checksum is calculated as per Tab. B/17. Example: Deactivate checksum: =20F300:0012" (12 = checksum).
B. Supplementary information Local Password CI 20FBh 00h Var V−string rw Description Managing the (local) HMI password for enabling particular functions which are carried out via the control panel. Value: <........> (fixed 8 characters, ASCII, 7−bit) Only the first 3 characters are evaluated. Default: <00000000> (status upon delivery and after reset) Communication Error CI 2FF0h 00h Var Description Special object; see section B.4.
B. Supplementary information Additional CI objects group 6xxx Position Window Time CI 6068h 00h Var int8 Description Damping time of the currently active record. See PNU 415 r Velocity Demand Value CI 606Bh 00h Var int32 Description Setpoint speed value of speed regulator in [Inc/s] r Velocity Actual Value CI 606Ch 00h Var int32 Description Actual speed value of speed regulator in [Inc/s] r Target Torque CI 6071h 00h Var int16 rw Description Setpoint value for force control.
B. Supplementary information Target Position CI 607Ah 00h Var int32 rw Description Target position in [Increments]. This position will be saved in the positioning record table in the line addressed by object 2032h, in the column intended. No movement is made at this point. See 20E0/02h. Profile Velocity CI 6081h 00h Var int32 rw Description Final speed for a positioning procedure in [Increments/s].
B. Supplementary information Supported Drive Modes CI 6502h 00h Var uint32 Description Fix = 69h (105d) Bit 0: Profile position mode Bit 1: (Velocity mode) Bit 2: (Profile velocity mode) Bit 3: Profile torque mode Bit 4: (Reserved) Bit 5: Homing mode Bit 6: FHPP continuous mode / interpolated position mode Bit 7 ... 31: (reserved) r Drive Data CI 6510h Description General data of the SFC−LACI Max.
B. Supplementary information B−120 Festo P.
Index Appendix C Festo P.
C. Index Contents C. C−2 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−1 Festo P.
C. Index A Absolute position specification Adjusting mode Applied load, Definition 5−18 , 5−47 5−78 XVI Automatic brake 5−92 Axis zero point AZ Default values Definition Teaching 5−14 1−11 5−14 B Baud rate 3−18 BCD XVIII Brake 5−90 Bus segment XVIII Bus terminal 3−23 C Cable Field bus Overview Cables, Overview 3−17 3−5 3−5 , A−5 CCON 5−42 CDIR 5−44 Checksum B−98 CI interface B−91 Clamping unit 5−90 CLEAR_DATA 5−35 COM interface B−93 Commissioning Options 1−22 Festo P.
C.
C.
C. Index FLASH Force mode FPC FREEZE 1−6 5−37 , 5−59 , 5−74 , B−61 6−19 , B−9 5−35 G GetDiag 6−15 GSD file XVIII , 5−27 H H−rail mounting 2−6 HALT XVI Hardware enable Function Reaction when cancelling Use HMI HMI control Homing Definition On the control panel Homing method Definition Fixed stop Overview Set Homing mode 3−9 1−8 5−82 XVI 4−20 5−54 , 5−62 1−11 5−12 1−11 1−17 1−14 5−9 1−10 , 5−12 I I/O data, Cyclic C−6 5−38 Important user instructions XII Increments, Conversion A−6 Festo P.
C. Index Index pulse warning 6−20 Inputs, local digital, Specification 3−26 J Job identifier (AK) XIX , B−10 , B−11 Jog mode XVII , 4−17 , 5−64 K Key function, Overview 4−5 L LED 6−5 LSB XVIII M M12 adapter 3−21 Master password 4−18 Measuring reference system Calculation rules Diagram 1−13 1−12 MMI XVII Motor connection 3−4 Mounting H−rail mounting Wall mounting 2−6 2−5 MSB XVIII O Octet Festo P.
C.
C.
C.
C. Index Task telegram XIX Teaching XVII Teaching via field bus 5−66 Terminal program B−93 Terminating resistor 3−23 Test run 5−20 Text markings Tool load Definition Transmission errors XIII XVII , 5−17 XVII B−97 U Units of measurements Conversion Overview A−6 1−13 V Value ranges, permitted Version Voltage supply Example of connection Requirements B−97 XV 3−4 , 3−6 3−8 3−8 W Wall mounting 2−5 Warnings, Description 6−8 With position sensing magnet, Move Festo P.
