Motor Controller SFC−LACI Manual Motor Controller Type SFC−LACI−...
Contents and general instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0812NH Designation . . . . . . . . . . . . . . . . . . . . GDCP−SFC−LACI−DN−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567 387 © (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. DeviceNet ® is a registered trademark of Open DeviceNet Vendor Association. Inc.
Contents and general instructions Contents Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1 3.1 3.2 Installation overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Function of the hardware enable . . . . . . . . . . . . . . . . . . . . . . . . . . . Earthing . . . . . . . . . .
Contents and general 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 5.7 Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−56 5.6.1 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−56 5.6.2 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−58 5.6.3 Teaching via field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−60 5.6.
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 C. CI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−1 C.1 The CI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Using the parameterising interface . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Accessing the CI objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.3 Access via a terminal program . .
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 DeviceNet interface of the SFC−LACI−...−DN. 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−...−DN. It also contains information on the functions of the DeviceNet 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. You can find the specifications on the version status as follows: Hardware version and firmware version under Device data" in the Festo Configuration Tool, when there is active linkage to the SFC−LACI.
Contents and general instructions Product−specific terms and abbreviations Term / abbreviation Meaning 0−Signal There is a 0 V signal present at the input or output (positive logic, corresponds to LOW) 1−Signal There is a 24 V signal present at the input or output (positive logic, corresponds to HIGH) Acknowledge Confirm, reply message, e.g. Acknowledge START." Acknowledge an error." The user confirms that he has noted the error.
Contents and general instructions Term / abbreviation Meaning Load voltage, logic voltage The load voltage supplies the power electronics of the motor controller and thereby the motor. The logic voltage supplies the evaluation and control logic of the motor controller as well as the local digital I/Os (see section 3.2).
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.
Contents and general instructions Field bus specific terms and abbreviations Term / abbreviation Meaning 0x1234 or 1234h Hexadecimal numbers are marked by a prefixed 0x" or by a suffixed h" ATTR ATTRibute number BCD Binary coded decimal Bit strobe All slaves are scanned by the master with a command. Serves for transmitting small amounts of data between a master and one or several slaves, e.g. for synchronizing input or output data (is not supported by the SFC−LACI−DN).
Contents and general instructions Term / abbreviation Meaning LSB Least significant byte (lower−value byte) MAC ID Media AccessControl Identifier, see Slave address" MSB Most significant byte (higher−value byte) Object Data (attributes) are summarised in an object. These attributes describe various properties of a DeviceNet device, and can be read and written via the bus.
System summary Chapter 1 Festo GDCP−SFC−LACI−DN−EN en 0812NH 1−1
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. 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 error).
1. System summary 1.1.4 Operating modes of the SFC−LACI−DN 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. Automatic record switching is also possible. via Direct mode: The positioning task is directly transferred with the appropriate setpoint values over the field bus.
1. System summary 1.1.5 Measuring reference system Homing Homing determines the position of the homing reference point REF. When homing is concluded, the axis stands at the axis zero point AZ. The homing method The homing method defines how the homing point REF is determined. Reference point REF binds the measuring reference system to a proximity sensor or a fixed stop, depending on the homing method.
1. System summary Measuring reference system 1) LSE USE e b c a 0 1 2 3 d AZ g PZ 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 6.6). 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 DeviceNet DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association) as an open field bus standard based on the CAN protocol. DeviceNet belongs to the CIP−based networks. CIP (Common Industrial Protocol) forms the user interface of DeviceNet and defines the exchange of: I/O messages, e.g. time−critical processing data and explicit messages with low priority, e.g. for configuration or diagnosis.
1. System summary I/O Messages (I/O Messaging) I/O messages are sent by a station, and can be received and processed by one or more stations.
1. System summary Object model In DeviceNet, data are accessed via objects. Each DeviceNet station has one or more objects of various classes. An object is an instance of a class: Standard classes describe e.g. basic features, the communication behaviour or parameters of individual channels of a slave. Manufacturer−specific classes describe device−specific properties or parameters.
1.
1. System summary DeviceNet Standard Classes Class Identity Objects e.g. manufacturer identifier, device type, etc. 001 Message Router for forwarding of Explicit Messages" to other objects 002 DeviceNet Objects e.g. MAC ID, baud rate, etc. 003 Assembly Objects Summary of the attributes of a number of objects, so that the data to or from all the objects can be sent or received over a single connection.
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 via the field bus can take place cyclically (I/O Messaging) or acyclically (Explicit Messaging).
1. System summary FHPP−FPC (Festo Parameter Channel) Optionally, an additional 8 I/O bytes can be used for parameterisation via FPC. The additional bytes can be configured via the I/O data length (HMI, FCT software). Assembly Object Data 1) Input Output Byte Tele grams FHPP standard 128 130 8 1 FHPP standard + FPC 129 131 16 3 1) Setting the data length, see CI object 2FF5 Tab.
1. System summary Param ... 1 ... ... ... 293 Group 1 ... ... ... 66 SFC−LACI−...−EDS Process control/Process data Parameterising/Service data I/O Messaging (cyclic data channel) 8 bytes Tx/Rx (Assembly Instance 128/130) FHPP standard I/O Messaging (cyclic data channel) Explicit Messaging (acyclic data channel) 16 bytes Tx/Rx (Assembly Instance 129/131) 8 bytes Tx/Rx FHPP standard + FHPP−FPC DeviceNet S/C POS S/C CON ...CON.B6/B7 Record selection 1 2 ... n ... ... PNU 100 ... 540 SI ..
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, nur Typ SFC−LACI−...−H2) } chapters 4 and 5 via DeviceNet (DN) } section 5.4.
Fitting Chapter 2 Festo GDCP−SFC−LACI−DN−EN en 0812NH 2−1
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 additional 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. 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. For rail 35 x 7.5: the max. distance is 3.3 mm between the housing web and the H−rail. · If possible, use a part of the H−rail where there are no mounting screws. · If screws are necessary below the SFC−LACI: use e.g. an M6 screw as per ISO−7380ULF. 4.
Installation Chapter 3 Festo GDCP−SFC−LACI−DN−EN en 0812NH 3−1
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Function of the hardware enable . . . . . . . . . . . . . . . . . . . . . . . . . . . Earthing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3.1 Installation overview Warning Before carrying out fitting, installation and/or mainten ance work, always switch off the power supply. In this way, you can avoid: uncontrolled movements of the connected actuators undefined switching states of the electronic components damage to the electronic components. Caution Faulty pre−assembled lines may destroy the electronics and trigger unexpected movements of the motor.
3. Installation 1 Parameterising 1 interface (RS232) 2 2 Controller interface 3 Power supply 3 4 Earth terminal 5 Local digital I/Os 6 Motor connection (e.g. DNCE−...−LAS) 6 5 4 Fig. 3/1: Connections to the SFC−LACI Connection to the SFC−LACI−DN 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, plug 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 Power supply Warning · Use only PELV circuits as per IEC/DIN EN 60204−1 for the electric power supply (protective extra−low voltage, PELV). Take into account also the general requirements for PELV circuits as per IEC/DIN EN 60204−1. · Use only power supply units that guarantee reliable electrical isolation of the operating voltage as per IEC/DIN EN 60204−1.
3. Installation Connection 1) 2) 3) Pin Designation Function Cable 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) Cable colours with supply cable type KPWR−MC−1−SUB−15HC−..
3. Installation Requirements to be met by the power supply Voltage Application 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. 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 parameterising 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 plug on the SFC−LACI for connecting the field bus. This connection is used for the incoming and continuing field bus cables. Note Only field bus plugs of type FBS−SUB−9−BU−2x5−POL−B and FBA−2−M12−5−POL from Festo ensure conformance to IP54. Note the instructions in section 3.7.5 if other Sub−D plugs are used.
3. Installation Note The screen connection at pin 5 of the field bus interface is capacitively connected internally to the housing. This prevents equalising currents from flowing via the screening of the field bus cable (see Fig. 3/4). 1 Capacitive 1 connection 6 2 Housing 5 9 1 2 Fig.
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 inappropriate cables. Observe the cable specifications.
3. Installation 3.7.2 Field bus baud rate and field bus length The maximum permissible fieldbus length and length of the branch lines depends on the baud rate used. You will find detailed information in the manuals for your control system or bus interface or DeviceNet specification. Note · Refer to the manuals for your control system or bus interface in order to ascertain which T−adapter and maximum branch line length are permitted for your controller.
3. Installation 3.7.3 Bus power supply Bus supply Avoid excessively long distances between the bus interface/logic supply and the SFC−LACI. Caution · When connecting the field bus interface and the power supply for the bus interface pay attention to the polarity. · Connect the screen. · Protect the power supply for the bus interface with an external fuse, in accordance with the number of bus slaves.
3. Installation 3.7.4 Connection with field bus plugs / adapters from Festo With Festo field bus plugs type FBS−SUB−9−BU−2x5POL−B or the field bus adapter FBA−2−M12−5POL you can connect the SFC−LACI to the field bus in a user−friendly manner. You can disconnect the plug from the SFC−LACI without breaking the bus connection (T−Tap function). 1 6 2 3 Ö 4 5 1 Field bus 4 T−adapter (T−Tap) 2 Voltage supply 5 Branch line 3 Screening 6 Field bus plug with T−adapter function Fig.
3. Installation Field bus plug FBS−SUB−9−BU−2x5POL−B (IP54) · 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. Note The clamp strap in the field bus plug from Festo is con nected internally capacitively with the metallic housing of the Sub−D plug. This is to prevent equalising currents flowing through the screening of the field bus cable.
3. Installation M12 adapter FBA−2−M12−5POL (IP54) The bus is connected via a 5−pin M12 socket with PG9 screw connector. Use the second connection socket for the continuation of the field bus. Note · Use protective caps or blanking plugs to seal unused connections. Pin no. M12 adapter 2 2 3 1 1 3 5 4 5 1. Screening 2. 24 VDC bus 3. 0 V DC bus 4. CAN_H 5. CAN_L 4 Bus out Bus in Protective cap or plug with bus termination resistor if connection is not used Tab.
3. Installation Screw terminal adapter (IP20) With the adapter type FBA−1−SL−5POL the bus can be connected to a 2x5−pin terminal strip. Use the second row of connections for the continuing field bus. The maximum permitted current at the terminals is 4 A. Use cables with a cross sectional area of min. 0.34 mm2. Order this adapter together with the terminal strip type FBSD−KL−2x5POL. In this way you can implement a T−adapter function. Screw terminal adapter 1 2 3 4 5 Pin no. 1. 0 V DC bus 2. CAN_L 3.
3. Installation 3.7.5 Connection with other Sub−D plugs (IP20) If you are using the Festo plug type FBS−SUB−9−WS−CO−K or Sub−D plugs from other manufacturers, you must replace the two flat screws by which the field bus plug is fitted in the SFC−LACI by bolts of type UNC 4−40/M3x5 (supplied). 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. · Always use a bus termination at both ends of the field bus. If you are using T−adapters, install the terminating resistor at the unused output of the T−adapter. Recommendation: Fit a terminating resistor in the Festo field bus plug for the bus termination. 1 Protective cover 1 2 2 Resistor for bus termination (120 , 0.
3. Installation 3.
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. Therefore: · 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 isolation). Note Damage to the device The 24 V DC voltage at pin 1 does not have any special protection against overload. · Use this connection only for proximity sensors (sensor supply). Use of this connection as a power supply for other devices is not permitted.
3.
Control panel (only type SFC−LACI−...
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 parameterising 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: Parameterising 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. DeviceNet INIT PARAMETER ERROR Diagnostic
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 parameter 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: 1. Select the [Diagnostic] menu in the main menu . } Diagnostic Pos.set table Axis parameter System paramet. DeviceNet Diag SW information 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 mass (e.g.a gripper on the front plate/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 [DeviceNet Diag] Bus diagnosis [SW information] Tab. 4/3: 4−10 No Power / BUS Off No bus supply connected or the field bus was not correctly parameterised. No connection to the master is possible.
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 5.2.2 to 5.2.4 Positioning runs / test runs: section 5.2.
4. Control panel (only type SFC−LACI−...−H2) 4.5 [Settings] menu For parameterising the axis system and the positioning records: } Settings Axis type Axis parameter Homing paramet. Position set Jog mode BUS 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 5.2.5 and 5.2.6. · [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 5.2.2. [Homing paramet.
4. Control panel (only type SFC−LACI−...−H2) 4.5.4 [Settings] [Position set] Parameterising the position set table · Observe the instructions in section 5.2.8. · 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 the position record [1 ...
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] [BUS parameter] Setting the field bus parameters [BUS parameter] Param. Description [MAC ID] 0 ... 63 (0 ... 3Fh) Field bus address of the SFC−LACI Representation: 00 dec, 00 hex"...
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) Enter 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 GDCP−SFC−LACI−DN−EN en 0812NH 5−1
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.
5. Commissioning 5.6 5.7 Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−56 5.6.1 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−56 5.6.2 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−58 5.6.3 Teaching via field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−60 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 controller are completely set up and wired and that the working space is adequate for operation with an effective load. · Observe the notes in the operating instructions for the axis used.
5. Commissioning 5.1.3 Before switching on When the SFC−LACI is switched on, the controller interface is activated as standard [HMI = off ]. Caution Unexpected movements of the drive due to incorrect parameterising · 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. 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 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. Switch on the SFC−LACI, configure the field bus interface, then Reset 5.2.1 3.
5. Commissioning 5.2.1 Set the field bus parameter DeviceNet INIT PARAMETER ERROR · Diagnostic
5. Commissioning } Settings BUS parameter MAC ID Station number (MAC ID) Permitted station numbers: 0 ... 63 DeviceNet MAC ID An invalid station number is preset (shown on control panel as ???"). This is to make sure that a correct address is set during commissioning or exchange.
5. Commissioning 5.2.2 Setting the homing run parameters 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). For homing to the switch, only the drive’s integrated reference switch can be selected on the control panel. Use the FCT for parameterising if you require further options.
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 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] 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 5.2.4 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 5.2.5 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.
5. Commissioning 5.2.6 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 = − (negative) 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 5.2.7 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 5.2.8 Teaching positioning records Requirements: The drive must be set up completely, wired and supplied with power. The SFC−LACI has been correctly parameterised. The 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. Work load Time MC SAVE 1.
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 5.2.9 Test run 1. Enter several positioning records (} section 5.2.8). } 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 5.3 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−...−DN 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 parameterising 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 parameterising · 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 Commissioning on a DeviceNet master The following sections detail the configuration and addressing of the SFC−LACI on a DeviceNet interface and a DeviceNet master. To understand this section, you should be familiar with DeviceNet and know the specification. 5.4.1 Overview of commissioning on the field bus The following steps are required for commissioning the SFC−LACI as a field bus participant: 1.
5. Commissioning 5.4.2 Configuration of the DeviceNet master ( I/O configuration") Configuration with EDS file EDS files" are available for configuring the DeviceNet master. These files are installed with the aid of the configuration software of the DeviceNet master. The detailed procedure can be found in the manuals for this software. Obtainable from The accompanying CD contains EDS files for the SFC−LACI in the DeviceNet" folder. You will find the latest EDS files on the Festo website at: www.festo.
5. Commissioning Allen−Bradley Support of the Auto Device Replacement (ADR) from Allen− Bradley. In its master controllers, Rockwell Automation offers a special function that supports the slave stations with automatic para meter setting when a device is exchanged during servicing. All of the parameters with write access addressed in the EDS file are uploaded by the master after commissioning and saved in the scanner of the controller.
5. Commissioning 5.5 5.5.1 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 (= positioning tasks) can be saved in the SFC−LACI. A record contains all the parameters which are required for a positioning task.
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 5.5.2 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 HMI access blocked Acknowl. Clamping Stop error 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 5.5.3 Description of the I/O data (Record select) Description of the output data: Record selection Byte EN Description 1 CCON Control bytes, see section 5.5.5 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 5.5.6 2 SPOS 3 Record number Reply message of record number (0 ...
5. Commissioning 5.5.4 Description of the I/O data (Direct mode) Output data Direct mode Byte EN Description 1 CCON Control bytes, see section 5.5.5 2 CPOS 3 CDIR 4 Velocity In % of the basic speed (compare 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 5.5.
5. Commissioning 5.5.5 Description of the control bytes CCON, CPOS, CDIR CCON With control byte 1 (CCON) all the states are controlled which must be available in all operating modes. The cooperation of the control bits can be found under the description of the drive functions in section 5.6.
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.
5. Commissioning CDIR Control byte 3 (CDIR) is a special control byte for the operating mode Direct mode".
5. Commissioning 5.5.
5.
5.
5. Commissioning 5.5.7 Examples of control and status bytes (FHPP standard) 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 run 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.3.
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 1.1 Basic status (Device control HMI = off ) Control bytes Byte Byte 1 OPM2 OPM1 CCON 0 Byte 2 0 1.2 Disable device control by FCT/HMI (optional) 0 OPM2 OPM1 CCON x Byte 2 (Record selection) Byte 1 x x OPM2 OPM1 CCON 0 Byte 2 0 0 0 0 LOCK 1 x x LOCK x x x CLEAR TEACH JOGN CPOS x 0: 1: x: F: 0 CLEAR TEACH JOGN CPOS x 1.
5. Commissioning 2.Create readiness to operate Direct mode Step/ D Description i ti 2.1 Basic status (Device control HMI = off ) Control bytes Byte Byte 1 OPM2 OPM1 CCON 0 Byte 2 0 2.2 Disable device control by FCT/HMI (optional) 0 OPM2 OPM1 CCON x Byte 2 (Direct mode) Byte 1 x x OPM2 OPM1 CCON 0 Byte 2 1 0 0 0 LOCK 1 x x LOCK x x x CLEAR TEACH JOGN CPOS x 0: 1: x: F: 0 CLEAR TEACH JOGN CPOS x 2.
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 with CCON.B3 (RESET) 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. Homing run (requires status 1.4 or 1.5) Step/ D Description i ti 4.1 Start homing Control bytes Byte Byte 1 OPM2 OPM1 CCON 0 Byte 2 x 4.2 Homing running 0 OPM2 OPM1 CCON 0 Byte 2 Byte 1 x 0 OPM2 OPM1 CCON 0 Byte 2 x x 0 0 LOCK x x 0 LOCK x 0 x CLEAR TEACH JOGN CPOS x 0: 1: x: F: x CLEAR TEACH JOGN CPOS x 4.
5. Commissioning 5. Positioning Record select (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 number Byte 3 Record Record no. (1 ... 31) No. 5.2 Start task Byte 1 CCON Byte 2 CPOS 5.
5. Commissioning Description of 5. Positioning record select (Sequence dependent on steps 5.1 ... 5.4) 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 Velocity preselect (0 ... 100 %) Byte 5...8 new Byte 1 0 Byte 2 CPOS Byte 3 CDIR 6.3. Order runs Byte 1 CCON 6.4 Job finished 0: 1: x: F: S: OPM2 OPM1 CCON 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 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1 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 5.6 Drive functions The necessary FHPP parameter numbers (PNU) will be specified for each drive function. The relevant DeviceNet parameters (class, attribute, instance) can be found in the detailed descriptions of the PNUs in section B.4. 5.6.1 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 proximity sensor.
5. Commissioning Overview of parameters involved (see also section B.4.9) 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 5.6.2 Jog mode In the Operation enabled" status, the drive can be jogged to the left/right. This function is usually used for Moving to teaching 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 Max. speed for Speed v(t) phase 2 3 1 3 Acceleration/delay 4 Duration of phase 1 2 3 t [s] CPOS.B3 or CPOS.B4 (Jogging positive/ negative) 1 0 4 Fig. 5/1: Sequence diagram for jog mode Overview of parameters involved (see section B.4.8) 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 5.6.3 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 FHPP 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. 5/2: 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 5.6.4 Record selection: Carrying out a record A record can be started in the Drive enabled" state. This function is usually used for: moving to any position 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.
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 remainig 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.4.7. Record chaining is described in section 5.6.5. Overview of parameters involved (see section B.4.
5. Commissioning 5.6.5 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 5.6.6 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 Start the task 1 Setpoint values Output data N−1 N N+1 N+2 0 1 START CPOS.B1 0 1 Acknowledge start SPOS.B1 0 1 Motion Complete SPOS.B2 0 Fig. 5/6: 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. 5/3, Fig. 5/4 and Fig. 5/5. Causes of errors 5−70 No referencing carried out. When specifying a position: Target position outside the software end positions.
5. Commissioning Overview of parameters involved (see section B.4.
5. Commissioning 5.6.7 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.4.8) 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 5.6.8 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 Overview of parameters involved (see section B.4.9) 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.B6 = 1: drive has moved out of standstill position window Prerequisites Device control by PLC/field bus Controller must be in status Operation enabled" Tab.
5. Commissioning 5.6.9 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 5.6.10 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 valuese) Controlling a brake/clamping unit (see section 5.6.11) 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 parameterisation 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 5.6.
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 5.6.
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 5.6.11 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. 5/9). 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 position record Fig. 5/10: 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 5.6.12 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 5.7 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.
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 SFC−LAC PlugIn help) HMI password protection on the control panel of the SFC−LACI−...−H2−...
Diagnosis and fault display Chapter 6 Festo GDCP−SFC−LACI−DN−EN en 0812NH 6−1
6. Diagnosis and fault display Contents 6.1 6.2 6.3 6.4 6.5 6.6 6−2 Diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostics via field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and fault display 6.1 Diagnostics options Overview organised according to the type of the 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 5.5.2 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 SFC−LACI−...−H2 On the LCD display: Messages, warnings and errors Fast 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. Diagnosis and fault display Bus status Bus status 1) I/F ON Off The device is not online. The Dup_MAC_ID test is not yet concluded. Possibly missing logic voltage. Flashes green 2) The Dup_MAC_ID test has been successfully concluded, and the device is online. But the device is not yet assigned to a master.
6. Diagnosis and fault display 6.3 Error messages Malfunction Warning Messages Malfunctions can have different levels of severity. A warning or a fault message is displayed depending on the level of severity. Error message Messages inform about operating states. Festo GDCP−SFC−LACI−DN−EN en 0812NH Message Cause Attention Motor moves... Message before the start of a positioning movement. After confirmation with the button, the drive moves. Please wait! Commut.
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 5.5.2). 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 is illuminated, 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 Possible cause and remedy COMMUTATION POINT ERROR Commutation point is invalid. PNU 205 Possible cause and remedy: 0x8000 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 Error Possible cause and remedy PNU Fault no.
6. Diagnosis and fault display 6.4 6.4.1 Diagnostics via field bus Overview FHPP status bytes (see section 5.5.2) SCON.B2 WARN Warning SCON.B3 FAULT Fault SPOS.B5 DEV Drag error SPOS.B6 STILL Standstill monitoring DeviceNet classes: INST 1) ATTR PNU 2) See... Diagnostic event 01h ... 10h 01h 200 Fault number 01h ... 10h 02h 201 Time stamp 01h ... 10h 03h 202 DeviceNet class 101 (65h) Diagnosis memory Sections 642 6.4.2, B.4.
6. Diagnosis and fault display 6.4.2 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, setpoint position outside software end positions, setpoint 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 parameter channel (FPC) The Festo parameter channel offers the following possibilities of access to diagnostic information: Diagnosis PNU Section Diagnosis memory PNU 200 ... 204 Compare sections B.4.5 and 6.4.2 Error PNU 205 (2FF1h) PNU 207 (2FFAh) PNU 208 (2FFBh) PNU 209 (2FFCh) Compare sections B.4.5 and 6.3 Warnings PNU 215 (2FF2h) Compare sections B.4.5 and 6.
6. Diagnosis and fault display 6.6 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 GDCP−SFC−LACI−DN−EN en 0812NH A−1
A. Technical appendix Contents A.1 A.2 A.3 A−2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Converting the units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A.1 Technical data General Protection class of the entire system according to EN 60529 IP54 (plug connector inserted or fitted with protective cap) Relative air humidity (at 25 °C) 0 ...
A. Technical appendix Electrical data Load voltage supply Nominal voltage Nominal current (max. continuous motor current) Peak current Power connection, pins A1, A2) 48 VDC (+5/−10 %) (Load power down: Ţ 36 V) 10 A Logic voltage supply Nominal voltage Nominal 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 Cable/Plugs Type Length [m] Controller interface Field bus plug FBS−SUB−9−BU−2x5POL−B (IP54) FBS−SUB−9−WS−CO−K (IP20) Field bus adapter FBA−2−M12−5POL (IP54) FBA−1−SL−5POL (IP20) Voltage supply Power supply cable KPWR−MC−1−SUB−15HC−... 2.5 / 5 / 10 Motor Motor cable NEBM−T1G6−T1G6−... 2.5 / 5 / 10 Encoder cable NEBM−T1G12−T1G12−... 2.5 / 5 / 10 Programming cable KDI−MC−M8−SUB−9−... Fix 2.
A. Technical appendix A.3 Converting the units of measurement The CI interface works with increments [Inc, Inc/s, Inc/s2, Inc/s3]. DNCE−...−LAS The distance between two index lines (= north or south pole of the magnetic displacement encoder) is 5 mm. The resol ution of the measurement system is 11 bits, which is the same as 2048d (800h) increments. The increments are calcu lated by means of interpolation.
Parametrizing via field bus Appendix B Festo GDCP−SFC−LACI−DN−EN en 0812NH B−1
B. Parametrizing via field bus Contents B.1 B.2 B.3 B.4 B−2 Parameterising via Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 DeviceNet Classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.2 Parameter overview (class, attribute, instance) . . . . . . . . . . . . . . . Parameterisation via FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.1 Structure of the Festo Parameter Channel (FPC) .
B. Parametrizing via field bus B.1 Parameterising via Explicit Messaging B.1.1 DeviceNet Classes Class CLASS 1) Description Device Data 100 (0x64) Device identification and device−specific settings, version numbers, identifier words, control panel polling, etc.
B. Parametrizing via field bus B.1.2 Parameter overview (class, attribute, instance) Explicit Messaging The following tables contain all defined parameters with indication of the Class (CLS), Attribute (ATTR) and Instance (INST) for access via Explicit Messaging". FPC For access via FPC (within the cyclic I/O data), the FHPP parameter number (PNU with subindex) is used. A detailed description of the parameters can be found under the specified FHPP parameter numbers PNU in the sections B.4.4 to B.4.10.
B.
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B. Parametrizing via field bus Record Sets FHPP Class 104 (0x68) CLS ATTR INST PNU SI Record Sets 104 1 01h ... 20h 401 1 ... 32 Direct Mode 104 1 22h 401 34 Record Control Byte 2 Record Sets 104 2 01h ... 20h 402 1 ... 32 Target Position Record Sets 104 4 01h ... 20h 404 1 ... 32 Jog Mode 104 4 21h 404 33 Direct Mode 104 4 22h 404 34 Record Delay Record Sets 104 5 01h ... 20h 405 1 ... 32 Velocity Record Sets 104 6 01h ... 20h 406 1 ...
B. Parametrizing via field bus Record Sets FHPP Class 104 (0x68) CLS ATTR INST PNU SI Following Record Record Sets 104 15 01h ... 20h 416 1 ... 32 Jerk Deceleration Record Sets 104 16 01h ... 20h 417 1 ...
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B. Parametrizing via field bus 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 O data 0 IND PKE (ParID) PWE (ParVal) I data 0 IND PKE (ParID) PWE (ParVal) IND PKE PWE Tab. B/2: Byte 8 Subindex Parameter identifier: PNU and AK Parameter value: for double word: bytes 5 ...
B. Parametrizing via field bus Parameter identifier (ParID) 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. ParID Byte 3 Bit 15 14 Byte 4 13 12 11 10 9 8 7 6 Order ReqID (AK) res. PNU (parameter number) Reply ResID (AK) res. PNU (parameter number) ReqID (AK) ResID (AK) PNU Tab. B/4: B−16 5 4 3 2 1 0 Request Identifier job identifier (read, write, ...
B. Parametrizing via field bus B.2.
B. Parametrizing via field bus If the task cannot be carried out, reply identifier 7 as well as the appropriate error number will be transmitted.
B. Parametrizing via field bus 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. Parametrizing via field bus B.2.
B. Parametrizing via field bus 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. Parametrizing via field bus B.2.
B.
B. Parametrizing via field bus B.3 FHPP finite state machine From all statuses Switched off T7* always has the highest priority T7* S5 S1 Controller switched on Reaction to fault T1 T8 S2 S6 T9 Drive locked T5 Malfunction T2 T10 S4 Drive enabled T6 T4 SA5 T11 TA9 T3 SA1 Jog mode positive TA10 SA4 Homing run is performed TA7 Ready SA6 Jog mode negative TA8 TA11 TA12 TA2 TA1 SA2 Positioning job active TA4 TA5 TA6 TA3 SA3 Intermediate stop S4 Operation enabled Fig.
B. Parametrizing via field bus 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. Parametrizing via field bus B.3.1 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. An error cannot be ascertained. T2 Load voltage applied. Field bus master must be higher−order controller. 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. Parametrizing via field bus B.3.2 Positioning Fundamentally, the following applies: Transitions T4, T6 and T7* always have priority. TA Internal conditions Actions of the user TA1 Referencing is running. 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. Parametrizing via field bus 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. Parametrizing via field bus Special features dependent on operating mode Record selection No restrictions Direct mode TA2: The condition that no new record may be processed no longer applies. TA5: A new record can be started at any time.
B. Parametrizing via field bus B.4 Reference FHPP Parameters B.4.1 FHPP parameter groups Group PNU Description Device data 100 ... 199 Device identification and device−specific settings, version numbers, identifier words, etc. Diagnosis 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. Parametrizing via field bus B.4.2 Overview of parameter numbers (PNU) The following overview shows the avaiilable FHPP parameters arranged according to the parameter number PNU for parameterising as per FPC. A detailed description of the parameters can be found in the sections B.4.4 to B.4.10. You will find an overview of the available CI objects in section C.2.
B. Parametrizing via field bus 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 0204 1 ... 4 Device Errors 0205 DeviceNet Diagnosis 0206 1 ... 6 Extended Device Errors A 0207 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.
B. Parametrizing via field bus Name PNU SI Project Zero Point (offset project zero point) 0500 Software End Positions 0501 1 ... 2 Max Velocity (max.
B. Parametrizing via field bus Name PNU SI Torque/Force Slope (change of force) 0550 Force Target Window 0552 Force Target Damping Time 0553 Speed Limit 0554 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 1011 Homing Velocities 1012 1 ...
B. Parametrizing via field bus Name PNU SI Quick Stop Option Code 1019 Halt Option Code 1020 Fault Reaction / STOP Option Code 1021 Target Position Window 1022 Direct Mode Position Window Time 1023 Position Control Parameter 1024 18 ... 21d Motor Data (axis data) 1025 1, 3 Drive Data (data of the SFC−LACI) 1026 1, 2, 4, 6, 7 I2t Value 1027 Max Phase Current (max.
B.
B.
B.
B. Parametrizing via field bus B.4.3 Representation of the parameter entries 1 2 3 4 5 Encoder Resolution 6 7 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). Encoder Increments 1001 1 ... 2 1 uint32 rw 0 Value range: 0 ... (232 − 1) Default: 500 Motor Revolutions 1001 2 1 Fixed = 1 8 9 CI 608Fh 01 ...
B. Parametrizing via field bus B.4.
B. Parametrizing via field bus Version FCT PlugIn BCD PNU 104 1 ... 2 Array uint16 r Description FCT PlugIn Min. 1 r Minimum necessary FCT version in BCD (binary coded decimals): Format = xx.yy" (xx = main version, yy = secondary version) FCT PlugIn Opt. 2 r Optimum FCT version in BCD (binary coded decimal): Format = xx.yy" (xx = main version, yy = secondary version) CI 206Bh 01 ... 02h DeviceNet C: 100 A : 4 ...
B. Parametrizing via field bus Supported Drive Modes PNU 112 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) Homing mode Bit 5: Bit 6: FHPP Continuous Mode / Interpolated Position Mode Bit 7 ... 31: (reserved) CI 6502h 00h DeviceNet C: 100 A : 45 I: 1 r uint32 r uint32 r char r Controller Serial Number PNU 114 1 ... 12d Description Serial number of the controller, e.
B. Parametrizing via field bus Manufacturer Device Name PNU 120 1 ... 30d char Description Manufacturer’s name for the device: SFC−LACI−... CI 1008h 00h DeviceNet C: 100 A : 9 PNU 121 1 ... 24d Description Device name assigned by user Max. 24 characters (ASCII, 7−bit).
B. Parametrizing via field bus Festo Order Number PNU 124 1 ... 30d Description Order number for SFC−LACI CI 6503h 00h DeviceNet C: 100 A : 13 PNU 125 Description Corresponds to HMI control" on the control panel and FCT" on the FCT.
B. Parametrizing via field bus HMI Parameter PNU 126 Description Control panel settings (SFC−LACI−...−H2 only) LCD Current 126 1 ... 4 uint8 r 1 Brightness. Value range: 1 ... 5. Default: 5 LCD Contrast 126 2 Contrast. Value range: 0 ... 63 (0x00 ... 0x3F). Default: 0 Measure 126 3 Unit of measurement system on the control panel (see 20D0/01h) Fix = 1: millimetre, e.. g.
B. Parametrizing via field bus Data Memory Control PNU 127 Description Commands for EEPROM Subindex 03: See 20F1h Delete EEPROM 127 1 ... 2 uint8 w 1 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 The data in EEPROM will be overwritten with the current user−specific settings. Fix 1 (0x01): Save data CI 20F1h 01h ... 02h DeviceNet C: 100 A : 20 ...
B. Parametrizing via field bus B.4.5 Diagnosis Description of the method of operation of the diagnostic memory: see section 6.4.2. 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 Type of diagnostic event 0 (0x00): No fault (or diagnostic message deleted) 1 (0x01): Incoming fault 2 (0x02): Outgoing fault 3 (0x03): (reserved) 4 (0x04): Overrun time stamp Event 1 200 1 ...
B. Parametrizing via field bus 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 uint16 r ... See PNU 200 CI 20C9h 01h ... 10h DeviceNet C: 101 A : 2 PNU 202 1 ... 16d Description Time stamp: Time of the diagnostic event since device was switched on, in the time unit as per PNU 204/2 I: 1 ... 16 uint16 r uint16 r uint32 r Time Stamp Event ...
B. Parametrizing via field bus Diagnostic Memory Parameter PNU 204 Description Configuration of the diagnostic memory Fault Type 204 1 ...
B. Parametrizing via field bus Device Errors PNU 205 Description Reading or deleting the error message(s). Explanations of the error messages can be found in chapter 6.3 Diagnosis".
B. Parametrizing via field bus DeviceNet Diagnosis PNU 206 1 ... 6 Description Read out the field bus diagnostic data Network Status 206 Array uint8 r 1 0x00: 0x01: 0x04/5: 0x10: 0x20: 0x40/50: Baudrate 206 Bus is inactive, missing bus power supply Serious error Error can be rectified (e.g. Timeout) Active connection with DeviceNet Master Device self test No connection to DeviceNet Master 2 Baud rate Values: 0 ...
B. Parametrizing via field bus Extended Device Errors A PNU 207 uint16 Description Reading or deleting the active device fault(s) Explanations of the error messages can be found in chapter 6.
B. Parametrizing via field bus Extended Device Errors C PNU 209 uint16 rw Description (reserved) CI 2FFCh 00h uint16 rw DeviceNet C: 108 A : 12 uint16 rw PNU 215 uint16 rw Description Reading or deleting the active warning(s) Explanations of the error messages can be found in chapter 6.
B. Parametrizing via field bus B.4.6 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 DeviceNet C: 103 A : 1 ... 2 I: 1 int32 r int32 r int16 r int16 r int16 r Torque/Force Monitoring PNU 301 Description Force Monitoring Torque Actual Value 1 ...
B. Parametrizing via field bus 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 DeviceNet C: 103 A : 10 PNU 304 1 ...
B. Parametrizing via field bus Cycle Number PNU 305 uint32 Description Number of positioning records executed, homing runs etc. CI 2FFFh 00h DeviceNet C: 103 A : 30 I: 1 r uint32 r uint32 r int32 r int32 r Velocity Monitoring PNU 310 Description Velocity Monitoring Velocity Actual Value 1 ... 2 1 Actual speed value in [Inc/s] Velocity Demand Value 2 Speed setpoint value in [Inc/s] CI 2802h 01h ... 02h DeviceNet C: 103 A : 36 ... 37 I: 1 int32 r PNU 320 1 ...
B. Parametrizing via field bus FHPP Control Data PNU 321 1 ... 2 Record uint32 Description FHPP output data (8 bytes of status data), 4 bytes each, consistent r 1 FHPP control bytes 1 ... 4 (CCON, CPOS, ...) 2 FHPP control bytes 5 ... 8 CI 20A1h 01h ... 02h DeviceNet C: 103 A : 62 ...
B. Parametrizing via field bus Control Word PNU 330 uint16 rw Description Control word: Modify the current controller status or trigger an activity. As status modifications require a certain amount of time, all status modifica tions triggered via the control word must be read back via the status word (6041h). Further commands cannot be written via the control word until the requested status can be read in the status word. Bit assignment: see Tab.
B. Parametrizing via field bus Bit Value 0 ... 8 Description Bits 0 ... 8 are only used together: for access via the CI interface: see Tab. B/11 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 optimised Note: Only available for control via the field bus, not via CI.
B. Parametrizing via field bus Status Word PNU 331 uint16 Description Status word: Reading the controller state. Bit assignment: See Tab. B/12 r Note for access via the CI interface If this object is accessed via the CI interface, the following special features must be observed compared with access via the field bus interface: Bit 4 in CI reversed polarity relative to DS402. In the FAULT state, when power is applied to the axis, the state is indicated not as xxx8, but as xxxA, i. e.
B. Parametrizing via field bus Bit Value Description 0 0x0001 Ready to switch on 1 0x0002 Switched on 2 0x0004 Operation enabled 3 0x0008 Fault 4 0x0010 Voltage enabled 5 0x0020 Quick stop 6 0x0040 Switch on disabled 7 0x0080 Warning 8 0x0100 Drive is moving (like FHPP SPOS.B4) 9 0x0200 Higher−order controller ( Remote", like FHPP SCON.
B. Parametrizing via field bus Operation Mode PNU 332 Var int8 Description Operation mode of the controller: 0xF9: FHPP Continuous Mode (−7d) 0xFE: Demo Mode (fixed sequence) 0x01: Profile Position Mode (positioning mode) 0x04: Profile Torque Mode (force mode) 0x06: Homing Mode (homing run mode) CI 6060h 00h DeviceNet C: 103 A : 72 rw int8 rw I: 1 int8 rw Var int8 r Operation Mode Display PNU 333 Description Reading the operating mode of the controller.
B. Parametrizing via field bus Position Sampling Trigger Mode PNU 352 Var rw Description Continuous or one−time recording. See section 5.6.12 CI 204Ah 01h DeviceNet C: 103 A : 96 I: 1 Var uint16 rw uint16 rw Position Sampling Status PNU 353 Description Specifies whether an edge was registered. See section 5.6.
B. Parametrizing via field bus B.4.7 Positioning record table (Record list) Parameteising: 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 run Tab.
B. Parametrizing via field bus Record pointer: The active record for positioning or teaching is selected via PNU 400. Record Number FHPP PNU 400 1 ... 3 Array uint8 r(w) Description Record Number 400 1 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. Parametrizing via field bus Record Control Byte 1 PNU 401 Description Record Control Byte 1. Settings for record selection: Relative/absolute positioning Path generator, standard/energy−optimized 0x00: 0x01: 0x06: 0x07: 1 ...
B. Parametrizing via field bus Record Control Byte 2 PNU 402 1 ... 32d Array uint8 Description Record control byte 2 For record selection: Switching condition for chained records (see section 5.6.5) Values: Bit 0: = 0 No record chaining = 1 Record chaining Bit7: = 0 Record chaining is not locked out = 1 Record chaining is locked out rw Record 0 402 1 (positioning record 0) Do not use (Homing) Record 1 402 2 (positioning record 1) Record control byte 2 Positioning record 1 Record ... 402 ...
B. Parametrizing via field bus Target Position PNU 404 1 ... 34d int32 Description Target positions in [Increments] rw Record 0 404 1 (positioning record 0) Do not use (Homing) Record 1 404 2 (positioning record 1) Target position of positioning record 1 Record ... 404 ... (positioning record ...)) Target positions of positioning records 2 ...
B. Parametrizing via field bus Record Delay PNU 405 1 ... 32d int32 rw 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 0 405 1 (positioning record 0) Do not use (Homing) Record 1 405 2 (positioning record 1) Delay after positioning record 1 Record ... 405 ... (positioning record ...)) Delay after positioning record 2 ...
B. Parametrizing via field bus Velocity PNU 406 1 ... 32d Description Speed setpoint value in [Increments/s] uint32 rw uint32 rw Record 0 406 1 (positioning record 0) Do not use (Homing) Record ... 406 ... (positioning record ...)) Speed of Positioning Record 1 ... 30 Record 31 406 32 (20h) (positioning record 31) Speed of Positioning Record 31 CI 20EDh 01h ... 21h Subindex 20ED/21h: } PNU 531 (Speed in inching operation) Note: The object 20E0h/03h is provided for access via CI.
B. Parametrizing via field bus Acceleration PNU 407 1 ... 32d uint32 rw Description Acceleration setpoint value 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) Record ... 407 ... (positioning record ...)) Acceleration setpoint value positioning record 1 ... 30 Record 31 407 32 (20h) (positioning record 31) Acceleration setpoint value positioning record 31 CI 20EEh 01h ...
B. Parametrizing via field bus Deceleration PNU 408 1 ... 33d uint32 Description Deceleration setpoint value for braking, in [Increments/s2]. The value applies only to positioning; with force control the value is ignored. rw Record 0 408 1 (positioning record 0) Do not use (Homing) Record ... 408 ... (positioning record ...)) Deceleration Positioning Record 1 ...
B. Parametrizing via field bus Jerk Acceleration PNU 409 1 ... 33d uint32 Description Acceleration jerk in [Increments/s3] The calculation is done with 1/10 of the value. rw Record 0 409 1 (Positioning Record 0) Do not use (Homing) Record ... 409 ... (positioning record ...)) Jerk for position records 1 ... 30 Record 31 409 32 (20h) (Positioning Record 31) Jerk with positioning record 31 Jog Mode 409 33 (21h) Jerk in jog mode CI 20E7h 01h ...
B. Parametrizing via field bus Work Load PNU 410 1 ... 33d uint32 rw Description Applied load: Mass in [g] of the workpiece to be transported at 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) Record ... 410 ... (positioning record ...)) Applied load for positioning record 1 ...
B. Parametrizing via field bus Position Window Time PNU 415 1 ... 33d uint16 rw 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) Record ... 415 ... (positioning record ...)) Damping time for positioning records 1 ...
B. Parametrizing via field bus Following Record PNU 416 1 ... 32d uint8 rw 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) Record ... 410 ... (positioning record ...)) The position record following position record 1 ... 30 Record 31 410 32 (20h) (positioning record 31) The record following record 31 CI 20E5h 01h ...
B. Parametrizing via field bus Jerk Deceleration PNU 417 1 ... 33d Array uint32 Description Jerk when decelerating in [Increments/s3]. The internal calculation is done with 1/10 of the value. rw Record 0 417 1 (positioning record 0) Do not use (Homing) Record ... 417 ... (positioning record ...)) Jerk for deceleration of position record 1 ...
B. Parametrizing via field bus B.4.8 Project data General project data Project Zero Point PNU 500 int32 Description Offset of axis zero point to project zero point. Reference point for target positions with absolute positioning (compare PNU 401 and 404). CI 21F4h 00h DeviceNet C: 105 A : 1 I: 1 rw 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.
B. Parametrizing via field bus Max Velocity PNU 502 Description Max. permitted speed in [Inc/s] CI 607Fh 00h DeviceNet C: 105 A : 4 PNU 503 Description Max.
B. Parametrizing via field bus Force mode Stroke Limit PNU 510 uint32 Description Stroke limitation: Maximum permitted stroke with force control. rw The distance of the actual position from the start position must not be more than the amount specified in this parameter. In this way you can ensure that, if force control is activated by mistake (e.g. missing work item), the axis will not perform an uncontrolled movement.
B. Parametrizing via field bus Torque/Force Profile Type PNU 513 int16 Description Type of profile with which a force modification is undertaken. Fixed = 0: linear ramp CI 6088h 00h DeviceNet C: 105 A : 13 I: 1 r int16 r int16 r uint8 rw Teaching Teach Target PNU 520 Description Teach target: The parameter that is described in the next teach command with the actual position (see section 5.6.3). Values: 1 (0x01): Target position in positioning record (default).
B.
B. Parametrizing via field bus Direct mode: Positioning mode Direct Mode Base Velocity PNU 540 uint32 rw 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. Parametrizing via field bus Direct Mode Work Load PNU 544 uint32 rw 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 DeviceNet C: 104 A : 10 uint32 rw I: 34 uint32 rw uint32 rw Direct Mode Jerk Deceleration PNU 547 Description Jerk when decelerating in direct mode in [Inc/s3].
B. Parametrizing via field bus Direct mode: Force mode Torque/Force Slope PNU 550 Description Speed with which the force changes CI 6087h 00h DeviceNet C: 105 A : 50 I: 1 uint32 r 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. Parametrizing via field bus Speed Limit PNU 554 uint32 Description Maximum permitted velocity with active force control. In this way you can ensure that, if force control is activated by mistake (e.g. work item missing), the axis will not undergo uncontrolled acceleration and move at high speed against a stop. This parameter is taken into account in all control modes in which the position controller is not active in the status Operation enabled".
B. Parametrizing via field bus B.4.9 Axis parameters for electric drives 1 Mechanical parameters Polarity PNU 1000 uint8 Description Reversal of direction. Fixed = 1 (not adjustable) CI 607Eh 00h DeviceNet C: 107 A : 1 I: 1 r uint8 r uint8 r uint32 r Encoder Resolution PNU 1001 Description Measurement system resolution. Reflects 6410/12h Encoder Increments 1001 1 ... 2 1 Number of increments between two index pulses.
B. Parametrizing via field bus Gear Ratio PNU 1002 Description Gear unit ratio (1:1 for linear motors) Motor Revolutions 1002 1 ... 2 uint32 r uint32 r uint32 r uint32 r 1 Fixed = 1 Shaft Revolutions 1002 2 Fixed = 1 CI 6091h 01h ... 02h DeviceNet C: 107 A : 4 ... 5 I: 1 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 1 DFME−...−LAS: fixed = 2000 m DNCE−...
B. Parametrizing via field bus Position Factor PNU 1004 1 ... 2 Description Number of sensor increments per 1 measured unit of feed Position factor Numerator 1004 + uint32 r encoder resolution * gear ratio feed constant 1 Position factor numerator Denominator 1004 2 Position factor denominator CI 6093h 01h ... 02h DeviceNet C: 107 A : 8 ...
B. Parametrizing via field bus Axis Parameter PNU 1005 Description Axis parameter Axis Length 1005 1 ...
B. Parametrizing via field bus Parameter homing run Offset Axis Zero Point PNU 1010 int32 Description Offset of the axis zero point AZ to the reference point REF in [Increments] (= distance from the reference point). Factory settings: see section 5.2.5. The drive is no longer referenced after the axis zero point has been modified.
B. Parametrizing via field bus Homing Velocities PNU 1012 Description Speeds during homing Search REF 1012 1 ... 2 int32 rw 1 Speed when searching for the reference point REF in [Inc/s] Search AZ 1012 2 Speed of travel to the axis zero point AZ in [Inc/s] CI 6099h 01h ... 02h DeviceNet C: 107 A : 22 ... 23 PNU 1014 Description Defines whether or not homing must be carried out after switching on in order to carry out positioning tasks.
B. Parametrizing via field bus Controller parameters Quick Stop Option Code PNU 1019 uint16 Description Quick stop option: Fixed = 6: Remain in stop with fast stop ramp and in the status Fast stop active" CI 605Ah 00h DeviceNet C: 107 A : 29 PNU 1020 Description Describes the reaction to a HALT signal at the controller interface (CPOS.
B. Parametrizing via field bus Target Position Window PNU 1022 uint32 rw 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. Parametrizing via field bus Position Control Parameter PNU 1024 Description 18d ... 21d int32 rw Caution: Risk of injury to people and damage to property! The factory settings for the controller parameters should only be modified in exceptional cases. Unfavourable settings can lead to uncontrollable behaviour of the entire system. · Only change the controller parameters with the aid of FCT. · Follow the instructions in FCT for the controller parameters.
B. Parametrizing via field bus Drive Data PNU 1026 Various uint32 Description General data of the SFC−LACI r(w) Output Stage 1026 1 (CI: 01h) A : 49 Temp Temperature of the SFC−LACI. Range: −20 ... +120 °C r Output Stage 1026 2 (CI: 02h) A : 50 Max Temp Highest temperature measured to date for the SFC−LACI, in °C. Stored in EEPROM r Max Current rw 1026 4 (CI: 04h) A : 52 Current limiting.
B. Parametrizing via field bus Max Phase Current PNU 1028 Description Max. string current Value range: 0 ...
B. Parametrizing via field bus Max. Current PNU 1034 uint16 Description Maximum motor current in per mill of rated current (see 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. During homing: At greatly reduced values combined with high travelling resistance, there is a danger that the drive will come to a standstill and the SFC−LACI will wrongly recognize a stop.
B.
B. Parametrizing via field bus B.4.10 Supplementary objects Following Error Window PNU 1044 uint32 Description Permissible size of following error (offset between actual position and setpoint position).
B.
B. Parametrizing via field bus Offset Reference Point PNU 1055 int32 Description Distance in increments from the reference point to the retracted end position. Must be stated when homing to a stop. See Tab. 1/3.
B. Parametrizing via field bus Positioning Time PNU 1058 uint32 Description Duration of the last positioning motion in [ms] CI 6410h 18h DeviceNet C: 107 A : 94 PNU 1059 Description Actual current in [mA] CI 6410h 19h DeviceNet C: 107 A : 95 PNU 1060 Description Temperature of the coils of the linear motor. Measuring range: −20 ... +120 °C CI 6410h 31h DeviceNet C: 107 A : 80 PNU 1061 Description Highest coil temperature measured to date (= motor).
B. Parametrizing via field bus Lower Coil Temp Threshold PNU 1062 uint16 Description Lower temperature threshold of the coils (= motor): 70 °C A warning is triggered when this temperature is reached. CI 6410h 33h DeviceNet C: 107 A : 82 I: 1 rw uint16 rw uint16 rw uint16 rw Upper Coil Temp Threshold PNU 1063 Description Upper temperature threshold of the coils (= motor): 75 °C An error message is triggered when this temperature is reached.
B. Parametrizing via field bus Output Stage Lower Threshold Temp PNU 1068 uint16 Description Lower temperature threshold for SFC−LACI: 80 °C A warning is triggered when this temperature is reached. CI 6510h 33h DeviceNet C: 107 A : 88 I: 1 rw uint16 rw uint16 rw uint16 rw Output Stage Upper Threshold Temp PNU 1069 Description Upper temperature threshold for SFC−LACI: 85 °C. When this temperature is reached, an error message is triggered.
B. Parametrizing via field bus Start Delay Commutation PNU 1072 uint32 rw Description Waiting time [ms] between ENABLE and the start of the commutation point search. Default = 0 ms. During the search for the commutation point the drive vibrates. If several drives are fitted in a system which can vibrate and if the search for the commutation point is made at the same time, it may happen that the vibrations are superimposed and the complete system vibrates in an uncontrolled manner.
B. Parametrizing via field bus Local Digital Output 1 Trigger OFF PNU 1242 uint8 Description Out1: Resetting condition. See section 5.6.10 CI 2421h 03h DeviceNet C: 103 A : 114 rw uint8 rw I: 1 uint8 rw int32 rw Local Digital Output 1 Value ON PNU 1243 Description Out1: Setting with record number comparison: See section 5.6.
B. Parametrizing via field bus Local Digital Output 1 Direction Value OFF PNU 1246 uint8 Description Out1: Edge type for resetting condition. See section 5.6.10 CI 2421h 07h DeviceNet C: 103 A : 118 rw uint8 rw I: 1 uint8 rw uint16 rw Local Digital Output 1 Delay PNU 1247 Description Out1: Delay time for resetting. See section 5.6.
B. Parametrizing via field bus Local Digital Output 2 Function PNU 1250 uint8 rw Description Out2: Use. See section 5.6.10 CI 2422h 01h uint8 rw DeviceNet C: 103 A : 128 I: 1 uint8 rw uint8 rw Local Digital Output 2 Trigger ON PNU 1251 Description Out2: Setting condition. See section 5.6.10 CI 2422h 02h DeviceNet C: 103 A : 129 uint8 rw I: 1 uint8 rw uint8 rw Local Digital Output 2 Trigger OFF PNU 1252 Description Out2: Resetting condition.
B. Parametrizing via field bus Local Digital Output 2 Value OFF PNU 1254 Description Out2: Resetting with record number comparison: See section 5.6.10 CI 2422h 05h DeviceNet C: 103 A : 132 I: 1 int32 rw int32 rw int32 rw uint32 rw Local Digital Output 2 Direction Value ON PNU 1255 Description Out2: Edge type for setting condition. See section 5.6.
B. Parametrizing via field bus Local Digital Output 2 Inverted PNU 1258 uint8 rw Description Out2: Invert. See section 5.6.10 CI 2422h 09h uint8 rw DeviceNet C: 103 A : 136 I: 1 uint8 rw uint16 rw uint16 rw uint16 rw Local Digital Output 2 PWM Value PNU 1259 Description Out2: PWM value. See section 5.6.
B. Parametrizing via field bus Limit Switch Polarity PNU 1300 Description Limit switch type: CI 6510h 11h DeviceNet C: 103 A : 74 int16 rw int16 rw I: 1 int16 rw int16 rw int16 rw 0 = no limit switch 1 = N/C contact 2 = N/O contact Limit Switch Selector PNU 1301 Description Input for limit switch.
B.
B. Parametrizing via field bus Brake Delay Time Switch ON PNU 1310 uint16 Description Brake: Switch on delay, see section 5.6.11 CI 6510h 17h DeviceNet C: 103 A : 80 rw uint16 rw I: 1 uint16 rw uint16 rw Brake Delay Time Switch OFF PNU 1311 Description Brake: Switch−off delay, see section 5.6.11 CI 6510h 18h DeviceNet C: 103 A : 81 uint16 rw I: 1 uint16 rw uint16 rw Automatic Brake Time PNU 1312 Description Activation time of the automatic brake.
B.
CI interface Appendix C Festo GDCP−SFC−LACI−DN−EN en 0812NH C−1
C. CI interface Contents C.1 C.2 C.3 C−2 The CI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Using the parameterising interface . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Accessing the CI objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.3 Access via a terminal program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.4 Composition of the CI commands . . . . . . . . . . . . . . . .
C. CI interface C.1 C.1.1 The CI interface Using the parameterising 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 Parameterising interface (RS232) Caution Not using the parameterising interface as designated causes injury to people and material damage The parameterising interface (RS232) is not electrically isolated and not real−time capable.
C. CI interface C.1.2 Accessing the CI objects CI objects are accessed via FCT or a terminal program. Caution Faulty parameterisation can cause personal injury and material damage. Incorrect parameterisation of the CI objects can cause the controller to react unexpectedly and the motor may start uncontrolled. · It is preferable to use the FCT or the control panel for parameterising and commissioning.
C. CI interface C.1.3 Access via a terminal program For data transmission you will require a commercially−avail able terminal program or the integrated CI terminal of the SFC−LAC PlugIn in the Festo Configuration Tool. 1. Connect the SFC−LACI to your PC (see section 3.5). 2. Configure your PC’s COM interface: Settings of the COM interface Transmission speed (baud rate) 38400 Baud Data format Asynchronous character frame: 1 start bit 8 data bits No parity bit 1 stop bit Tab.
C. CI interface C.1.4 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.
C. CI interface 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.
C. CI interface 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 ...
C. CI interface Note All length specifications (also velocities and similar) are saved in millimetres in the controller and are not converted into the relevant unit of measurement system until they are written or read. Values must be converted to increments before being transmitted over the CI interface; see section A.3. C.1.5 Checking the data Permitted value ranges Transferred parameters and values are checked by the SFC− LACI before being accepted.
C. CI interface Error messages Checksum If there are errors in the commands (e.g. syntax errors, transmission errors), the value <0x00FF> will be transmitted (object 2FF0h) instead of the usual reply.
C. CI interface C.2 C.2.1 Reference CI Object overview (Index, Subindex) The following overview shows all CI objects, where appropriate with the corresponding FHPP parameter numbers. Note The following table contains an overview of the CI objects. Some of the objects may be used only for certain product variants or only with limitations (e.g. writing only for service purposes). Note the detailed descriptions of the object.
C. CI interface Name CI Object FHPP Index Sub PNU Device Type 1000h Manufacturer Device Name 1008h 120 Manufacturer Hardware Version 1009h Manufacturer Firmware Version 100Ah Record Number CI 2032h 1h Record Number FHPP 2033h 1 ...
C. CI interface Name CI Object FHPP Index Sub PNU Controller Serial Number 2072h 114 Device Control 207Dh 125 FHPP Status Data 20A0h 1 ... 2h FHPP Control Data 20A1h 1 ... 2h Interpolation Time 20B6h 570 Axis Interface 1 20BAh 1 ... Ah Axis Interface 2 20BBh 1 ... 3h Diagnostic Event 20C8h 1 ... 10h 200 Fault Number 20C9h 1 ... 10h 201 Time Stamp 20CAh 1 ... 10h 202 Additional Information 20CBh 1 ...
C. CI interface Name CI Object FHPP Index Sub PNU Jog Mode Time Slow Motion (time phase 1) 20E9h 21h 534 Record Control Byte 1 20EAh 1 ... 22h 401 Record Control Byte 2 20EBh 1 ... 20h 402 Target Position 20ECh 1 ... 22h 404 Record Velocity 20EDh 1 ... 20h 406 21h 531 1 ... 20h 407 Jog Mode Acceleration 21h 532 Direct Mode Acceleration 22h 541 1 ... 21h 408 22h 542 Jog Mode Velocity Phase 2 Record Acceleration Deceleration (incl.
C.
C. CI interface Name CI Object FHPP Index Sub PNU Device Errors 2FF1h 205 Device Warnings 2FF2h 215 DeviceNet Address 2FF3h DeviceNet Diagnosis 2FF4h 1 ...
C. CI interface Name CI Object FHPP Index Sub PNU Position Window Time 6068h Velocity Demand Value 606Bh Velocity Actual Value 606Ch Target Torque/Force 6071h Max. Torque/Force 6072h 512 Max. Current 6073h 1034 Motor Rated Current 6075h 1035 Motor Rated Torque/Force 6076h 1036 Actual Torque/Force 6077h Target Position 607Ah Software End Positions 607Bh 1 ...
C. CI interface Name CI Object FHPP Index Sub PNU Position Factor 6093h 1 ... 2h 1004 Homing Method 6098h 1011 Homing Velocities 6099h 1 ... 2h 1012 Max Acceleration 60C5h 503 Stroke Limit 60F6h 1h 510 Speed Limit 2h 554 Force Target Window 3h 552 Force Target Damping Time 4h 553 Min. Torque/Force 5h 511 Position Control Parameter 60FBh 12 ... 15h 1024 Digital Inputs 60FDh 303 Digital Outputs 60FEh 1 ...
C. CI interface 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 Temp 31h 1060 Max.
C. CI interface Name CI Object FHPP Index Sub PNU 6510h 1 ...
C. CI interface C.3 Description of additional CI objects Some objects cannot be accessed via the field bus, but only via the CI interface. These objects are listed here. Representation of additional CI objects 1 2 3 4 5 8 Password 6 CI 20FAh Description 7 01h ... 02h Array V−String rw/r Managing the FCT password, entering the super password. FCT Password 20FAh 01h V−String Password for the FCT software Value: <........
C. CI interface C.3.1 Communication Profile Area Device Type CI 1000h Description Device type Fixed = 0 00h 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.
C. CI interface C.3.2 Manufacturer Specific Profile Area Record Number CI 2032h Description Selection of a positioning record (record pointer) : from the CI object for the position record table 20E0h or from the individual objects 607Ah: Target Position 6081h: Profile Velocity (speed) 6083h: Profile Acceleration 6084h: Profile Deceleration Record Number 2032h 01h Array 1) CI 01h uint8 rw uint8 Read or write record number.
C. CI interface Version FCT PlugIn Min CI 2067h 00h Var V−String Description Minimum required FCT PlugIn version Format = xx.yy" (xx = main version, yy = secondary version) r Version FCT PlugIn Opt CI 2068h 00h Var V−String Description Optimum FCT PlugIn version Format = xx.yy" (xx = main version, yy = secondary version) r Scaling CI 20D0h Description Units of measurement and decimal places on the control panel.
C. CI interface Record Table Element CI CI 20E0h 01h ... 0Bh Description Editing the entries in the positioning record table: 1. Selection of line with object 2032h (record pointer). 2. Selection of 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 ...
C. CI interface Jerk Acc. 20E0h 05h uint32 Acceleration jerk in [Increments/s3]. Corresponds to 20E7h Work Load 20E0h 06h uint32 Mass of a work item in [g] for a positioning record. Corresponds to 20E8h Damping Time 20E0h 07h uint16 Damping time in milliseconds [ms]. If the actual position has been in the target position window for this amount of time, the Motion Complete" bit is set in the status word. Values: 1 ... 60000 ms.
C. CI interface Controller Type CI 20E3h 00h Description SFC−LACI−...−IO: SFC−LACI−...−PB: SFC−LACI−...−CO: SFC−LACI−...−DN: Var uint16 rw 0x10 = without display; 0x11 = with display 0x12 = without display; 0x13 = with display 0x14 = without display; 0x15 = with display 0x16 = without display; 0x17 = with display Trace Control CI 20F2h 01 ...
C. CI interface Local Password CI 20FBh 00h Var V−String rw Description Manages 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 C.1.
C. CI interface C.3.
C. CI interface 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.
C. CI interface 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.
C.
Index Appendix D Festo GDCP−SFC−LACI−DN−EN en 0812NH D−1
D. Index Contents D. D−2 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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