SPC200 Smart Positioning Controller Electronics manual Field bus module for PROFIBUS−DP type SPC200−COM−PDP Manual 188 893 en 0901c [744 896]
Contents and general instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0901c Title . . . . . . . . . . . . . . . . . . . . . . P.BE−SPC200−COM−PDP−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 893 © (Festo AG & Co. KG, D 73726 Esslingen, 2009) Internet: http://www.festo.com E−Mail: service_international@festo.
Contents and general instructions PROFIBUS® is a registered trademarks of their respective trademark holders in certain countries. II Festo P.
Contents and general instructions Contents Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 4. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1 4.1 4.1.1 4.1.2 4.2 4.2.1 4.2.2 4.3 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.5 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.6 4.6.1 4.6.2 4.6.3 4.6.4 4.7 4.7.1 4.7.2 4.7.3 4.7.4 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Supplementary instructions on commissioning with WinPISA . . . . . . . . . . .
Contents and general instructions 5. Parameter channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 5.2 5.2.1 5.2.2 5.3 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3 Structure of the parameter channel (PKW) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−4 Task identifiers, reply identifiers and fault numbers . . . . . . . . . . . . . . . . . . .
Contents and general instructions VI Festo P.
Contents and general instructions Designated use The field bus module type SPC200−COM−PDP enables the SPC200 to be coupled to the PROFIBUS−DP. With this field bus module the SPC200 can be operated as a slave on the rel evant field bus. Only one field bus module may be installed on the SPC200. This manual contains information on installing, commission ing and diagnosing the PROFIBUS−DP field bus. Basic components and modules for the SPC200 are described in the system manual type P.BE−SPC200−... .
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 rel evant field bus slaves. Service Please consult your local Festo service centre if you have any technical problems. VIII Festo P.
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 contain ing 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 S The bullet indicates activities which may be carried out in any order. 1.
Contents and general instructions Product−specific terms and abbreviations The following product−specific abbreviations are used in this manual: Term/abbreviation Meaning 123 d Decimal DP identifiers or parameter numbers (PNU) are marked with a subscript d". 123 h Hexadecimal DP identifiers or parameter numbers (PNU) are marked with a subscript h". AK See under reply identifier or task identifier BCD Binary coded decimal Bus segment Bus cable between two terminating resistors.
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 Term/abbreviation Meaning Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be installed or switched in at the end of bus segment cables. Work data Telegram data without protocol frame data. The work data are determined when the field bus slave is configured. Fig. 0/1: Terms and abbreviations Festo P.
Contents and general instructions Notes on the use of this manual The following Festo manuals are necessary for the complete documentation of the modular valve terminal, depending on what you have ordered and on the further equipment for your complete system: Type Title Contents System manual SPC200 Smart Positioning Controller type P.BE−SPC200−... Installation, commissioning and diagnosis with SPC200; standard components and modules Software manual Software package WinPISA type P.SW−WIN−PISA−...
Contents and general instructions Firmware versions of the field bus modules PROFIBUS DP Please note In order to transmit the digital setpoint values you will re quire: WinPISA as from version 4.41 fieldbus modules for PROFIBUS−DP with firmware ver sion as from V 2.1 SPC200 with operating system version as from V 4.82. Please note In order to use the parameter channel and for transmitting the actual values you will require: WinPISA as from version 4.
Contents and general instructions XVI Festo P.
System summary Chapter 1 Festo P.
1. System summary Contents 1.1 1.2 1.3 1.4 1.5 1.5.1 1−2 System structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−3 Connecting and display elements of the field bus module . . . . . . . . . . . . . . 1−4 Basic structure for operation on the PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . 1−5 Operating modes of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−7 Controlling the SPC200 via the PROFIBUS . . . . . .
1. System summary 1.1 System structure Special field bus modules are available for coupling the SPC200 to field bus systems. The field bus module type SPC200−COM−PDP enables the SPC200 to be coupled to the PROFIBUS−DP. SIEM ENS 1 2 4 SIEMENS 3 1 PROFIBUS−DP master 3 Further slaves on the field bus 2 Programmer/PC 4 SPC200 as PROFIBUS−DP slave Fig. 1/1: SPC200 on the PROFIBUS−DP (example) Festo P.
1. System summary Data exchange between the PROFIBUS−DP master and the field bus slave is made in accordance with the master−slave procedure. This permits a very fast cyclic exchange of data. 1.2 Connecting and display elements of the field bus module The diagram below shows the connecting and display elements of field bus module type SPC200−COM−PDP. 1 Fault LED (red) 2 Power LED (green) 3 Field bus connection (9−pin) 1 2 3 Fig. 1/2: Connecting and display elements 1−4 Festo P.
1. System summary 1.3 Basic structure for operation on the PROFIBUS−DP With the following modules the SPC200 is a functionable PROFIBUS−DP standard slave: 1 Power supply 1 module 2 3 2 Diagnostic module 3 Field bus module for PROFIBUS Fig. 1/3: Basic structure for PROFIBUS Module Description Power supply module Enables the power supply and the axis interface designed as a field device to be connected. Diagnostic module Enables the control panel to be fitted (optional) and a PC to be connected.
1. System summary A system structure with the modules shown above offers the following facilities: S One or two pneumatic axes can be controlled. S Commissioning, programming and diagnosis via a PC with the WinPISA software package. S Coordination with external PLC/IPC via field bus. With field bus module type SPC200−COM−PDP the SPC200 can be coupled to all DP masters. Extension modules are available for extending the system (see system manual for the SPC200 type P.BE−SPC200−...). 1−6 Festo P.
1. System summary 1.4 Operating modes of the SPC200 The processing of the NC programs saved in the SPC200 takes place in the following operating modes: Start/Stop mode Record Select mode The desired operating mode can be set with the control panel or with WinPISA. Detailed information on the operating modes can be found in the User Manual of the SPC200. Festo P.
1. System summary 1.5 Controlling the SPC200 via the PROFIBUS The usual I/O signals (START, STOP, RESET, etc.) are available via PROFIBUS, exactly as with direct control of the SPC200 via an I/O module. If required, the field bus module can also en able the transmission of parameters and actual positions.
1. System summary The scope of the I/O data to be transmitted and thereby the scope of the desired functions is determined in the configur ation of the PROFIBUS−DP master with the aid of a GSD file (device master file). The following diagram shows the struc ture of the task and reply telegrams, as well as the scope of the I/O data to be transmitted.
1. System summary 1.5.1 I/O signals Depending on the operating mode used, the field bus module provides the following I/O bits for controlling the SPC200: Operating mode I/O signals Start/Stop I10.0 ... I13.15 *) Q10.0 ... Q13.15 *) Record Select I10.0 ... I11.15 *) Q10.0 ... Q10.15 *) *) Address assignment from the point of view of the SPC200 Please note Outputs of the master are mapped on internal inputs; internal outputs of the field bus module are mapped on inputs of the master. 1−10 Festo P.
1. System summary 1 2 PLC/IPC Outputs Inputs 3 Task telegram: I10.0 ... I13.15 1) parameter channel 2) SPC200−COM−PDP Outputs SPC200 Inputs Inputs Inputs Parameters (optional) Outputs Outputs Actual positions (optional) 1) Maximum address range; address assignment from the point of view of the SPC200 2) Optional Reply telegram: Q10.0 ... Q13.
1. System summary Address range If a field bus module is used: The address ranges I0.0 ... I0.9 and Q0.0 ... Q0.7 will re main unassigned. This address range, which without field bus module serves for controlling the SPC200, is not available. The address ranges I10.0 ... I13.15 and Q10.0 ... Q13.15 are only available in I/O operation. Maximum 3 I/O modules may be plugged in. These pro vide only freely programmable I/Os in the operating mode Start/Stop.
Fitting Chapter 2 Festo P.
2. Fitting Contents 2.1 2−2 Fitting and removing the field bus module . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−4 Festo P.
2. Fitting Warning Undesired movement of the connected actuators and non− defined switching states of the electronics can cause injury to human beings or damage to property. Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. the load voltage and operating voltage supplies for the SPC200 and, if applicable, the load voltage supply for the axis interface string. Festo P.
2. Fitting 2.1 Fitting and removing the field bus module Please note Modules may be damaged if they are not handled cor rectly. Do not therefore touch any components. Observe the regulations for handling electrostatically sensitive com ponents. Discharge yourself electrostatically before fitting or removing components in order to protect the components against dis charges of static electricity. The slots are numbered 1 to 6 from left to right.
2. Fitting Fitting a module Proceed as follows when fitting a module into the rack: 1. Switch off the compressed air supply and the operating voltage supply. 2. Remove the blanking plate (if fitted). 3. Hold the module by the front plate and push it into the guide rail. Make sure that the modules are not tilted when they are pushed in and that no components on the printed circuit board are damaged. 4. Make sure that the plugs of the terminal strips are cor rectly aligned.
2. Fitting Removing a module Replace a module as follows: 1. Switch off the operating voltage and the compressed air supply. 2. Loosen and pull off the connecting cable on the front of the module. 3. Unlock both locking levers (see Fig. 2/1) and carefully pull out the module. 4. Seal the unused slots with blanking plugs. 2−6 Festo P.
Installation Chapter 3 Festo P.
3. Installation Contents 3.1 3.2 3.3 3.4 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3 Connecting to the field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−4 Connecting the SPC200 via a branch line . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−9 Connection for optical−fibre waveguide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10 3−2 Festo P.
3. Installation 3.1 General instructions on installation Warning Undesired movement of the connected actuators and non− defined switching states of the electronics can cause injury to human beings or damage to property. Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. The compressed air supply 2.
3. Installation 3.2 Connecting to the field bus There is a 9−pin sub−D plug on the field bus module for con necting the SPC200 to the relevant field bus. This connection is used for the incoming cable, as well as for the continuing field bus cable. 9 6 5 1 Fig. 3/1: PROFIBUS−DP interface (X 20) Pin Signal Description 1 2 3 4 5 6 7 8 9 Housing Earth n.c. RxD/TxD−P CNTR−P *) DGND VP n.c. RxD/TxD−N n.c.
3. Installation Specifications of the field bus cable Recommendation: Use a cable which complies with the cable specification as per EN 50170 part 2 (cable A). Surge impedance: 135...165 Ohm (3...20 MHz) Capacity: < 30 nF/km Loop resistance: < 110 Ohm/km Core cross−sectional area: > 0.34 mm2 Maximum permitted segment length of the field bus: Baud rate (in kBaud) Max. permitted segment length (in m) as per PNO 1) 9.6 19.2 93.75 187.5 500 1500 3000 ...
3. Installation Plug Please note Use plugs with a terminating resistor if the SPC200 is installed at the end of a bus segment. If you do not require a terminating resistor, use the sub−D plug from Festo type FBS−SUB−9−WS−PB−K as the termination. Type Description FBS−SUB−9−WS−PB−K Horizontal cable exit; baud rate 9.6 kBaud ... 12 MBaud; 4−pin terminal for wires up to 1.5 mm2 If you require a terminating resistor, use special bus con nector plugs for PROFIBUS, e.g.
3. Installation Connecting the bus cable S Always connect the same cores to the same connection A or B of the 4−pin terminal. Recommendation: B: RxD/TxD−P; A: RxD/TxD−N S Make sure that the cable screening lies uninsulated under the screening clamp. S Please observe, if necessary, the instructions supplied with the plug. 1 4−pin terminal 2 Cable screening/ shield 1 B O B O 2 Fig. 3/2: Sub−D plug from Festo type FBS−SUB−9−WS−PB−K Festo P.
3. Installation Terminating resistor (end of cable) Bus segments must be concluded at both ends with a termin ating resistor. This also applies if the module or the communi cation processor is at the end of the bus cable. Recommendation: Use plugs with an integrated terminating resistor if the SPC200 is installed at the end of a bus seg ment. If necessary, switch in the terminating resistor. The following diagram shows the terminating resistor com bination of cable A as per EN 50170.
3. Installation 3.3 Connecting the SPC200 via a branch line Please note If connection of the SPC200 via a branch line cannot be avoided: Do not connect the branch lines with a terminating resistor. Please note that the permitted segment length will be reduced by the length of the branch line. Please note the maximum permitted branch line lengths. If possible, branch lines should be avoided on the PROFIBUS−DP, as they can cause too much capacitive stress on the transmission cable.
3. Installation 3.4 Connection for optical−fibre waveguide The following types of cables can be used for transmission with the PROFIBUS: Cable−bound transmission (screened two−wire cable) Optical−fibre cable (plastic and fibre glass) Optical−fibre waveguide technology is to be recommended when transmission is affected by heavy interference, as well as for extending the transmission range when high baud rates are used.
Commissioning Chapter 4 Festo P.
4. Commissioning Contents 4.1 4.1.1 4.1.2 4.2 4.2.1 4.2.2 4.3 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.5 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.6 4.6.1 4.6.2 4.6.3 4.6.4 4.7 4.7.1 4.7.2 4.7.3 4.7.4 4−2 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Supplementary instructions on commissioning with WinPISA . . . . . . . . . . . Steps for commissioning the SPC200 as a field bus slave . . . . . . . . . . . . . . . Setting the PROFIBUS address of the SPC200 . .
4. Commissioning 4.1 Procedure for commissioning Recommendation: Proceed with commissioning as follows: 1. Create and save the desired hardware configuration (incl. field bus module). 2. First commission the individual axes without using the field bus interface with the aid of WinPISA. After reading this chapter please refer to the WinPISA manual. 3. Then begin with the commissioning of the field bus.
4. Commissioning 4.1.1 Supplementary instructions on commissioning with WinPISA Start commissioning as described in the WinPISA manual (see chapter 4 in the WinPISA manual). With some commissioning steps, the signals ENABLE, START and STOP are required for controlling the axes. For example with the steps: movement test identification travel test and start program. If a field bus module is installed, you can generate these con trol signals during commissioning in the test mode.
4. Commissioning In order to generate control signals in the test mode, first activate the command [Online] [Observe] [Field bus mod ule] [Control signals/Record number]. Then switch on the test mode, e.g. with function key F5. The contents of the window [Control signals] depends on the operating mode set. The mark ? next to the control signal shows that the relevant input/output supplies a 1−signal. 1 ENABLE signal 2 STOP signal 3 Display for test mode 1 2 3 Fig.
4. Commissioning Start/Stop mode Address 1) Control signal Description I10.0 ENABLE Controller enable (1 = controller enabled) 2) I10.1 START/RESET Start/Continue or reset program (RESET in conjunction with STOP = 0) I10.2 STOP Stop program sequence (0 = stopped) I10.3/I10.4 SYNC_A/B Synchronization input for M00 Q10.0 READY System ready to operate Q10.1/Q10.2 SYNC_OA/B Synchronization output for M00 Q10.3/Q10.
4. Commissioning Program test in Record Select mode In Record Select mode the window Control Signals enables you to select an NC record number directly. This NC record number corresponds to the actual NC record number in the NC program. Note that the programmed record numbers are stored begin ning with N000 and with step size 1 when a program is loaded with WinPISA.
4. Commissioning 4.1.2 Steps for commissioning the SPC200 as a field bus slave The following steps are required for commissioning the SPC200 as a field bus slave: 1. Set the following when configuring the field bus module: Settings Description PROFIBUS address Permitted address range: 0...125 1) 1) In some cases is limited by the DP master used Modification by a DP master is not possible. 2. Install GSD file and symbol file. 3. Configure the PROFIBUS with the appropriate configur ation software (e.
4. Commissioning 4.2 Setting the PROFIBUS address of the SPC200 Please note PROFIBUS addresses may only be assigned once per PROFIBUS−DP interface. Observe any possible limitations as regards the assignment of PROFIBUS addresses by your DP master. Recommendation: Assign the PROFIBUS addresses in ascend ing order. If necessary, assign the PROFIBUS addresses to suit the machine structure of your system.
4. Commissioning 4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA In order to set the PROFIBUS address of the SPC200 with WinPISA, proceed as follows: 1. Read out the hardware configuration from the SPC200 or set the hardware configuration manually, as described in the guidelines in the WinPISA manual. 2. Double−click the symbol CPU−.. in the project window. The dialogue window SPC200 configuration" will then appear. 1 1 Field bus module for PROFIBUS Fig.
4. Commissioning 1 1 Register card Field bus" Fig. 4/4: Configuration of the field bus module 4. Set the following in this register card: Settings Notes PROFIBUS address Fieldbus addresses may only be assigned once per PROFIBUS−DP interface (0 ... 125) Suppress diagnostic messages As from firmware version V2.1 of the fieldbus module: Error messages over the fieldbus can be suppressed with WinPISA as from version 4.51 in combination with an operating system as from version 4.93.
4. Commissioning 4.3 Installing the device master file (GSD file) and symbol files GSD file 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 con tains all the necessary information for the configuration pro gram. You will require the appropriate symbol files for repre senting the device in the configuration program.
4. Commissioning Please note Various configuration programs are available for use in conjunction with a Siemens master. Please observe the relevant procedure for your configuration program. Install the GSD file and the bitmap file Depending on the configuration program used, install the GSD file and the bitmap file with the aid of the appropriate menu command or copy the files manually into a particular directory of your programmr/PC. With the STEP 7 V5.
4. Commissioning 4.4 Basic principles of configuration 4.4.1 FREEZE and SYNC The SPC200 supports the PROFIBUS control commands Sync and Freeze. If a PROFIBUS master sends these control com mands, the internal I/Os of the field bus module which are used for communication (I10.0...I13.15 or Q10.0...Q13.
4. Commissioning SYNC The outputs of the master are mapped on internal inputs of the field bus module. With this control command the inter nal inputs can be frozen." The SPC200 then no longer re acts to modifications to the output image in the master. The following SYNC command causes the output image of the master to be updated. Return to normal operation UNSYNC command. 4.4.
4. Commissioning The address range with DP identifiers is described under PROFIBUS−DP. The DP identifiers can be entered via a dia logue or directly in the configuration tables of the configur ation program. The method of handling depends on the con figuration program. Rules for configuring the I/O address range In the case of the I/O signals, use a DP identifier for the inputs and a different DP identifier for the outputs.
4. Commissioning 4.4.3 DP identifiers for the I/O signals Please note Output addresses of the master are mapped on internal inputs; internal outputs of the field bus module are mapped on input addresses of the master. DP identifiers for the Start/Stop mode In the Start/Stop mode identifiers for data consistency over 1 byte are permitted. I/O signals Address range DP identifiers EN 50170 Consistent over Q10.0...Q10.15 Q11.0...Q11.15 Q12.0...Q12.15 Q13.0...Q13.
4. Commissioning DP identifiers for the Record Select mode I/O signals Address range DP identifiers EN 50170 Consistent over Q10.0...Q10.15 *) Siemens 1 byte 2 I−bytes *) EN 50170 Siemens Complete length *) 91 h 145 d EN 50170 Siemens Data consistency only permitted over complete length Fig. 4/7: DP identifiers for inputs (outputs of the SPC200) I/O signals Address range DP identifiers EN 50170 Consistent over I10.0...I10.15 I11.0...I11.
4. Commissioning 4.4.4 DP identifiers for the parameter channel (optional) In order to use the parameter channel, you will require: a field bus module with firmware version as from V 2.0 the SPC200 with operating system version as from V 4.6 WinPISA as from version 4.3. For the parameter channel data consistency is only permitted over the complete length. If the parameter channel is to be used, the DP identifier must be entered once.
4. Commissioning 4.4.5 DP identifiers for transmitting the actual postions (optional) In order to transmit the actual positions you will require: a field bus module with firmware version as from V2.0 the SPC200 with operating system version as from V4.6 WinPISA as from version 4.3. For transmitting the actual positions data consistency is only permitted over the complete length. The DP identifier must be entered separately for each axis.
4. Commissioning 4.4.6 DP identifier for transmission of the setpoint positions (optional) In order to transmit the setpoint positions you will require: fieldbus module with firmware version as from V 2.1 SPC200 with operating system version as from V 4.82 WinPISA as from version 4.41. During transmitting of the setpoint positions, data con sistency is only permitted over the complete length. The DP identifier must be entered separately for each axis.
4. Commissioning 4.5 Configuration with a master The following chapter describes the configuration of the SPC200 as a PROFIBUS slave especially with a Siemens DP master. The configuration in general for PROFIBUS masters of other manufacturers is then described. Various configuration programs are available for Siemens DP masters. This manual refers to STEP 7 V5.1 (hardware confi gurator). Configuration programs are subject to updates which may not yet be taken into consideration in this manual.
4. Commissioning 4.5.1 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 soft ware version 5.1.
4. Commissioning 1 2 3 1 Symbols for SPC200 3 Entry Festo SPC200 from GSD file 2 PROFIBUS line Fig. 4/12: Station selection STEP 7 4−24 Festo P.
4. Commissioning Configuring the Slave properties After clicking the symbol for the SPC200, 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 SPC200: 1. open the permitted identifiers in the hardware catalogue under Festo SPC200 2.
4. Commissioning 1 2 3 4 1 DP identifiers 3 Y−axis actual position or setpoint 2 X−axis actual position or setpoint position (optional) position (optional) 4 Module/DP identifier Fig. 4/13: Configuring the Slave properties When the configuration is concluded, transmit the data to the master. 4−26 Festo P.
4. Commissioning 4.5.2 Configuring with DP masters of other manufacturers The SPC200 can be controlled by any PLC, PC or industrial PC with a PROFIBUS−DP module in accordance with EN 50170 (DIN 19245). Bus sequence DP master (standard) In order to commission the SPC200 correctly, the DP master must carry out the following functions in the sequence speci fied here: 1. send a parametrizing telegram 2. send a configuration telegram 3. request diagnostic information 4.
4. Commissioning Bit Meaning Explanation 5 Sync_Req log. 1": Activate SYNC 6 7 Unlock_Req Lock_Req Bit 7 0 Bit 6 0 0 1 SPC200 released for other masters 1 0 SPC200 blocked for other masters 1 1 SPC200 released for other masters Bytes 2 and 3: Bit Meaning min TSDR + SPC200 parameters may be overwritten WD_Fact_1 WD_Fact_2 Explanation Range 1...
4. Commissioning Byte 7: Group_Ident Bit Meaning Explanation With the SPC200 each bit represents a group. Bytes 8 ... 32: User_Prm_Data Bit Meaning Explanation Not supported by the SPC200 Send configuration data (Chk_Cfg) The configuration data are transferred from the DP master to the SPC200 with the function Chk_Cfg.
4. Commissioning Station no.: Configuration: Byte 1: Byte 2: 20 Function: Chk_Cfg 145D 163D Read out configuration data (Get_Cfg) Operating mode Start/Stop Record select Byte 1 Byte 2 151D 167D 145D 163D Request diagnostic information (Slave_Diag) The diagnostic data are requested by the SPC200 with the function Slave_Diag. A description of this function can be found in chapter 5, in the section Diagnosis via PROFIBUS−DP.
4. Commissioning Overview of implemented functions and service access points (SAP) Function Available Destination SAP (DSAP) Data_Exchange Yes NIL RD_Inp Yes 56 RD_Outp Yes 57 Slave_Diag Yes 60 Set_Prm Yes 61 Chk_Cfg Yes 62 Get_Cfg Yes 59 Global_Control Yes 58 Set_Slave_Add No 55 Bus parameter/reaction times Baud rate (kBit/s) max TSDR (TBit) min TSDR (TBit) Ţ 187.5 60 11 500 100 1500 150 3000 250 6000 450 12000 800 Festo P.
4. Commissioning GSD file (device master file) Information on using the GSD file can be found in section 4.3. In addition to slave−typical entries (Ident. number, Revision, etc.), the device master file also contains a selection of ident ifiers. These identifiers are divided into 4 main groups: 1. address range for digital inputs 2. address range for digital outputs 3. address range for the parameter channel 4. address range for actual positions When configuring, observe the rules in section 4.4.
4. Commissioning 4.5.3 Instructions on commissioning the PROFIBUS Switch on the power supply Please note Please observe also the switching−on instructions in the manual for your controller. When you switch on your controller, it automatically carries out a comparison between the NOMINAL and the ACTUAL configurations. For this configuration run it is important that: S the configuration specifications are complete and correct.
4. Commissioning 4.5.4 Switch−on reaction of the field bus module Please note When projects are loaded with WinPISA, the field bus mod ule is re−initialized. There is then no exchange of data until the field bus module is re−configured by the master. Information on the switch−on reaction of the SPC200 can be found in section 4.7.1 as well as in the user manual for the SPC200. The following diagram shows the switch−on reaction of the field bus module.
4. Commissioning Power LED on BUS ERROR LED on Initialization Self test Faults? Yes Hardware fault? No BUS ERROR LED flashes fast 1 Yes No BUS ERROR LED flashes slowly (offline) BUS ERROR LED flashes briefly 2 Configuration by master? No Yes Switch off BUS ERROR LED Data exchange OK? Yes No 1 Set correct PROFIBUS address or operating mode 2 Servicing required Fig. 4/14: Switch−on reaction of the field bus module Festo P.
4. Commissioning 4.5.5 Response monitoring The response monitoring influences the reaction when field bus communication fails, e.g. due to cable fracture. The SPC200 can be operated with active or inactive response monitoring. With active response monitoring, all field bus inputs of the SPC200 will be reset to 0 when the response monitoring time has expired. With inactive response monitoring, the status of the field bus inputs remains unmodified in the event of failure of the field bus communication.
4. Commissioning 4.6 Commissioning on the field bus Please note Please observe also the instructions in the manual for your controller. Commissioning software for the field bus master usually pro vides an online operating mode. In this online mode you can influence the current states of the field bus inputs and out puts. As with commissioning with WinPISA, you can also generate the control signals of the SPC200 via the PROFIBUS master.
4. Commissioning 4.6.1 Internal I/O addresses with the Start/Stop mode The configured outputs of the master are mapped on the input bits. Byte Bit 7 Bit 15 Bit 6 Bit 14 Bit 5 Bit 13 Bit 4 Bit 12 Bit 3 Bit 11 Bit 2 Bit 10 Bit 1 Bit 9 Bit 0 Bit 8 ENABLE Input bits (I10.0...I13.15) 1) n I10.7 I10.6 I10.5 Sync_IB Sync_IA STOP n+1 I10.15 I10.14 I10.13 I10.12 I10.11 I10.10 START/ RESET I10.9 n+2 n+3 I11.7 I11.15 I11.6 I11.14 I11.5 I11.13 I11.4 I11.12 I11.3 I11.11 I11.2 I11.10 I11.
4. Commissioning Byte Bit 7 Bit 15 Bit 6 Bit 14 Bit 5 Bit 13 Bit 4 Bit 12 Bit 3 Bit 11 Bit 2 Bit 10 Bit 1 Bit 9 Bit 0 Bit 8 n+6 n+7 Q13.7 Q13.15 Q13.6 Q13.14 Q13.5 Q13.13 Q13.4 Q13.12 Q13.3 Q13.11 Q13.2 Q13.10 Q13.1 Q13.9 Q13.0 Q13.8 1) Address assignment from the point of view of the SPC200 4.6.2 Internal I/O addresses with Record Selection mode The configured outputs of the master are mapped on the input bits (I10.0...I11.15).
4. Commissioning 4.6.3 Program examples The following section contains program examples which should assist you in programming your field bus master. Posi tion specifications and I/O addresses must be adapted to your application. The examples are based on the following symbols: SPS I/O SPC200 I/O Symbolic meaning Function O20.0 I10.0 ENABLE Enable signal for SPC200 O20.1 I10.1 START/RESET Start/Reset signal O20.2 I10.2 STOP Stop signal O20.3 I10.
4. Commissioning Quit the programmed stop" (M00) with subsystem A NC program in the SPC200 N0000 G00 XPOS1 “Move to POS1 N0001 M00 ”Programmed stop N0002 G00 XPOS2 “Move to POS2 N0003 G00 XPOS3 ”Move to POS3 N0004 .... N0005 .... N0006 .... N0007 M30 “Program end with repeat Program .... U U U R .... UN UN S in the master E 0.
4. Commissioning Example of record selection mode SPS I/O SPC200 I/O Symbolic meaning Function O20.0 I10.0 ENABLE Enable signal for SPC200 O20.1 I10.1 RESET Reset signal O20.2 I10.2 STOP Stop positioning task O20.3 I10.3 CLK_A Start NC record from program A OW22 I11.0...I11.15 RECBIT... NC record number I20.0 Q10.0 READY SPC200 ready to operate I20.1 Q10.1 ACK_A Task accepted (acknowledge) for program A I20.3 Q10.
4. Commissioning 4.6.4 Reading and writing consistent data with the S7 In order that the parameter channel (PKW) can be used, 8 bytes of data (data consistency over the complete length) must be transmitted consistently. With the Load and Transfer commands of the S7, which access the peripherals or the processing image of the inputs and outputs, maximum four bytes can be transmitted together.
4. Commissioning 4.7 Sequence plans for the programmer The following sequence plans will assist you in programming a higher−order PLC/IPC. They show you how to: create readiness to operate start NC records in Record Select mode start NC programs in Start/Stop mode quit faults. The signal names are printed in upper case letters. For example: READY stands for the READY signal, 1 stands for the 1 signal, 0 stands for the 0 signal. 4.7.
4. Commissioning The following signals must be present at the controller inputs before the readiness to operate can be created: Record Select mode Controller input Signal ENABLE 0−signal 1) STOP 0−signal RESET 0−signal CLK_B Not relevant CLK_A Not relevant 1) Observe the instructions on enabling the controller in section 4.1. Start/Stop mode Controller input Signal ENABLE 0−signal 1) STOP 0−signal START/RESET 0−signal SYNC_IB Not relevant SYNC_IA Not relevant 1) Festo P.
4.
4. Commissioning 1 Wait for the readiness to operate of the stepping motor and the pneumatic axes (reaction time max. 2 s). Start timer ţ 2 s No No Timer expired? READY =1? Yes Yes Wait for fault Wait ţ 100 ms READY =1? No Yes Set STOP Wait ţ 10 ms SPC200 is ready to operate Debouncing time SPC200 is faulty End Fig. 4/16: Creating readiness to operate (continued) Festo P.
4. Commissioning 4.7.2 Start NC record in Record Select mode Start NC record in Record Select mode ACK_A/B = 0? No Yes Create NC record number RECBIT1...10 Wait ţ 10 ms Set CLK_A/B Start timer ţ 2 s No ACK_A/B = 1? No Timer expired? Yes Faults Yes Reset CLK_A/B 1 2 Fig. 4/17: Start NC record in Record Select mode 4−48 Festo P.
4. Commissioning 1 2 Start timer ţ 2 s No ACK_A/B = 0? No Timer expired? Yes Faults Yes Time required depends on application Start timer No RC_A/B = 1? No Timer expired? Yes Faults Yes End Fig. 4/18: Start NC record in Record Select mode (continued) Festo P.
4. Commissioning 4.7.3 Start program or NC record Prerequisites The program must be in the program memory The axis, application and system data must be set correctly The operating mode must be set Readiness of the SPC200 to operate has been created (1−signal at the ENABLE and STOP inputs and at the READY output) Start NC program in Start/Stop mode In the Start/Stop operating mode, the sequence is started or continued with a rising edge at the START input.
4. Commissioning 4.7.4 Carry out fault quitting When serious faults have been quitted, the SPC200 performs the initialization and self test of the connected modules. This initialization phase can take a certain amount of time, de pending on the equipment fitted on the system (max. 10 s). Please note During this initialization phase no further rising edge may be generated at the START/RESET input. When a fault has been quitted, there may still be other faults (e.g. hardware faults).
4. Commissioning Record Select mode Controller input Signal ENABLE 1−signal STOP When quitting with the RESET signal: 0−signal When quitting with the CLK signal: 1−signal RESET 0−signal CLK_B 0−signal CLK_A 0−signal Fig.
4. Commissioning Fault treatment Yes READY = 1? No Quitting counter = 0 Carry out fault quitting (see Fig. 4/23) Increment quitting counter No READY = 1? No Yes SPC200 is ready to operate Quitting counter >3? Yes Fault cannot be quitted. Diagnosis required End Fig. 4/22: Fault treatment Festo P.
4. Commissioning Fault quitting Generate necessary signal states The necessary signal states depend on the operating mode used (see Fig. 4/20 and Fig. 4/21). Wait ţ 10 ms Debouncing time Set START or CLK A positive edge starts the fault quitting Wait ţ 10 ms Debouncing time Reset START or CLK Restore standard setting Start timer ţ 10 s Max. waiting time until READY signal must be present No No READY = 1? Timer expired? Yes Yes Wait ţ 100 ms Wait for next fault End Fig.
Parameter channel Chapter 5 Festo P.
5. Parameter channel Contents 5.1 5.2 5.2.1 5.2.2 5.3 5−2 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−3 Structure of the parameter channel (PKW) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−4 Task identifiers, reply identifiers and fault numbers . . . . . . . . . . . . . . . . . . . 5−5 Rules for task reply processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−8 Description of the parameters . .
5. Parameter channel 5.1 General instructions The transmission of parameters takes place in cyclic telegram communication via the parameter channel and is based on the parameter channel (PKW range; Parameter Identification Value) of the PROFIdrive profile version 2.
5. Parameter channel 5.2 Structure of the parameter channel (PKW) The parameter channel serves for the transmission of para meters. The parameter channel comprises the following: Components of the parameter channel Description Parameter identification (PKE) Component of the parameter channel which contains the task and reply identifiers (AK) and the parameter number (PNU). The parameter number serves for identifying or addressing the individual parameter.
5. Parameter channel Parameter identifier (PKE) The parameter identifier contains the task or reply identifier (AK) and the parameter number (PNU). Spontaneous mess ages via bit 11 are not supported by the SPC200. Byte 1 15 14 Byte 2 13 12 Task or reply identifier (AK) 11 10 9 8 7 Parameter number (PNU) 6 5 4 3 2 1 0 The parameter number (PNU) serves for identifying or ad dressing the individual parameter (see section 5.3).
5. Parameter channel If the task cannot be carried out, reply identifier 7 as well as the appropriate fault number will be transmitted (negative reply). The SPC200 does not generate a fault if the identifier used permits a value range which is too large, e.g. if a bit sequence (V2) is written with task identifier 8 (array, double word) instead of with task identifier 7 (array, word). When reading, the SPC200 always uses the smallest possible el ement size.
5. Parameter channel Fault numbers Description 0 Non−permitted PNU. The parameter does not exist or parameter is of array type. 1 Parameter value cannot be modified (read only) 2 Lower or upper value limit exceeded 3 Faulty subindex. The specified subindex does not exist with this parameter. The element addressed with the subindex has not been configured in the SPC200 (program does not exist, axis does not exist, no starting program determined for this task, etc.) 4 1) 5 Incorrect data type.
5. Parameter channel 5.2.2 Rules for task reply processing Rules Description 1 If the master sends the identifier for No task," the SPC200 responds with the reply identifier for No reply." 2 A task or reply telegram always refers to an individual parameter. 3 The master must continue to send a task until it has received the appropriate reply from the SPC200.
5. Parameter channel Please note Observe the following when modifying parameters: An I/O control signal, which is to refer to a modified para meter, may only be transmitted if the reply identifier Para meter value transmitted" has been received for the rel evant parameter and, if applicable, for the index. If, e.g.
5. Parameter channel Please note In order to be sure that an old" reply is not interpreted as a new" reply, the task identifier 0 (no task) must be sent and the reply identifier 0 (no reply) must be expected be tween two consecutive tasks with the same task identifier (AK), parameter number (PNU) and subindex (IND).
5. Parameter channel 5.
5. Parameter channel PNU 200d ... 201d (C8h ... C9h) PNU 200d (C8h) Actual position PNU 201d (C9h) Nominal position Description Current actual position of the axis Current nominal position of the axis 1) Permitted values −99,999,900 ... +99,999,900 (Z −9,999.99 ... +9,999.99 mm) Presetting Actual position of the axis Data type Integer32 (see section A.1.5) Unit 0.1 m (= 0.
5. Parameter channel PNU 204d (CCh): Diagnostic event Description Fault messages of the SPC200 The fault message is to be interpreted as an eight−figure hexadecimal number. Permitted values 0000.0000...FFFF.FFFF Presetting 0 Data type Unsigned32 Unit Subindices 1: Current diagnostic event n (current fault message) 2: Diagnostic event in the diagnostic memory 1) n−1 3: Diagnostic event in the diagnostic memory 1) n−2 4: Diagnostic event in the diagnostic memory 1) n−3 ...
5. Parameter channel PNU 205d ... 208d (CDh ... D0h) PNU 205d (CDh) PNU 206d (CEh) PNU 207d (CFh) PNU 208d (D0h) Position register of the X−axis Position register of the Y−axis Position register of the Z−axis Position register of the U−axis Description Position register of the X−axis 1) Position register of the Y−axis 1) Position register of the Z−axis 1) Position register of the U−axis 1) Permitted values −99,999,900 ... +99,999,900 (Z −9,999.99 ... +9,999.
5. Parameter channel PNU 209d (D1h): Register Description Register (R) Permitted values −32768 ... +32767 Presetting 0 Data type Integer16 Unit Subindices 1: Register 0 2: Register 1 3: Register 2 ... 100: Register 99 Access rights Read: yes; write: yes Task identifier 6, 7, 8, 9 Reply identifier (positive) 4, 5, 6 Protected against power failure Yes Festo P.
5. Parameter channel PNU 210d (D2h): Flag Description Flag (F) Permitted values 0x0000h...0xFFFFh Presetting 0 Data type Bit array Unit Subindices Freely programmable flags 1: Flag F0 ... F15 2: Flag F16 ... F31 3: Flag F32 ... F47 4: Flag F48 ... F63 Status flags 1) 5: Axis status flags F64 ... F87 6: System status flags F88 ...
5. Parameter channel PNU 211d ... 212d PNU 211d (D3h) Inputs (D3h ... D4h) PNU 212d (D4h) Outputs Description Inputs (I) Outputs (Q) Permitted values Lower limit: 0x0000h Upper limit: 0xFFFFh Presetting 0 Data type Bit array Unit Subindices Inputs 1) 1: I/O module on the first AIF string I1.0...I1.15 2: First I/O module I2.0...I2.9 3: I/O module on the second AIF string I3.0...I3.15 4: Second I/O module I4.0...I4.9 5: Third I/O module I5.0...I5.
5. Parameter channel PNU 213d (D5h): Created NC program Description Number of the created NC program (NC program is active or ready to start) Permitted values 0...
5. Parameter channel PNU 214d (D6h): Created NC record Description Created NC record (NC record is active or ready to start) Permitted values 0...999 Presetting 0 Data type Unsigned16 Unit Subindices 1: Applied NC record in task A 2: Applied NC record in task B Access rights Read: yes; write: no Task identifier 6, 9 Reply identifier (positive) 4, 6 Protected against power failure No Festo P.
5. Parameter channel PNU 215d (D7h): Status task A, B Description Status information of task A and task B Permitted values 0000.0000...FFFF.FFFF Nibble 7 6 5 4 3 Re served Record status 2) Program status 3) Current program no.
Diagnosis and error treatment Chapter 6 Festo P.
6. Diagnosis and error treatment Contents 6.1 6.2 6.3 6.4 6.4.1 6.5 6−2 General instructions on diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−3 On−the−spot diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−4 Diagnosis with WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6−5 Diagnosis via PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and error treatment 6.1 General instructions on diagnosis Information on general diagnosis and fault treatment can be found in the manual for the SPC 200 type P.BE−SPC200−... . This chapter contains information on diagnosing the field bus module as well as diagnosis and fault treatment via the field bus. Overview of diagnostic possibilities The SPC200 offers extensive and user−friendly possibilities of diagnosis and fault treatment.
6. Diagnosis and error treatment 6.2 On−the−spot diagnosis The two LEDs on the field bus module enable a speedy on− the−spot diagnosis to be made of the communication status.
6. Diagnosis and error treatment 6.3 Diagnosis with WinPISA You can look at important system data of the SPC200 with the command [Diagnosis] [Status display] in the menu [Online]. The register card Field bus" shows status messages via the field bus connection. Fig. 6/1: WinPISA status display Field bus" The following table contains a description of the possible status messages for the field bus connection (see Fig. 6/2). Festo P.
6.
6. Diagnosis and error treatment Information Meaning (Bus status) parametrizing No connection to the field bus; the SPC200 waits for parametrizing by the master (Bus status) configuring Waits for configuration by the PROFIBUS master (Bus status) data exchange Data exchange runs, normal operating status (Bus status) baud rate search Automatic baud rate recognition SYNC active PROFIBUS control command active (see section 4.4.
6. Diagnosis and error treatment 6.4 Diagnosis via PROFIBUS−DP Structure of the slave diagnosis of the SPC200 The slave diagnosis of the SPC200 reacts in accordance with standard EN 50170 part 2. The following 12 bytes are re served for slave diagnosis in the SPC200. Byte Diagnostic address Meaning 1 Station status 1 Gives an overview of the communication status and the general status of the SPC200.
6. Diagnosis and error treatment The method of requesting the slave diagnosis can be found in the manual for the DP master. If the device−related diagnosis is not treated, this results in a stop of the PLC. The message can therefore be suppressed (see section 4.2.2, Fig. 4/4). Station status 1 With station status 1 bit 3 is especially of interest. If this bit is set, it is sensible to evaluate the device−related diagnosis. Station status 1 Bit Meaning Explanation 0 Diag.
6. Diagnosis and error treatment Station status 2 (only SPC200−related bits) Station status 2 Bit Meaning Explanation 0 Diag.Prm_Req 1 = Master must configure the SPC200 again 1 Diag.Stat_Diag 1 = Master must request diagnostic data until this bit is set to 0 2 Always 1 (set to logical 1 by the SPC200) 3 Diag.WD_On 1 = Response monitoring/watchdog activated 4 Diag.Freeze_Mode 1 = Freeze activated 1) 5 Diag.Sync_Mode 1 = Sync activated 1) 6 Reserved 7 Diag.
6. Diagnosis and error treatment 6.4.1 Structure of the device−related diagnosis The device−related diagnosis 1...4 contains the 8−figure fault number of the SPC200. This fault message can also be in spected with the control panel or with WinPISA. The coded fault message contains information on: fault class axis identifier fault number if applicable, additional information.
6. Diagnosis and error treatment A detailed description of the possible fault messages can be found in the SPC200 manual. Device−related diagnosis 1 Contains the second and third hexadecimal positions of the additional information. 1 Second hexadecimal position of the additional information 7 6 5 4 3 2 2 2 Third hexadecimal 1 0 1 position of the additional information Fig.
6. Diagnosis and error treatment Device−related diagnosis 3 Contains the first hexadecimal position of the fault number and the single−figure axis identifier. 1 Axis identifier 7 (single−figure; (0...4) 6 5 4 3 2 1 0 2 First hexadecimal position of the fault number (2−figure) 2 1 Fig.
6. Diagnosis and error treatment Device−related diagnosis 4 Contains the first and second hexadezimal positions of the two−figure fault class. 1 First hexadecimal position of the fault class (2−figure) 2 Second hexadecimal position of the fault class (2−figure) 7 6 5 4 3 2 2 1 0 1 Fig. 6/11: Structure of device−related diagnosis 4 Diagnosis via general DP master Please note The identifer−related or channel−related diagnosis listed in EN 50170 (DIN 19245) is not supported. 6−14 Festo P.
6. Diagnosis and error treatment 6.5 Diagnosis via programmer/PC In addition to the bus configuration, some software programs also provide the following functions: Commissioning/test Diagnosis In order to test the SPC200 with the aid of a programmer/PC, you will require e.g. communication processor CP 5410 from Siemens. Connect the programmer/PC to the PROFIBUS−DP interface of the SPC200. Festo P.
6. Diagnosis and error treatment 6−16 Festo P.
Technical appendix Appendix A Festo P.
A. Technical appendix Contents A.1 A.1.1 A.1.2 A.1.3 A.1.4 A.1.5 A.2 A.3 A−2 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Integer16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Unsigned16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Unsigned32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A.1 Data types The data types named are standardized and are described in the following section. Data type Coding Value range Resolution Length Integer16 1) 3 −32768...+32767 1 2 bytes Unsigned16 2) 6 0...65535 1 2 bytes Unsigned32 2) 7 0...4.294.967.295 1 4 bytes Bit array 3) 35 2 bytes Integer32 1) 42 −214.748,3648 ... +214.748,3647 10−4=0.
A. Technical appendix A.1.2 Unsigned16 Data type Coding Value range Resolution Length Unsigned16 6 0...65535 1 2 bytes An unsigned16−value is a 16−bit unsigned whole number. Bit 8 7 6 5 4 3 2 1 Byte 1 215 214 213 212 211 210 29 28 Byte 2 27 26 25 24 23 22 21 20 A.1.3 Unsigned32 Data type Coding Value range Resolution Length Unsigned32 7 0...4.294.967.295 1 4 bytes An unsigned32−value is a 32−bit unsigned whole number.
A. Technical appendix A.1.4 Bit array Data type Coding Value range Resolution Length Bit array 35 2 bytes A bit sequence is a grouping of 16 Boolean variables in two bytes. Bit 8 7 6 5 4 3 2 1 Byte 1 15 14 13 12 11 10 9 8 Byte 2 7 6 5 4 3 2 1 0 A.1.5 Integer32 Data type Coding Value range Resolution Length Integer32 42 −214.748,3648 ... +214.748,3647 10−4=0.0001 4 bytes An integer32 value is a 32−bit signed whole number. Coding is in complement of two.
A. Technical appendix A.2 Number formats of the nominal and actual values in the processing data Actual position, nominal position Data type Integer32 (coding 42) Permitted value range −9.999,9900...+9.999,9900 Unit 0.1 m Special features Position values must be transmitted consistently. Active program Data type Unsigned16 (coding 6) Permitted value range 0...+99 Unit Active record Data type Unsigned16 (coding 6) Permitted value range 0...
A. Technical appendix A.3 Technical specifications Type SPC200−COM−PDP Temperature range Operation Storage/transport − 5 ... + 50 °C − 20 ... + 70 °C Weight 80 g Relative humidity 95 %, non−condensing Field bus Design Transmission type Protocol RS 485, floating Serial asynchronous, half−duplex PROFIBUS−DP (standard slave) tested as per DIN 19245 parts 1 to 4; EN 50170 vol. 2 9.6...12000 kbits/s, automatic baud rate recognition Up to 23.
A. Technical appendix A−8 Festo P.
Index Appendix B Festo P.
B. Index B−2 Festo P.
B. Index A Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Activate the test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−4 Active NC record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−19 Active program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−18 Actual positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8 Address range . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index DP identifiers DP identifier for setpoint positions . . . . . . . . . . . . . . . DP identifiers for the actual positions . . . . . . . . . . . . . DP identifiers for the parameter channel . . . . . . . . . . DP identifiers for the Record Select mode . . . . . . . . . DP identifiers for the Start/Stop mode . . . . . . . . . . . . 4−21 4−20 4−19 4−18 4−17 DP master (standard) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−27 F Fault messages, Structure of the 8−figure fault messages .
B. Index N Nominal value specification, Digital . . . . . . . . . . . . . . . . . 1−8 O Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−7 Optical−fibre cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10 Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−17 P Parameter channel . . . . . . . . . . . . . . . . . . . . . . . 1−8 , 5−3 , 5−4 Parameter identification (PKE) . . . . . . . . . . . . . . . . . . . . .
B. Index S Sequence plans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−44 Sequence plans for the programmer . . . . . . . . . . . . . . . 4−44 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII Setpoint positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8 Status task A, B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−20 Subindex (IND) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
