Motor controller SFC−DC Manual Function block S7 for motor controller type SFC−DC Manual 700 332 en 0604NH
Contents and general instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0604NH Designation . . . . . . . . . . . . . . . . . . . P.BE−SFC−DC−PB−S7−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700 332 © (Festo AG & Co. KG, D 73726 Esslingen, 2006) Internet: http://www.festo.com E−Mail: service_international@festo.
Contents and general instructions PROFIBUS ® is a registered trade name of PROFIBUS International (P.I.) SIMATIC ® is a registered trade name of Siemens AG II Festo P.
Contents and general instructions Contents Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII Basic principles of programmed software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 3. Control block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Function block SFC_DC_CTRL" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3 3.1.1 Description of method of operation . . . . . . . . . . . . . . . . . . . . . . . . . 3−4 3.1.2 Input parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−6 3.1.3 Output parameters . . . . . . . . . . . .
Contents and general instructions A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−1 A.1 Festo profile for handling and positioning (FHPP) . . . . . . . . . . . . . . . . . . . . . A.1.1 Supported operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.2.1 Reference system for electric drives . . . . .
Contents and general instructions VI Festo P.
Contents and general instructions Designated use The function blocks (FB) described serve for controlling and parametrizing motor controllers type SFC−DC−...−PB via PROFI BUS−DP in a SIMATIC−S7 controller with integrated DP master module (e.g. CPU315−2DP). With the blocks the many functions of the motor controller can be comfortably incorporated in the program. The blocks can be parametrized and are capable of many instances.
Contents and general instructions Basic principles of programmed software Please note that it is not possible with the present state of technology to create programmed software which functions without problems and is compatible with all applications and combinations intended by the user. As a rule the software must therefore be used in the desig nated manner as specified in the program description and in the user instructions.
Contents and general instructions Safety instructions When commissioning and programming positioning systems, you must observe the safety regulations in this manual as well as those in the operating instructions for the other components used. The user must make sure that nobody is in the operating range of the connected actuators or axis system. Access to the possible danger area must be prevented by suitable measures such as protective screens and warning signs.
Contents and general instructions 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 and PROFIBUS−DP slaves. Service Please consult your local Festo repair 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 Manuals on motor controller type SFC−DC This manual contains information on the S7 blocks for motor controller type SFC−DC−...−PB with PROFIBUS field bus inter face. The following manual is also required for understanding the function blocks: Manual for motor controller type SFC−DC with PROFIBUS interface, type P.BE−SFC−DC−PB−... This manual on the S7 blocks contains all necessary informa tion for commissioning the blocks.
Contents and general instructions Overview of documentation on the SFC−DC Design Designation Contents Docu package with brief description + manuals on CD ROM P.BE−SFC−DC−UDOK Brief description: Important instructions on commissioning and preliminary information. Manuals: Contents as described below. Manual Motor controller type SFC−DC with PROFIBUS interface P.BE−SFC−DC−PB−...
Contents and general instructions Information on the versions The function blocks for the SFC−DC require the following ver sions: motor controller type SFC−DC−...−PB with firmware version as from V1.10 GSD/GSG file as from revised version 14.12.2005 The firmware version specifies the version status of the operating system of the SFC−DC.
Contents and general instructions Product−specific terms and abbreviations The following product−specific terms and abbreviations are used in this manual: Field bus specific abbreviations see following Tab. 0/3. Term/abbreviation Meaning 0−signal 0 V present at input or output (positive logic, corresponds to LOW). 1−signal 24 V present at input or output (positive logic, corresponds to HIGH).
Contents and general instructions Term/abbreviation Meaning Operating mode Type of controller or internal operating mode of the controller. Type of control: Record Select, Direct mode Operating mode of the controller: Position profile mode, Homing mode, Demo mode, ... PLC Programmable logic controller; in brief: controller (also IPC: industrial PC). Positioning mode (Profile position mode) Operating mode for processing a position set or a direct positioning task.
Contents and general instructions Term/abbreviation Meaning Software end position Programmable stroke limitation (basis point = axis zero point) Software end position, positive: max. limit position in positive direction (away from the motor); must not be exceeded during positioning. Software end position, negative: min. limit position in negative direction (towards the motor); must not be exceeded during positioning. Teach mode Operating mode for setting positions by moving to the target position e.g.
Contents and general instructions Term/abbreviation Meaning Parameter number (PNU) Parameters which can be transmitted via the parameter channel are addressed with the parameter number (PNU). The parameter number is an integral part of the parameter identifier (PKE) and serves for identifying or addressing the individual parameter.
Contents and general instructions XX Festo P.
Overview Chapter 1 Festo P.
1. Overview Contents 1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1 1.1 1.2 1.3 General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The blocks at a glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Festo Profile for Handling and Positioning (FHPP) . . . . . . . . . . . . . . . . . . . . . 1−3 1−4 1−5 1−2 Festo P.
1. Overview 1.1 General description In order to facilitate commissioning of the motor controller type SFC−DC, Festo has made available a SIMATIC STEP 7 Project. The STEP 7 Project contains function and data blocks for controlling motor controller type SFC−DC via PROFIBUS−DP with a SIMATIC−S7 controller. The blocks for the SFC−DC will support you in programming the PROFIBUS communication between the Siemens PLC SIMATIC S7 and motor controller type SFC−DC. The blocks are available with full access rights.
1. Overview 1.2 The blocks at a glance With the blocks you can incorporate the functions of the SFC−DC directly in your programs. Normally you would require three blocks for the various functions. The blocks have been purposely split into groups, so that you can decide yourself which functions you require for your ap plication. In this way, e.g. parametrizing functions can be implemented in a separate project.
1. Overview 1.3 Festo Profile for Handling and Positioning (FHPP) Festo has developed an optimized data profile especially tailored to the target applications for handling and position ing tasks, the Festo Handling and Positioning Profile (FHPP)". The FHPP enables uniform control and programming for the various field bus systems and controllers from Festo.
1. Overview Control and status bytes Control via the field bus is made via 8 bits of I/O data. Functions and status messages required in operation can be conntrolled directly mostly with single−bit operations. Record Select Saved position sets can be processed in the Record Select mode. For this purpose, up to 31 position sets are parametrized with the Festo Configuration Tool or taught via the control panel during commissioning.
Installation and project overwiev Chapter 2 Festo P.
2. Installation and project overwiev Contents 2. Installation and project overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−1 2.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.1 Install device master file (GSD file) and icon files . . . . . . . . . . . . . . 2.1.2 I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.3 Configuration with STEP 7 . . . . . .
2. Installation and project overwiev 2.1 Configuration 2.1.1 Install device master file (GSD file) and icon files If a new hitherto unknown device is to be incorporated in a configuration program when a PROFIBUS−DP system is to be configured, an appropriate device master file (GSD file) must be installed for this device. The device master file contains all the necessary information for the configuration program. You will require the appropriate icon files for representing the device graphically.
2. Installation and project overwiev Normal operating status Diagnostic case Special operating status File: sfc−dc_n.dib or sfc−dc_n.bmp File: sfc−dc_d.dib or sfc−dc_d.bmp File: sfc−dc_s.dib or sfc−dc_s.bmp Tab. 2/1: 2.1.
2. Installation and project overwiev 2.1.3 Configuration with STEP 7 General instructions The software package SIMATIC Manager serves for project planning and commissioning in conjunction with PROFIBUS masters from Siemens or compatible masters. In order to understand this chapter, you should be sure of how to handle your configuration program. If necessary, refer to the docu mentation for the SIMATIC Manager. This manual refers to software version V 5.3.
2. Installation and project overwiev Insert SFC−DC as slave The hardware configuration window represents graphically the structure of the master system. When the GSD file has been installed, the SFC−DC can be selected in the hardware catalogue. It can be found in the group [PROFIBUS−DP] [Additional Field Devices] [Drives] [Festo], (see Fig. 2/1). In order to insert the SFC−DC: 1. Drag the station type Festo SFC−DC" or Festo SFC−DC DP−V0" ( 3 , see section 2.1.
2. Installation and project overwiev 1 1 PROFIBUS line 2 3 3 Enter Festo SFC−DC from GSD file 2 Icon for SFC−DC Fig. 2/1: Station selection STEP 7 Festo P.
2. Installation and project overwiev Configuring the slave features After clicking the icon for the SFC−DC, you can configure the Slave properties" in the lower part of the screen. Here you can determine the number and size of the I/O ranges of the slave and assign them with address ranges of the master. In order to configure the slave properties of the SFC−DC: 1. Open the available modules (configurations) in the hard ware catalogue under [Festo SFC−DC ...]. 2.
2. Installation and project overwiev 1 2 1 DP identifiers 3 3 Modules (configurations) 2 I/O address range Fig. 2/2: Configuring the slave features When the configuration is concluded, transfer the data to the master. Festo P.
2. Installation and project overwiev 2.2 Dearchivating the example project The example project will be made available as project archive. Procedure for dearchivating 1. Open the dialogue Retrieving Select an archive" with the command [File] [Retrieve] ( [File] [Dearchivate] ). Fig. 2/3: Dearchivate project 2. Select the archive file of the example project (e.g. SFC−DC.zip"). 3. Select the desired destination path in the dialogue Select destination directory".
2. Installation and project overwiev Fig. 2/4: Folder S7 program" of the example project The example project does not contain any hardware. You can use this in your controller in one of the following ways: Drag the modules required into your own control project. Add the relevant hardware to the example project. Delete non−required S7 program" folders. In each case adapt the addresses to your controller. Festo P.
2. Installation and project overwiev 2.3 Overview of project The following sections contain an overview of the S7 program" folders of the example project. 2.3.1 Folder _CTRL" control functions The most important blocks in the folder _CTRL" for controlling the controller are listed in Tab. 2/3. Additional blocks, e.g. for fault treatment or data blocks, etc. are not listed.
2. Installation and project overwiev 2.3.2 Folder _PRM_FPC" parametrizing via FPC The most important blocks in the folder _PRM_FPC" for parametrizing the controller via the Festo Parameter Channel (DPV0) are listed in Tab. 2/4. Additional blocks, e.g. for fault treatment or data blocks, etc. are not listed.
2. Installation and project overwiev 2.3.3 Folder PRM_DPV1_SFB" parametrizing via DPV1 The most important blocks in the folder PRM_DPV1_SFB" for parametrizing the controller via DPV1 are listed in Tab. 2/5. Additional blocks, e.g. for fault treatment or data blocks, etc. are not listed.
2. Installation and project overwiev 2.3.4 Folder PRM_DPV1_SFC" parametrizing via DPV1 The most important blocks in the folder PRM_DPV1_SFC" for parametrizing the controller via DPV1 are listed in Tab. 2/6. Additional blocks, e.g. for fault treatment or data blocks, etc. are not listed.
2. Installation and project overwiev 2.3.5 Folder PRM_UP−DOWNLOAD" transmitting several parameters The most important blocks in the folder UP−DOWNLOAD" for transmitting several parameters are listed in Tab. 2/6. Additional blocks, e.g. for fault treatment or data blocks, etc. are not listed.
Control block Chapter 3 Festo P.
3. Control block Contents 3. Control block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1 3.1 Function block SFC_DC_CTRL" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3 3.1.1 Description of method of operation . . . . . . . . . . . . . . . . . . . . . . . . . 3−4 3.1.2 Input parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−6 3.1.3 Output parameters . . . . . . . . . . . . .
3. Control block 3.1 Function block SFC_DC_CTRL" The SFC−DC is controlled with block SFC_DC_CTRL. Fig. 3/1: SFC−DC control block Festo P.
3. Control block 3.1.1 Description of method of operation The block enables the drive functions of the SFC−DC to be controlled by the field bus. It enables comfortable access to the control bits. System functions used For data exchange the block uses internally the system func tions SFC14/SFC15. The correct logical input and output addresses of the slave projected in the Hardware Manager must be entered for the data exchange.
3. Control block If both factors are 1, the current position and the nominal value for the position will be specified in increments. The values for specifying the positions in m are saved in the SFC−DC and can be downloaded (PNU 1004, subindex 0 and 1). Device control In order that the drive can be controlled via the PLC, the device control via the PROFIBUS interface must be active. Control via the FCT or the control panel must be deactivated (Reurn message−Bit Drive_Control_FCT_HMI = 0).
3. Control block 3.1.2 Input parameters Parameter Declar Data ation type Description I_ADDRESS INPUT WORD Address of the logical inputs of the slave. O_ADDRESS INPUT WORD Address of the logical outputs of the slave. Pos_Factor_ numerator INPUT INT Counter of the position factor (default 1) Pos_Factor_ denumerator INPUT INT Denominator of the position factor (default 1) HMI_Access_ Locked INPUT BOOL Controls access to the local (integrated) diagnostic interface of the drive.
3. Control block Parameter Declar Data ation type Description Start_Task INPUT BOOL Start current task. With a rising edge the current nominal values will be transferred and positioning started (record 0 = reference travel). Operation_Mode INPUT BOOL Selecting the operating mode FALSE: Record Select TRUE: Direct mode Absolute_Relative INPUT BOOL Positioning mode FALSE: Nominal value is absolute.
3. Control block 3.1.3 Output parameters Parameter Declar ation Data type Description Control_FCT_HMI OUTPUT BOOL Control sovereignty PLC or MMI/FCT. FALSE: Control sovereignty PLC TRUE: Control sovereignty MMI/FCT (PLC control is Locked). Drive_enabled OUTPUT BOOL Drive enabled. FALSE: Drive blocked, controller not active. TRUE: Drive (controller) enabled. Supply_Voltage_ Ok OUTPUT BOOL Load voltage FALSE: No load voltage TRUE: Load voltage applied Warning OUTPUT BOOL Warning.
3. Control block Parameter Declar ation Data type Description MC OUTPUT BOOL Motion Complete FALSE: Positioning task active TRUE: Positioning task completed, if applicable with fault Note: MC is set after device is switched on (status Drive blocked") Drive_is_moving OUTPUT BOOL Axis moves FALSE: Speed of the axis < Limit value TRUE: Speed of the axis > = limit value Halt_Not_Active OUTPUT BOOL Reply message Halt FALSE: Halt is active, at start last positioning task will be continued.
3. Control block 3.1.4 Fault information The fault output of the block distinguishes between faults in the SFC−DC and faults in the block. Faults in the SFC−DC are shown with the Fault bit, more precise details of the fault must be downloaded in the diagnostic buffer of the SFC−DC. Block faults are output at the output RET_VAL. If the block is processed incorrectly, the ENO bit will be set to 0. Block−internal faults are triggered by a position factor denummerator with value 0, or by system functions (e.
Parametrizing blocks Chapter 4 Festo P.
4. Parametrizing blocks Contents 4. Parametrizing blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1 4.1 Overview of parametrizing blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.1 Control and parametrizing methods . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.2 Method of operation of the blocks . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.3 Converting the measuring units . . . . . . . . . . . . . . . . . .
4. Parametrizing blocks 4.
4. Parametrizing blocks 4.1.1 Control and parametrizing methods DPV0 Parametrizing with the DPV0 is carried out via the Festo para meter channel (FPC, further 8 I/O bytes), see manual for the SFC−DC−...−PB. DPV1 Die Parametrizing with the DPV1 is carried out via the para meter channel as per PROFIdrive V3.1. This protocol is a com patible extension of the PKW protocol within the DPV1 work data. This means that the parameters can be addressed with PNU, subindex etc. 4.1.
4. Parametrizing blocks 4.1.3 Converting the measuring units In the SFC−DC all parameters are always saved in increment specifications (inc, inc/s, inc/s2). Conversion is carried out via the parameters: Feed constant, depending on the drive Gear reduction Encoder resolution = physical measuring steps per motor revolution. With the SFC−DC: pulse quadruplication by digital interpolation. Parameters feed Feed constant 1) gear Gear ratio 2) enc Encoder resolution 3) SLTE−10 SLTE−16 SLTE−..
4. Parametrizing blocks 4.2 Block PRM_FPC The block transfers the parameters internally to the FPC (Festo Parameter Channel). Fig. 4/1: Parametrizing via the cyclic data Fault treatment Transmission faults are displayed with the Fault bit, the para meter Length_RD then contains value 2. The cause of the fault will be output at Value_RD. Information on faults can be found in section 4.5. 4−6 Festo P.
4. Parametrizing blocks 4.2.
4. Parametrizing blocks 4.3 Blocks PRM_DPV1_SFB / PRM_DPV1_SFC The blocks PRM_DPV1_SFC and PRM_DPV1_SFB enable transfer of parameters via DPV1. The differences with the transfer via DPV1 are not recogniz able externally or functionally. However, block PRM_DPV1_SFC offers older controllers the possibility of transferring parameters acyclically. Fig. 4/2: Parametrizing block with SFB52 / SFB53 Fig.
4. Parametrizing blocks 4.3.1 Input parameters Parameters Decla ration Data type Description I_O_ADDRESS INPUT WORD Logical address of the DP slave module Example: I−address 256, O−address 264 −−> W#16#100 The smaller of the two addresses must be specified.
4. Parametrizing blocks 4.4 Block PRM_DB−FILE In order to automate the transfer of several parameters, block PRM_DB−FILE offers the possibility of transferring parameter sets from a global DB to the controller or of receiving para meter sets. The block uses one of the three transfer blocks FB20, FB21 or FB22 for the transfer.
4. Parametrizing blocks 4.4.1 Description of method of operation A list of the desired parameters must be saved in a global DB, a parameter must be composed as follows: Fig. 4/5: Composition of a parameter The byte Access rights" is a reserve byte for additional implementations, e.g. parameters with a certain identification could be omitted from write−read authorization during parametrizing. The data block must correspond to an array of this structure (n*10BYTE).
4. Parametrizing blocks If the parameter is faulty, the transmission will be aborted. The fault can be identified by means of the incorrect parameter values which are still present in the block. Fig. 4/6: Block for transferring a parameter list Fault treatment Transmission faults are shown with the Fault bit. The para meter which caused the fault can be read with the last trans ferred parameter values. Information on faults can be found in section 4.5. 4−12 Festo P.
4. Parametrizing blocks 4.4.
4. Parametrizing blocks 4.4.
4. Parametrizing blocks 4.4.4 Implementation The block PRM_DB−FILE cannot function on its own, only in combination with one of the transfer blocks can it transfer a list of parameters. Some of the inputs or outputs must there fore be linked directly with each other. RD_WR_DB−FILE <−> PRM_...
4. Parametrizing blocks 4.5 Fault information A distinction is always made between two types of faults: block faults and transmission faults. Block faults (e.g. incorrect logic address, incorrect hardware configuration, etc.) are caused by the relevant system func tion blocks used SFC14/SFC15, SFC58/SFC59, SFB52/SFB53 or SFC24 and shown at the output RET_VALUE. The fault code can be found in the STEP 7 help. If a block fault occurs, the block will be exited with the ENO bit = 0.
4.
4. Parametrizing blocks 4−18 Festo P.
Examples Chapter 5 Festo P.
5. Examples Contents 5. Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−1 5.1 Examples with the control block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Enable controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.2 Selecting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.3 Starting a positioning task in direct mode . . . . .
5. Examples 5.1 Examples with the control block In the following sections the variable table shows the values which must be set in order to control certain functions of the SFC−DC. Festo P.
5. Examples 5.1.1 Enable controller With the bits Halt, Stop and Enable_Drive the readiness of the controller to operate will be restored. Fig. 5/1: Enable controller The readiness to operate will be shown with appropriate return values. 5−4 Festo P.
5. Examples 5.1.2 Selecting the operating mode You can switch between the operating modes Record Select and Direct mode via the bit Operation_Mode. Fig. 5/2: Setting the operating mode 5.1.3 Starting a positioning task in direct mode In order to start a positioning task you must carry out reference travel when the SFC−DC has been switched on. If reference travel is successful, it will be shown with the bit Drive_is_Referenced.
5. Examples Fig. 5/3: Positioning task in Direct mode The positioning task is started with the bit Start_Task. 5−6 Festo P.
5. Examples 5.1.4 Starting a positioning task in Record Select mode When the Record Select mode has been set with the bit Operation_Mode, the positioning record saved in the SFC−DC must be set with the value Record_No. Fig. 5/4: Preselecting the record number The positioning task is started with the bit Start_Task. Festo P.
5. Examples 5.2 Downloading a parameter list In the following the mechanism for downloading a list of parameters is represented by the example of the positioning record table. Recommendation: Edit the parameter list as an STL source. Fig. 5/5: Source of the parameter list A positioning record consists of 5 parameters with the SFC−DC. These parameters consist in turn of 5 variables which clearly describe the parameter.
5. Examples Fig. 5/6: Festo P.
5. Examples Fig. 5/7: Current values of the parameter list If a list of parameters is defined, only the parameter value must still be defined. When the current values of the individ ual parameters have been entered, the data block can be generated and loaded into the controller. 5−10 Festo P.
5. Examples Fig. 5/8: Reply message from parameter transmission When the source and target DBs are specified, the trans mission can be started. If reference travel is successful, it will be shown at the output Done. Festo P.
5. Examples 5−12 Festo P.
Technical appendix Appendix A Festo P.
A. Technical appendix Contents A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−1 A.1 Festo profile for handling and positioning (FHPP) . . . . . . . . . . . . . . . . . . . . . A.1.1 Supported operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.2.1 Reference system for electric drives . . . . . .
A. Technical appendix A.1 Festo profile for handling and positioning (FHPP) The SFC−DC supports the Festo handling and positioning profile FHPP (see also chapter 1.3). A.1.1 Supported operating modes The operating modes differ as regards their contents and the meaning of the cyclic I/O data and in the functions which can be accessed in the SFC−DC. Operating mode Description Record Select 31 position sets can be saved in the SFC−DC.
A. Technical appendix The SFC−DC does not support any automatic mode, i.e. no user program. Records cannot be processed automatically with a programmed logic. The drive cannot accomplish any tasks sensibly with Stand Alone; close coupling to the PLC is necessary. Direct mode In the direct mode positioning tasks are formulated directly in the output data of the master. The typical application calculates dynamically the nominal target values for each task or just for some tasks.
A. Technical appendix A.2 A.2.
A. Technical appendix Calulating specifications of reference system Reference point Calculating specification Axis zero point AZ = REF + a Project zero point PZ = AZ + d = REF + a + d Lower software end position LSE = AZ + b = REF + a + b Upper software end position USE = AZ + c = REF + a + c Target/actual position TP, AP = PZ + e = AZ + d + e Tab.
A. Technical appendix A.2.2 Reference travel With electric mini slide SLTE, reference travel must be carried out when the device is switched on as prerequisiite for a posi tioning task (Bit Drive_is_referenced = TRUE). The drive references against a stop or a reference switch. An increase in the motor current indicates that a stop has been reached. As the drive must not continuously reference against the stop, it must move at least one millimetre back into the stroke range. Sequence: 1.
A. Technical appendix Overview of parameters involved (see also appendix B.1.
A. Technical appendix A.2.3 Jogging In the status Enable operation" the drive can be moved to the left/right by jogging. This function is usually used for: moving to teach positions moving the drive out of the way (e.g. after a system fault) manual positioning as normal operating mode (hand−operated feed). 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.
A. Technical appendix 1 Low speed phase 1 2 (slow travel) 2 Maximum speed Speed v (t) for phase 2 1 3 Acceleration 4 Deceleration 5 Time duration phase 1 3 4 t [s] Jogging_pos 1 or Jogging_neg 0 (Jogging negative/positive) 5 Fig. A/1: Sequence diagram for jogging mode Overview of parameters involved (see appendix B.1.
A. Technical appendix A.2.4 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 will be moved to the desired position via jog ging mode or manually. This can be accomplished in jog ging mode by positioning or by moving by hand in the status Drive blocked". 2. The user must make sure that the desired parameter is selected.
A. Technical appendix 1 Ready for teaching 2 Value transferred Teach_ Actual_Value 1 0 1 ACK_Teach 0 1 2 Fig. A/2: Handshake when teaching Note: 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. With the usual cycle times of the PLC + field bus + motor controller there will be inaccuracies of several millimetres even at a speed of only 100 mm/s. Overview of parameters involved (see appendix B.1.
A. Technical appendix A.2.5 Carry out record (Record Select) A record can be started in the status Drive enabled". This function is usually used for: moving to any position in the record list by the PLC processing a positioning profile by linking records known target positions which seldom change (formulation change). Sequence 1. Set the desired record number in the input Record_No. Up till the start the controller replies with the number of the record last processed. 2.
A.
A. Technical appendix Stop record with Halt and continue 1 Record_No N−1 N N+1 0 1 Halt 1 0 1 Start_ Positioning_Task 2 0 1 Halt_Not_Active 0 1 Ack_Start 0 1 MC 0 1 Drive_is_moving 0 1 Actual_Record_No N−1 N 0 1 Record is stopped with Halt", actual record number N is retained, MC remains reset 2 Rising edge at Start_Positioning_Task starts record N again, Halt_Not_Active will be set Fig. A/4: Sequence diagram for stop record with Halt and continue Festo P.
A. Technical appendix Stop record with Halt and delete remaining path 1 Record_No N−1 N N+1 0 1 Halt 1 0 1 Start_ Positioning_Task 0 1 Clear_remaining_ Position 2 0 1 Halt_Not_Active 0 1 Ack_Start 0 1 MC 0 1 Drive_is_moving 0 1 Actual_Record_No N−1 N N+1 0 1 Stop record 2 Delete remaining path Fig. A/5: Sequence diagram for stop record with Halt and delete remaining path A−16 Festo P.
A. Technical appendix Record composition A positioning task in Record Select mode is written with one record of nominal values. Each nominal value is addressed by its own PNU. A record consists of the nominal values with the same subindex. Causes of faults in application: referencing has not been carried out the target position and/or the preselect position cannot be reached invalid record number record not initialized. Overview of parameters involved (see appendix B.1.
A. Technical appendix A.2.6 Specifying a position directly (Direct mode) In the status Drive enabled" (Direct mode) a positioning task is formulated directly in the I/O data which are transmitted via the field bus. The nominal values for the position are therefore held in the PLC. The function is used in the following situations: moving to any position within the work stroke. the target positions are unknown during planning or change frequently (several different work item positions).
A. Technical appendix Starting the positioning task 1 Set_Value_Position N−1 N N+1 N+2 N−1 N N+1 N+2 0 1 Set_Value_Velocity 0 1 Start_ Positioning_Task 0 1 Ack_Start 0 1 MC 0 Fig. A/6: Start the positioning 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. A/3, Fig. A/4 and Fig. A/5. Causes of faults in application No referencing carried out.
A. Technical appendix Overview of parameters involved (see appendix B.1.2) Parameters involved Description PNU Position specifications Max. permitted speed 1) 502 Acceleration in acceleration unit (inc/s2) 541 Deceleration in deceleration unit (inc/s2) 542 Start CPOS.B1 = positive edge: Start (CDIR.
A. Technical appendix A.2.7 Standstill monitoring With the standstill monitoring it is clear that the target position window is exited at a standstill. When the target position is reached and the MC signal is registered the drive enters the Standstill" status, the bit Standstill_Control is reset. If, in this status, the drive is removed from the standstill position window for a minimum defined time due to external forces or other influences, the bit Standstill_Control will be set.
A. Technical appendix Overview of parameters involved (see appendix B.1.2) Parameters involved Description PNU Target position window 1040 Current position 1041 Standstill position window 1042 Standstill monitoring time 1043 Start SFC_DC_CONTROL MC = positive edge: Motion Complete Reply message SFC_DC_CONTROL Drive_is_moving = 1: Drive has moved out of standstill position window Prerequisites Device control by PLC/field bus Controller must be in status Drive enabled" Tab.
A. Technical appendix A.3 Fault messages The SFC−DC indicates faults by appropriate fault messages or warnings.
A. Technical appendix Cat egory Name, display Description Device error 1) Fault number Fault LED Status bytes 2) Fault MOTOR ERROR Phase failure (no motor current) 0x2000 103 ON FAULT Warning STANDSTILL WARNING Standstill monitoring 0x4000 flashes WARN, STILL Fault PROFIBUS INIT ERROR PROFIBUS initialization fault 0x8000 51 ON FAULT 1) 2) See PNU 205 FHPP status bytes Tab. A/12: Faults and warnings with fault numbers and fault bits A−24 Festo P.
A. Technical appendix A.4 Diagnostic memory The diagnostic memory contains the codes of the last 16 diag nostic messages. The diagnostic memory is protected against power failure. If the diagnostic memory is full, the oldest el ement will be overwritten (FIFO principle). Structure of the diagnostic memory Parameters 1) 200 201 202 Format uint8 uint16 uint32 Meaning Diagnostic event Fault number Time Subindex 1 Latest / current diagnostic message Subindex 2 Last diagnostic message ... ..
A. Technical appendix The faults are divided into logical groups according to the fault numbers. There are both simple and serious faults within a group. Range Name Comment 0 No fault active 1 ... 19 Processing fault Examples: No reference travel, nominal position outside soft ware end positions, nominal value calculation not possible. Although the system is OK, a user comand cannot be proces sed. In most cases there is a fault in operation. Source: Sequence control, regulator 20 ...
A. Technical appendix A.5 Diagnosis via PROFIBUS−DP The SFC−DC supports the following diagnostic possibilities via PROFIBUS−DP: FHPP status bytes (block SFC_DC_Control, see chapter 3.1.3): Warning Fault Contouring_error Standstill_Control DP diagnosis (see section A.5.1): PROFIBUS service GetDiag" with device−related diagnosis (GbD) when activated. The alarm model as per DPV1 is not supported. A.5.
A. Technical appendix Byte Octet Diagnostic address Description 4 5 Describes the type of the DP slave (here 0973H). 5 6 ID number (for SFC−DC SFC DC = 0973H) 6 7 Header (for the device− related diagnosis) Specifies the length of the device−related diagnosis incl. header. 1) 7 8 Status type With the SFC−DC always 0xA0 (for manufacturer−specific status") 8 9 Slot no.
A. Technical appendix Station status 1 Bit 3 is especially of interest with station status 1. If this bit is set, it is sensible to evaluate the device−related diagnosis. Station status 1 Bit Meaning Explanation 0 Diag.Station_Non_Existent SFC−DC no longer/not yet addressable. Possible causes: Operating voltage not applied Data cable interrupted Fault in data cable 1 Diag.Station_Not_Ready SFC−DC not yet ready for data exchange 2 Diag.
A. Technical appendix Station status 2 (only SFC−DC related bits) Station status 2 Bit Meaning Explanation 0 Diag.Prm_Req 1 = The master must configure the SFC−DC again 1 Diag.Stat_Diag 1 = The master must request diagnostic data until this bit is set to 0 2 Always 1 (set to logical 1 by the SFC−DC) 3 Diag.WD_On 1 = Response monitoring/watchdog activated 4 Diag.Freeze_Mode 1 = Freeze activated 5 Diag.Sync_Mode 1 = Sync activated 6 Reserved 7 Diag.
Supplementary information Appendix B Festo P.
B. Supplementary information Contents B. Supplementary information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−1 B.1 Parameters of the SFC−DC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 General parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.2 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−3 B−3 B−4 B−2 Festo P.
B. Supplementary information B.1 Parameters of the SFC−DC B.1.1 General parameter structure Group Indices Description Device data 100 ... 199 Device identification and device−specific settings, version numbers, identifier words, etc. Diagnostic memory 200 ... 299 Memory for diagnostic events: Fault numbers, fault time, incoming/outgoing event Processing data 300 ... 399 Current nominal and actual values, local I/Os, status data etc. Record list 400 ...
B. Supplementary information B.1.2 Overview of parameters This overview shows all the parameters of motor controller type SFC−DC−...−PB with firmware version 1.10. The current and complete description of the parameters can be found in the manual for the SFC−DC. Name FHPP PNU Subind.
B. Supplementary information Name FHPP PNU Subind. 1) Type Access 2) Diagnostic Event 200 0...15 uint8 ro Fault Number 201 0...15 uint16 ro Time Stamp 202 0...15 uint32 ro Diagnostic Memory Parameter 204 0...3 uint8 rw1/ro Device Fault 205 uint16 rw PROFIBUS Diagnosis 206 0...5 uint8 ro Local Digital Inputs 303 uint32 ro Local Digital Outputs 304 0...
B. Supplementary information Name FHPP PNU Subind. 1) Type Access 2) Project Zero Point (offset project zero point) 500 int32 rw2 Software End Positions 501 0...1 int32 rw2 Max. Velocity (max. permitted speed) 502 uint32 rw2 Max. Acceleration (max.
B. Supplementary information Name FHPP PNU Subind. 1) Type Access 2) Polarity (change of polarity) 1000 uint8 rw2 Encoder Resolution 1001 0...1 uint32 rw2 Gear Ratio 1002 0...1 uint32 rw2 Feed Constant 1003 0...1 uint32 rw2 Position Factor 1004 0...1 uint32 ro Axis Parameter 1005 0...4 uint32 rw2 Offset Axis Zero Point 1010 int32 rw2 Homing Method (reference travel method) 1011 uint8 rw2 Homing Velocities (reference travel speeds) 1012 0...
B. Supplementary information Name FHPP PNU Subind.
Index Appendix C Festo P.
C. Index C−2 Festo P.
C. Index A Axis zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI B BCD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII C Consistency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI D Diagnosis Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−23 PROFIBUS−DP . . . . . . . . . .
C. Index G GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII, 2−3 I Icon files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−3 Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . XI Increments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−5, A−6 J Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI L LSB . . . . . . . . . . . . . . . . . . .
C. Index P Parameter channel (PKW) . . . . . . . . . . . . . . . . . . . . . . . . XVIII Parameter identifier (PKE) . . . . . . . . . . . . . . . . . . . . . . . . XVIII Parameter number (PNU) . . . . . . . . . . . . . . . . . . . . . . . . . XIX Parameters of the SFC−DC . . . . . . . . . . . . . . . . . . . . . . . . . B−3 Parametrizing Measuring system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−6 Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index S Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X SLTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII Software end position . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII Negative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII Positive . . . . . . . . . . . . . . . . . . . . . .
