Soft Stop SPC11 Manual Electronic/ Pneumatics System Description Soft Stop Type SPC11-...-...
Contents and general instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 1406e Designation . . . . . . . . . . . . . . . . . . . . . . P.BE-SPC11-SYS-EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 724 © (Festo AG & Co. KG, D-73726 Esslingen, 2006) Internet: http://www.festo.com E-Mail: service_international@festo.
Contents and general instructions II Festo P.
Contents and general instructions Contents Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on the use of this manual . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions 4.2.3 4.2.4 4.2.5 4.2.6 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 Parameter o (options) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Behaviour on stopping via I4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing parameters . . . . . . . . . . . . . . . . . . .
Contents and general instructions Designated use The SPC11 has been designed to be fit into a machine or an automated system. In conjunction with permitted drives and measuring systems as well as with a proportional directional control valve type MPYE-5-..., the SPC11 enables: – fast movement into the mechanical end positions and one or two selectable intermediate positions – manual movement between the end positions.
Contents and general instructions Service Please consult your local Festo repair service if you have any technical problems. Target audience This manual is directed exclusively at technicians trained in control and automation technology. VI Festo P.
Contents and general instructions Notes on the use of this manual This system manual contains basic general information on operating, fitting, installing and commissioning the SPC11. This manual refers to the versions listed in the following: Note Observe the expanded functions of the previous version. Type Version New in this version Soft Stop SPC11-... – SPC11-POT-TLF – SPC11-POT-LWG – SPC11-MTS-AIF-2 – SPC11-MTS-AIF – SPC11-INC from software status 24.05.05 or Version 1.
Contents and general instructions Description Title Contents System Description SPC11 Soft Stop electronics/ pneumatics (this manual) P.BE-SPC11-SYS... General instructions on installing and commissioning Drive-specific supplement for operating the SPC11 with a certain drive (e.g. DSMI-...) P.BE-SPC11-...-...
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 pictogram. 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 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 0-signal Input or output supplies 0 V 1-signal Input or output supplies 24 V Absolute path measuring system Path measuring system with fixed (absolute) assignment of measurement variable and reading Amplification stage The amplification stage influences the acceleration behaviour of the drive, for example.
Contents and general instructions XII Festo P.
Summary of components Chapter 1 Summary of components Festo P.
1. Summary of components Contents 1. Summary of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.1 1.2 1.3 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Method of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display and connecting elements of the SPC11 . . . . . . . . . . . . . . . . . . . . . . . 1-3 1-7 1-9 1-2 Festo P.
1. Summary of components 1.1 Structure In conjunction with permitted drives and measuring systems as well as with a proportional directional control valve type MPYE-5-..., the SPC11 enables: – fast movement into the mechanical end positions and one or two selectable intermediate positions – manual movement between the end positions. The end position cushioning, movement to the intermediate positions and manual positioning are electronically controlled.
1. Summary of components The diagram below shows the basic layout of a drive with the SPC11 using, as an example, a linear unit with a linear potentiometer. 2 3 4 5 1 P.02 P.01 6 8 7 1 Drive (linear unit) 5 Soft Stop SPC11 2 Measuring system (here, external 6 Proportional directional control valve linear potentiometer) type MPYE-5-...-... 3 Fixed stops 7 Service unit 4 Line voltage connection and I/O coupling (e.
1. Summary of components During operation, the SPC11 controls movement of the moveable mass into the saved end positions and intermediate positions at the highest possible speed. Shortly before the “learnt” end position or intermediate position is reached, the moveable mass is braked so that it comes to a standstill. To keep the moveable mass in the “learnt” end position, it is pressed against the fixed stop (typically at a pressure that is slightly less than the operating pressure).
1. Summary of components Components In order to implement fast positioning with electronically closed-loop controlled end position cushioning, you will require the following components: 1-6 – the Soft Stop SPC11 – a proportional directional control valve type MPYE-5-...
1. Summary of components 1.2 Method of operation Tasks of the SPC11 Method of operation The SPC11 takes over the following tasks: – It ascertains characteristic system values of the connected components – It saves the desired end positions and intermediate positions – It specifies the end positions and intermediate positions – It compares the nominal and actual positions and controls positioning by appropriate actuation of the proportional directional control valve (status control).
1. Summary of components 1 Measuring system 1 2 3 2 Actual position value 3 SPC11 6 4 Valve control (nominal value) 5 Proportional directional control valve 6 Drive, e.g. linear drive 5 4 Fig. 1/2: Positioning control circuit with pneumatic components The measuring system registers continuously the position of the moveable mass and transmits this in the form of an electric signal to the SPC11. The SPC11 compares the current position with the target position (the “taught” end positions Po.
1. Summary of components 1.3 Display and connecting elements of the SPC11 The diagram below shows the display and connecting elements of the SPC11. 1 2 3 8 4 7 6 1 Control: operating voltage connection and I/O coupling 2 Valve: valve connection 3 Display 4 Operating buttons 5 5 Type plate see side 6 Groove for identification signs (type IBS 6x10) 7 Measuring system connection (here type SPC11-POT-TLF) 8 Earth (ground) connection Fig.
1. Summary of components 1-10 Festo P.
Fitting Chapter 2 Fitting Festo P.
2. Fitting Contents 2. Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1 Fitting the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 2-2 Festo P.
2. Fitting Note When fitting the pneumatic components, observe also the notes on fitting in the operating instructions supplied and the notes on installation in chapter 3. 2.1 Fitting the SPC11 The SPC11 can be fastened to a flat surface with the aid of the support brackets. The diagram below shows the mounting surface and the dimensions for the four threaded holes screw size M4. Fasten the SPC11 with at least 3 screws. 118.4 mm approx. 91.8 mm 63 mm 78 mm 42 mm 109.
2. Fitting 2-4 Festo P.
Installation Chapter 3 Installation Festo P.
3. Installation Contents 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.2 3.2.1 3.3 3.3.1 3.3.2 3.3.3 3-29 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Notes on installing the pneumatic components . . . . . . . . . . . . . . . . . . . . . . . 3-4 Additional pneumatic circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3.1 General instructions on installation Warning Sudden unexpected movements of the connected actuators and uncontrollable movements of loose tubing can cause injury to human beings and damage to property. Before carrying out installation and/or maintenance work, switch off the operating voltage and the compressed air supply either simultaneously or in the following sequence: 1. compressed air supply 2. operating voltage.
3. Installation 3.2 Notes on installing the pneumatic components Note Observe the following instructions on installing the pneumatic components. Only then can you guarantee faultless operation. 1 2 3 4 5 6 9 8 7 1 ... 9 Notes on installation, see the following pages Fig. 3/1: Overview of pneumatic installation 3-4 Festo P.
3. Installation Compressed air supply ( 1 ) S Use only dried, non-lubricated, 5 μm filtered compressed air from 5 to 7 bar. You will require a service unit with a 5 μm filter for protecting the proportional directional control valve against damage. Service unit ( 2 ) S S Festo P.BE-SPC11-SYS-EN en 1406e Use a service unit consisting of a compressed air filter and a regulating valve (e.g. type LFR-...-D-... with 5 μm filter element) as well as a safety start-up valve (e.g. HEL-...-...
3. Installation Compressed air reservoir ( 3 ) If the positioning behaviour does not conform to your requirements, and if you ascertain fluctuations in pressure of over 1 bar at the measuring point, then proceed as follows: S Fit a compressed air reservoir (e.g. type VZS-...-B) between the service unit and the proportional directional control valve. In this way you can reduce fluctuations in pressure during operation.
3. Installation Compressed air tubing and screw connectors ( 4 ) S Use only straight screw connectors. If angled connectors cannot be avoided, use plug connectors from the Quick Star series. S Cut compressed air tubing and hoses to the required size, as specified in the manual for the drive used. S Arrange the tubing between the valve (MPYE-5-...) and the drive symmetrically. S Use only clean compressed air tubing and connectors.
3. Installation Proportional directional control valve ( 5 ) Arrange the tubing between the valve (MPYE-5-...) and the drive symmetrically. Recommendation for linear drives and drives with piston rod: tubing length = cylinder length. The diagram below shows as an example the tubing of a cylinder with an MPYE-5-... when an SPC11 is used. 1 2 1 Proportional directional control valve type MPYE-5-...-... 2 Service unit with 5 μm filter, without lubricator Fig.
3. Installation S If the proportional directional control valve is to be used in an environment subjected to heavy electrical interference, it should be insulated from the mounting surface. Fitting onto moving parts S If fitted to moving parts, the proportional directional control valve must be mounted at right-angles to the direction of movement. Acceleration forces then have no influence on the valve slide setting.
3. Installation Reducing loud exhaust noises S Fit larger silencers with the aid of tubing or: S Pass the ducted exhaust into a small compressed air reservoir and exhaust this with a large silencer. Make sure that there is sufficient flow through the screw connectors and tubing (with PUN-8 tubing length max. 1 m). 1 2 3 1 Ducted exhaust 2 Compressed air reservoir 3 Silencer Fig. 3/4: Ducted exhaust 3-10 Festo P.
3. Installation Drive ( 6 ) Use only the permitted combinations of drives and measuring systems approved of by Festo for the SPC11. The drive-valve combinations, cylinder diameters, cylinder lengths and mass loads permitted for the drive used can be found in the “Drive-Specific Supplement” manual. Connect the drive, guide, measuring system and the load free of play in the direction of movement and flush with each other.
3. Installation Path measuring system ( 7 ) See also “Drive-Specific Supplement”. S Fit the measuring system and the drive symmetrically so that the centre of the usable measuring system stroke corresponds to the centre of the complete cylinder stroke. With type MLO-POT-...-TLF: The remaining path of the measuring system slide must be identical in the cylinder end positions on both sides. 1 Remaining slide path 1 1 Fig. 3/5: Symmetrically mounted measuring system (with type MLO-POT-...
3. Installation With type MME-MTS-...-AIF: Note The mechanical work path (possible slide path) of measuring system type MME-MTS-...-AIF is longer than the electrical work path (usable stroke length). Fit measuring system type MME-MTS-...-AIF so that the electrical work path (see type designation MME-MTS-...-AIF) of the measuring system is symmetrical to the complete cylinder stroke.
3. Installation Fixed stops ( 8 ) Fixed stops may be necessary, depending on the drive used. See also “Drive-Specific Supplement”. Mass load ( 9 ) Fit the mass load free of play. Possible moveable mass loads see “Drive-Specific Supplement”. 3-14 Festo P.
3. Installation 3.2.1 Additional pneumatic circuits You may require additional pneumatic circuits in order to attain a particular status for the system in certain applications. Choose between the following alternatives based on the design and operating characteristics of your system: – drive pressureless – drive clamped – drive moves while throttled to the left or right end position.
3. Installation Variant 1: Drive pressureless 1A 1V1 1V2 1V3 1V4 1G1 1R1 Fig. 3/7: Drive pressureless 3-16 Festo P.
3. Installation Variant 2: Drive clamped 1A 1V1 1V2 1V3 1G1 1R1 Fig. 3/8: Drive clamped Festo P.
3. Installation Variant 3: Drive moves while throttled to right-hand end position 1A 1V1 1V2 1V3 1V4 1G1 1R1 Fig. 3/9: Drive moves while throttled to right-hand end position 3-18 Festo P.
3. Installation Variant 4: Drive moves while throttled to left-hand end position 1A 1V1 1V4 1V2 1V3 1G1 1R1 Fig. 3/10: Drive moves while throttled to left-hand end position Festo P.
3. Installation Components for variants 1...4 Identifying Requirements components Recommendation/type 1V1, 1V2 5/2-way valve – sliding piston valve with positive cover – with control air – with reversible flow direction – flow rate coordinated to the proportional directional control valve used (1V3) For MN1H: – Type MN1H-5/2-D-1-FR-S-C – Type MN1H-5/2-D-2-FR-S-C 1V3 Proportional directional control valve type MPYE-...
3. Installation Component Type/size MPYE-... ...-M5-... ...-1/8LF-... ...-1/8HF-... ...-1/4-... ...-3/8-... GRLA-...-B ...-M5-... ...-1/8-... ...-1/8-... ...-1/4-... ...-3/8-... MN1H-5/2-...-FR-S-C ...-D-1-... LFR-...-...-MINI ...-1/8-... LFR-...-...-MIDI – ...-1/2-... – LFR-...-...-MAXI – ...-D-2-... ...-1/4-... – ...-1/4-... ...-1/2-... Fig. 3/12: Dimensions for variants 1...4 Festo P.
3. Installation 3.3 Installing the electronic components Caution Cables with high levels of noise can cause electromagnetic interference. Do not place the following cables in the vicinity of cables with high levels of interference: – measuring system cable – proportional directional control valve cable. Caution An incorrect connection assignment may cause damage to the SPC11. Use only the original cables.
3. Installation 3.3.1 Connecting elements of the SPC11 The diagram below shows the connecting elements of the SPC11, using the SPC11-POT-TLF as an example. 1 Measuring system connection (here for type MLO-POT-...-TLF or DNCM-...) 3 2 2 Earth (ground) connection 3 Valve connection 1 4 Operating voltage connection as well as inputs and outputs 4 Fig. 3/13: Connecting elements of the SPC11 Festo P.
3. Installation 3.3.2 Connecting the operating voltage and I/Os Warning Danger of electric shock S Only use PELV circuits in accordance with IEC/EN 60204-1 (protective extra-low voltage, PELV) for the electrical power supply. Also observe the general requirements for PELV circuits as per IEC/EN 60204-1. S Only use voltage sources which guarantee reliable electrical isolation of the operating voltage in accordance with IEC/EN 60204-1.
3. Installation The operating voltage is supplied together with the circuit for the inputs/outputs via the 15-pin plug marked with “Control” (see Fig. 3/14). Pin 15 (white-yellow): DC +24 V Pin 14 (brown-green): 0 V Tolerance: -10 % to +25 % Connect a protective conductor with sufficient cross sectional area to the drive, if this is not mounted on an earthed machine stand. The following diagram shows the pin numbering of the “Control” connection.
3. Installation Inputs on the 15-pin “Control” plug (I = input) Pin Pin assignment and core colours Description 1 I8 Remote 1-signal deactivates operating buttons and activates the relevant remote inputs (pins 2...
3. Installation Outputs on the 15-pin “Control” plug (O = output) Pin Pin assignment and core colours 9 O5 – Error 1) black Factory setting: – Provides a 1-signal when an error occurs (see chapter 5). – Provides a 0-signal in the normal operating state 10 O4 – P.04 2) violet Factory setting: – Supplies a 1-signal if the moveable mass is in the taught intermediate position P.04. – Supplies a 1-signal for 50 ms if intermediate position P.04 is overrun. 11 O3 P.
3. Installation Connection example type SPC11-...-... Note With measuring systems type MLO-POT-...-LWG: In order to earth the system, connect the earthing cable on the flat plug of the measuring system to the earth connection on the SPC11. 1 2 24 V 0V O1: P.01 O2: P.02 O3: P.03 O4: P.04 *) O5: Error *) I1: P.01 I2: P.02 I3: P.03 I4: P.
3. Installation 3.3.3 Connecting the proportional directional control valve and the measuring system Connecting the measuring system Use only the permitted combinations of drives and measuring systems approved of by Festo for the SPC11. The connecting cable for the measuring system is connected either fixed to the SPC11 or to the drive. Note Interference due to electromagnetic influences can be avoided if a short cable is used. Use only the original cable.
3. Installation 1 Pin 1 4 4 Pin 4 7 Pin 7 7 1 Fig. 3/16: Valve connection, pin assignment and core colours Pin Pin assignment and core colours of the cable type KMPYE-... Pin no. on the valve plug 1 24 V load voltage for the valves (blue) 1 2 0 V (brown) 2 3 0 V (green) 2 4 Vs (positioning signal 0...10 V) (yellow) 3 5 Signal GND (grey) 4 6 n.c.
Commissioning Chapter 4 Commissioning Festo P.
4. Commissioning Contents 4. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 4.1 4.1.1 4.2 4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.2.6 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 General instructions on commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic principles of configuring and operating the SPC11 . . . . . . . . . . . . . . . Pre-parameterising in the office . . . . . . . . . . . . . . .
4. Commissioning 4.1 General instructions on commissioning This chapter describes parameterising and commissioning with the aid of the three buttons on the SPC11. A 1-signal at the Remote input (I8) blocks the SPC11 buttons. Button functions can then be called up via the digital inputs (I5...7). Detailed information on this can be found in appendix A. Warning During commissioning and during operation the moveable mass is moved at the highest possible acceleration and speed.
4. Commissioning 4.1.1 Basic principles of configuring and operating the SPC11 Parameters The SPC11 must be familiar with certain conditions of use. These conditions of use are described by the following parameters: Display 1) Parameters Description Amplification stage Influences the acceleration behaviour of the drive Cushioning stage Influences the run-in behaviour when moving to the end positions and intermediate positions.
4. Commissioning The parameters can be entered: – before commissioning (pre-parameterising without drive in the office) – when commissioning. Button functions The SPC11 buttons are only active when a 0-signal is present at the Remote input (I8).
4. Commissioning Display on the SPC11 The display on the SPC11 indicates: – parameters or – status information. The first position of the display shows identifying letters for parameters or status information. The last two positions show the appropriate value, the stage or the number. 1 Identifying letters for parameters or status type 1 2 2 Value, stage or status information 3 Point for separation 3 Fig. 4/1: Composition of the display on the SPC11 4-6 Festo P.
4. Commissioning Possible status information Display Description When the letter (t) flashes: The SPC11 waits for the teach task. When the dots (...) flash: The teach procedure is being carried out. Only with type SPC11-MTS-AIF: The SPC11 checks whether the measuring system is connected (find measuring system). When the SPC11 is switched on: The moveable mass stands uncontrolled and is not in a taught position (P.01...P.04). The outputs O1...4 therefore supply a 0-signal. In operation (e.g.
4. Commissioning 4.2 Pre-parameterising in the office 4.2.1 Parameters A, C and S The permitted values of the parameters A, C, and S for the drive you are using can be found in the appropriate axisspecific supplement. 4.2.2 Parameters L and r (only with type SPC11-INC) The parameters L and r are only queried when incremental path measuring systems are used (e.g. positioning drive DNCI-...-... in connection with type SPC11-INC).
4. Commissioning Nominal stroke length (L) of the drive [mm] Nominal stroke length (L) of the drive, see type designation on the type plate (e.g. type DNCI-32-300-P-A has a nominal stroke length of 300 mm). Offset axis zero point (r) [mm] For a good positioning behaviour, the SPC11 must know the positioning range used by the drive. The offset axis zero point specifies the offset between the end position P.01 and the axis zero point. With an offset of 0 cm, the end position P.
4. Commissioning 4.2.3 Parameter o (options) With this parameter, you can change the signal behaviour of the SPC11 and switch off certain standard functions (from Version 1.41). Please note The factory setting (o-parameter = 0) means: – No option selected. Standard behaviour active.
4. Commissioning Parameter o (options) Bit Decimal value at 1 Option Description 0 1 Output O5: – Ready signal (instead of Error signal) Use O5 for Ready signal – instead of Error signal. Permits monitoring of operational readiness: – The output O5 supplies a 1-signal if the SPC11 is ready to operate. – A 0-signal at this output indicates that the SPC11 is not yet ready to operate, or there is a system or positioning error.
4. Commissioning Parameter o (options) Bit Decimal value at 1 Option Description 5 32 Input I4: – Stop without return travel (instead of positioning tast to P.04) 6 64 Input I4: – Stop with return travel (instead of positioning task to P.04) Use I4 for Stop signal – instead of Move signal (to P.04). Permits stopping the drive – even during the teach procedure. Output O4 supplies a 1-signal.
4. Commissioning Determine value of the o-parameter Different combinations of options are possible. You determine the value to be set through addition of the individual decimal values of the desired options. Example: Options Bit Calculation Use O5 for Ready signal - instead of Error signal 0 +1 Switch off soft end position behaviour 3 +8 Use I4 for Stop signal (stop with return travel) – instead of Move signal 6 + 64 Total (value to be set) = 73 Alternative calculation Festo P.
4. Commissioning 4.2.4 Behaviour on stopping via I4 The drive can be stopped via Input I4 if the o-parameter is configured accordingly. Possible conditions after stop signal via input I4 Stop time Condition after stop Teach procedure – Drive is uncontrolled. – Output O4 supplies 1-signal. Please note Display Restart teach procedure (by Teach button/input) Reference travel Restart reference travel to P.01 or P.02 Teaching of P.03 – Drive is controlled. – Output O4 supplies 1-signal.
4. Commissioning Please note The current reference position is held as long as the stop input is set. If the drive is moved during this period with the compressed air switched off and the compressed air switched back on again, the drive returns to the reference position. When the stop input is reset, the current position is used as the reference position Festo P.
4. Commissioning 4.2.5 Set parameters At the factory, all the parameters are zero (status at delivery). When the power supply is switched on, the SPC11 in this case expects entry of the parameters. In preparation for commissioning, the parameters can be set “in the office” without setting up the drive. This simplifies the commissioning of large series in production. Set the parameters without drive (in the office) as follows: Warning Incorrectly set parameters can damage the fixed stops and the drive.
4. Commissioning cushioning stage will be shown (here 0). This is shown by the letter C (Cushioning stage). (C.00) 4. Set cushioning stage with +/-, e.g. 04. (C.04) 5. Hold the Enter key pressed down > 2 seconds. The value will then be transferred and the system parameter shown (here 0). (S.00) 6. Set system parameters with +/-, e.g. 01. (S.01) 7. Hold the Enter key pressed down > 2 seconds. The value will then be taken over. If you do not use an incremental path measuring system, the option parameter (o.
4. Commissioning (300) 10. Hold the Enter key pressed down > 2 seconds. The value will then be taken over and the identifying letter for the offset axes zero point (r) displayed. (r.) 11. Press any desired button to display the offset axis zero point (r) in mm (three-digit number). (000) 12. Set offset axes zero point (see also section 4.2.2) in mm with +/-, e.g. 20 for 20 mm. (020) 13. Hold the Enter key pressed down > 2 seconds. The value will then be taken over and the option parameter is displayed. (o.
4. Commissioning When all prerequisites for carrying out the teach procedure have been made (see sections 4.3.1), the teach procedure can be started (see sections 4.3.2). 16. If you wish to conclude pre-commissioning, switch off the operating voltage. Switch-on behaviour after successful pre-commissioning (in the office) When the operating voltage is switched on again, the SPC11 shows briefly the firmware version number and then one after the other the values of the set parameters.
4. Commissioning Start: Switch-on reaction Firmware version number Display of firmware version Wait approx. 0.5 second Display of amplification stage The current value is displayed here Wait approx. 1 second Display of cushioning stage Wait approx. 1 second Display of system parameters Wait approx. 1 second Display of drive length (stroke) *) Wait approx. 1 second Display offset axes zero point *) Wait approx. 1 second Display of option parameters Wait approx.
4. Commissioning 4.2.6 Changing parameters Please note The option parameter o can be changed without a new teach procedure being necessary. After the parameters A, C, S, L or r are changed, the teach procedure must be performed again. If necessary, the set parameters can be modified, e.g. in order to correct entry errors or to optimise positioning behaviour.
4. Commissioning Use the buttons as follows to activate the modification mode: 1. Make sure that the drive is standing still. 2. Press all three buttons on the SPC11 at the same time. The display shows the letter A (Amplification stage) and the stage set (here 02). (A.02) If you have activated the modification mode by mistake, you can abort the procedure by switching off the power supply.
4. Commissioning 3. Switch on the power supply. The SPC11 will then show fault E01 (measuring system not connected...). (E.01) 4. Press all three buttons at the same time (> 2 s). The display shows the letter A (Amplification stage). The value is reset to 0. (A.00) With the +/- buttons, you can set the value again and transfer it with Enter. Then set the other parameters again in the same way (see section 4.2.5). Festo P.
4. Commissioning 4.3 Commissioning procedure Warning Faults in the system structure and incorrect parameters can cause the slide to move to an end position uncushioned. The fixed stop or the drive may then be destroyed. You must observe the following instructions in order to prevent such collisions. – The SPC11 “learns” the location of the end positions (cylinder end positions or fixed stop positions) by means of the teach procedure.
4. Commissioning 4.3.1 Preparations for the teach procedure Teach procedure During the teach procedure movement is made at first cyclically and slowly to the end positions P.01 and P.02. In this way the SPC-11 learns the mechanical end positions and some characteristic system values such as friction and hysteresis. The SPC11 saves these values in the integrated EEPROM.
4. Commissioning 3. If fixed stops are used: Set the fixed stops accurately in the desired end positions. The positioning stroke permitted for the drive used can be found in the “Drive-Specific Supplement”. 4. Check whether the parameters have already been correctly set in pre-commissioning. The permitted values of the parameters A, C, and S for the drive you are using can be found in the appropriate axis-specific supplement.
4. Commissioning 4.3.2 Start the teach procedure Condition There must be a 0-signal at inputs I1...4. The parameters must be set correctly. The maximum mass load and, if applicable, the fixed stops must be fitted correctly. To be able to start the teach procedure with the buttons, a 0-signal must be present at the Remote input (I8).
4. Commissioning Caution During the teach procedure, the moveable mass moves at first slowly, then at the highest possible acceleration and speed. Make sure that: – Nobody can place his/her hand in the positioning range of the moveable mass, unless the compressed air supply is switched off. – The complete positioning range is free collision contours. 4. If teaching has not yet taken place, the SPC11 indicates readiness to carry out the teach procedure (t flashes).
4. Commissioning The O1 output supplies a 1-signal The drive is now ready for operation. When the teach procedure is concluded, the SPC11 knows the locations of the mechanical end positions (P.01...P.02). You can now teach manually the intermediate positions (P.03...P.04) or trigger a positioning task to the end positions (P.01...P.02). Festo P.
4. Commissioning 4.3.3 Teach the intermediate positions The SPC11 permits fast movement into up to two selectable intermediate positions. The desired intermediate positions are “learnt” by manual movement or by shifting the moveable mass and then saving. The “learnt” intermediate positions can be approached during operation. The intermediate positions can also be used as sensor positions, as the relevant output (O3...
4. Commissioning In order to teach an intermediate position with the supply pressure switched on, proceed as follows: 1. Briefly press the button { or } . The teachable position number (e.g. 3) will then flash. The position number flashes. 2. If you do not wish to teach the intermediate position shown, press briefly the ESC button. The process will then be interrupted. Then repeat step 1. The next teachable position number will then flash.
4. Commissioning No flashing. 7. If you wish to teach the next intermediate position, repeat the steps listed as from step 1. Repetition accuracy The repetition accuracy when moving to the intermediate positions depends on the type of drive and on the length of the measuring system. Detailed dimensions for repetition accuracy with the drive you are using can be found in the drive-specific supplement.
4. Commissioning Overview of the commissioning sequence on the SPC11 Set the parameters and start the automatic teach procedure (SPC11 in status at delivery) Switch on Firmware version number Display of firmware version Wait approx. 0.5 second Setting: - Amplification stage (A) - Cushioning stage (C) - System parameters (S) Set respective value with +/-. Conclude each entry with Enter.
4. Commissioning Overview Teaching the intermediate positions The mass stands in position e.g. P.01; O... supplies a 1-signal P.03 and P.04 can be taught The mass moves into the desired position. 1 The dots flash The t flashes. Order type? Teach P.01...02 again: Teach button/input Positioning task via inputs I1...I4 The SPC11 waits for the teach task Start: Enter/Teach Move manually in order to teach positions 3...
4. Commissioning 4.3.4 Conclude teach procedure Adaptation The positioning behaviour is monitored continuously during operation. Internal characteristic values are adapted here to the actual state of the drive, e.g. in order to compensate for wear etc. during the service period. After commissioning, the positioning behaviour improves by adaptation automatically after approximately 20 to 30 strokes.
4. Commissioning Please note If, after you have taught the end positions again, the previously taught intermediate positions (P.03 and P.04) now lie outside the positioning range, positioning commands to move to the intermediate positions will be acknowledged with error E14.
4. Commissioning 4.4 Instructions on operation Warning Damage may occur if maximum permitted limits, such as mass loads, mass moments of inertia, swivel frequencies etc. are exceeded. Make sure that the maximum specified limits of the drive used are observed (see operating instructions for the relevant drive).
4. Commissioning Reference travel after POWER ON Only for incremental path measuring systems: After the SPC11 operating voltage is switched on again, the relationship between measurement variable and current position is lost. For that reason, you must always carry out reference travel after switching on again. Reference travel can take place either in the end position P.01 or the end position P.02. Starting reference travel Reference travel is started after POWER ON through a positioning task to P.
4. Commissioning Positioning orders A positioning order remains permanently stored if the power supply is switched on. If the power supply is switched off and then on again, the positioning order (P.01...P.04) at inputs I1...I4 will then be processed. If there is no positioning order when the power supply is switched on and if the moveable mass is not at one of the end positions, the valve slide will remain in the electrically centered intermediate position.
4. Commissioning 4.4.1 Switch-on behaviour after successful commissioning If commissioning has already been carried out, the SPC11 is ready to operate after a few seconds. Start: Switch-on reaction Firmware version number Display of the firmware version Wait approx. 0.5 seconds Current value Display of the: Wait approx. 1 second - Amplification stage (A) - Cushioning stage (C) - System parameters (S) Wait approx. 1 second Current value Wait approx.
4. Commissioning Switch-on reaction with use of an absolute path measuring system Position of the moveable mass Display Status Outside of positions P... The moveable mass remains uncontrolled in the taught position (P...). The SPC11 waits for the first positioning task. In end positions P.01...P.02 A positioning task to the appropriate end position is generated and the moveable mass is then pressed against that end position. The corresponding output (O1 or O2) supplies a 1-signal.
4. Commissioning 4.4.2 Timing diagram during switch-on Switch-on sequence to avoid undesired movement of the drive. Requirement: “Stop” and “Ready” are parameterised ( Section 4.2.3). 24 V 1 0 ca. 7 s Ready (A5) 1 0 Additional circuitry (optional) 1) active inactive Stopp (E4) 1 0 X X X Ist = Soll ²) Compressed air X = 500 ms 2s on off 1s Positioning job (E1…E3) 1 0 1) Optional external circuitry corresponding to section 3.2.1, e.g.variant 2.
4. Commissioning 4.4.3 The first positioning task During the first positioning task the SPC11 checks whether the mass moves in the desired direction. If the mass moves in the wrong direction, the SPC11 will diagnose incorrectly connected tubing in the system and display error E12 (incorrect direction of movement). The SPC11 then reacts as follows: – The valve slide of the proportional directional control valve will then be brought into the intermediate position (flow blocked).
4. Commissioning In order to avoid such causes, proceed as follows: 4-44 S Pressurise the complete system slowly (e.g. by using the safety start-up valve type HEL-... or HEM-...). No unexpected movements of the actuators will then occur. S Make sure that the moveable mass cannot move itself or be moved manually (e.g. by means of a clamping unit) out of the end position when the operating voltage is switched on. Festo P.
4. Commissioning 4.4.4 Controlling the SPC11 You can move the mass into the saved end positions or intermediate positions with the command inputs P.01...P.04. When an end position is reached, the moveable mass will be pressed against the stop with a pressure equal at maximum to the operating pressure. When an intermediate position is reached, the moveable mass stands controlled in that position.
4. Commissioning Please note A position task or stop procedure can be interrupted at any time and replaced by a new task. Manual movement Condition The drive must be ready for operation. There must be a 0-signal at inputs I1...4. In the procedure using the keyboard, a 0-signal must be present at the input I8 (remote). The moveable mass can be moved manually with the buttons { or }.
4. Commissioning 4.4.5 Use the taught intermediate position as the sensor position The taught intermediate positions can also be used as sensor positions, as the relevant output (O3...O4) supplies a 1-signal for 50 ms if the intermediate positions are overrun.
4. Commissioning Example: Target position = Pos2 1 Drive P.01 (here linear drive type DGP-...-...) P.03 P.02 1 P.01 P.03 P.02 Fig. 4/10: Premature change of direction (example with linear drive) The output that signals reaching the intermediate position (here O3) can, if needed, be wired directly to the corresponding input (here I1, for P.01). 4-48 Festo P.
4. Commissioning Example 2: Pre-select position for time-optimised moving around The taught intermediate positions (P.03...4) can also be used in order to start a second drive, e.g. in order to move around obstructions in a time-optimised manner. 1 300 200 100 P.01 P.03 P.02 3 2 1 Positioning path for the second, external drive 2 Positioning path for the SPC11 3 Pre-select position P.03 Fig.
4. Commissioning 4-50 Festo P.
Diagnosis and error treatment Chapter 5 Diagnosis and error treatment Festo P.
5. Diagnosis and error treatment Contents 5. Diagnosis and error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5.1 5.2 5.3 5.4 Error messages on the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Faults during operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Acknowledging a fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Diagnosis and error treatment 5.1 Error messages on the SPC11 If a fault occurs, the SPC11 will display a fault number and react as follows: – The valve slide of the proportional directional control valve will then be brought into the intermediate position (flow blocked). The drive is uncontrolled. – Output O5 assumes the defined signal status (dependent on parameter o, see chapter 4.2.
5. Diagnosis and error treatment Fault no. Operating status Offset fault in the static identification: – Too little stiffness in the fixed stop 5-4 Eliminating faults – Proportional directional control valve defective – External fluctuating force on the slide during identification travel S Ensure stiffness of the fixed stop (e.g. remove cushioning plate of the DSMI-...
5. Diagnosis and error treatment Fault no. *) Operating status Eliminating faults Intermediate position does not exist or is outside the permitted positioning range S Increase the positioning range and teach the end positions again, in order that the intermediate positions lie within the permitted positioning range or S “teach” the intermediate positions again. Fault in dynamic identification. Drive does not move. S Check compressed air supply and system set-up (valve-drive combination).
5. Diagnosis and error treatment 5.2 Faults during operation 1) The mass does not move Cause Remedy Remarks No supply pressure Check 5...7 bar required Valve cable is not connected correctly Check See chapter 3.3.3. Proportional directional control valve is defective Check and, if necessary, replace. You can check through the viewing window to see if the valve slide jams. 1) There are several simultaneous positioning orders Check input signals I1...
5. Diagnosis and error treatment 2) Bad behaviour during movement to end position Cause Remedy Remarks System is not mounted correctly Check fitting and mechanical parts Check measuring system and drive for parallelism, mechanical play and sluggishness System is not earthed correctly Check See chapter 3 Parameters are not set optimally Check parameters See “Drive-Specific Supplement” manual High fluctuations in supply pressure (› 0.
5. Diagnosis and error treatment 5.3 Acknowledging a fault If a 0-signal is present at input I8, the error message can be acknowledged through a rising edge at input I6 (from Version 1.41). The drive remains uncontrolled. If you use the input I4 as a stop input: After faults are acknowledged, the controller can be reactivated by a stop signal. The drive then stands controlled in the current position. 1 O5: Error 1) 1 0 O8: Remote 1 0 I1..4: P.01...4 1 0 I6: Reset Error 1 0 2 min.
5. Diagnosis and error treatment 5.4 Optimising the positioning behaviour After the “teach” procedure the positioning behaviour is automatically optimised in the first 20 to 30 strokes by means of internal adaptation. If the quality of the positioning behaviour still does not fulfil expectations, proceed as follows: – Check the parameters A, C, and S (see “Drive-Specific Supplement” for the drive used).
5. Diagnosis and error treatment Warning Incorrect parameters can damage the fixed stops and the drive. Be very careful when setting the parameters. When parameters are modified, the saved end positions and adaptation values are deleted for safety reasons. Therefore, the “teach” procedure must then be carried out again. Intermediate positions already “taught” are retained. All parameters are set to 0 at the factory. Further information on the parameters see “Drive-Specific Supplement” for the drive used.
5. Diagnosis and error treatment Procedure for optimising Note If, after you have taught the end positions again, the previously taught intermediate positions (P.03 and P.04) now lie outside the positioning range, positioning commands to move to the intermediate positions will be ignored.
5. Diagnosis and error treatment 4. With the buttons +/- you can increase or reduce the value by one stage, in accordance with the positioning characteristics of the drive (see axis-specific supplement). Hold the Enter key pressed down for at least 2 seconds (> 2 s) in order to accept the value. The cushioning stage will then be shown. (C.04) 5.
5. Diagnosis and error treatment Please note During the teach procedure, the moveable mass moves at first slowly, then at the highest possible acceleration and speed. Make sure that: – Nobody can place his/her hand in the positioning range of the moveable mass, unless the compressed air supply is switched off. – The complete positioning range is free of any objects. 8. If there is a 0-signal at the Remote input: Hold the Teach button pressed down for at least 2 seconds.
5. Diagnosis and error treatment In order to influence the positioning times S Increase or reduce the supply pressure within the permitted range. S Install exhaust restrictors in the exhaust lines of the proportional directional control valve. Note Make sure that the exhaust-air throttles are completely opened during the teach procedure. If fluctuations in pressure of over 1 bar occur in front of the proportional directional control valve, install a compressed air reservoir (see chapter 3).
Start-up via digital inputs/outputs Appendix A Start-up via digital inputs/outputs Festo P.
A. Start-up via digital inputs/outputs Contents A. Start-up via digital inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 A.1 A.2 A.2.1 A.2.2 A.2.3 The SPC11 remote inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Remarks on start-up via digital inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . Setting time-dependency diagram parameters . . . . . . . . . . . . . . . . . . . . . . .
A. Start-up via digital inputs/outputs A.1 The SPC11 remote inputs A 1-signal at the Remote input deactivates the SPC11 buttons. The button functions can then be called up via the digital inputs (I5...7). This permits start-up via external operating buttons or a higher-order PLC/IPC. Input Function Description I7 {/- With position change: A 1-signal (min.
A. Start-up via digital inputs/outputs A.2 Remarks on start-up via digital inputs/outputs Note With start-up via digital inputs, the same requirements must be met as with start up via the buttons of the SPC11 (see chapter 4). Setting the parameters using PLC/IPC The SPC11 parameters can be set via the digital I/Os, such as with external operating buttons, or by PLC/IPC. The process of start up via digital I/Os does not differ from start up via the buttons on the SPC11.
A. Start-up via digital inputs/outputs Initiate modification mode Reset first parameter (A) to 0 Reduce value 99 times Set first parameter (A) Set desired value Confirm first parameter (A) Reset next parameter to 0 E.g. reduce value 99 times *) Set parameters Set desired value Confirm parameters No Last parameter? Yes The t flashes Starting the teach procedure *) With type SPC11-INC: Values up to max. 999 are possible for the parameters drive length and offset axis zero point. Fig.
A. Start-up via digital inputs/outputs A.2.1 Setting time-dependency diagram parameters 1 3 2 4 min. 20 ms I7: {/- 1 0 1 2 99 min. 20 ms min. 20 ms 1 I5: +/} 0 1 2 n min. 2 s I6: Enter 1 0 min. 20 ms I8: Remote 1 0 I1...4: Po.1...4 1 0 O5: Error/Ready *) 1 0 *) Function of the O5 output can be configured (see chapter 4.2.
A. Start-up via digital inputs/outputs A.2.2 Initiating and starting teach procedure time-dependency diagram 1 2 min. 2 s I6: Enter/Teach min. 2 s 1 0 min. 20 ms Teach procedure is running O1: Po.1 1 0 I8: Remote 1 0 O5: Error/Ready *) 1 0 min. 20 ms *) Function of the O5 output can be configured (see chapter 4.2.3); Error (factory setting) or Ready 1 Initiate the teach procedure 2 Start the teach procedure Fig. A/3: Initiating and starting teach procedure time-dependency diagram Festo P.
A. Start-up via digital inputs/outputs A.2.3 Teaching the intermediate position time dependency diagram 1 2 min. 2 s I6: Enter 1 0 I5: +/} I7: {/- 1 0 Drive is moving O3/4: Po.3/4 1 0 min. 20 ms I8: Remote 1 0 O5: Error/Ready *) 1 0 *) Function of the O5 output can be configured (see chapter 4.2.3); Error (factory setting) or Ready 1 Drive moves as long as the corresponding signal (I5 or I7) is present 2 Save current position as intermediate position (switch-on time min. 2 s) Fig.
Technical appendix Appendix B Technical appendix Festo P.
B. Technical appendix Contents B. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1 B.1 B.2 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3 B-5 B-2 Festo P.
B. Technical appendix B.1 Technical specifications Technical specifications Dimensions (plug exit on top, without cable, incl. fastening bracket) Type SPC11-...-... – Height – Width – Depth Weight Temperature range approx. 43 mm approx. 118.4 mm approx. 80 mm approx. 400 g – Operating temperature – Storage/transport 0...+ 50 °C -20...
B. Technical appendix Technical specifications Path measuring system input Type SPC11-POT-... Type SPC11-MTS-AIF Type SPC11-INC Valve output Type SPC11-...-... Potentiometer – Supply voltage – Input voltage MTS Temposonics – Supply voltage – Communication Incremental path measurement – Sensor supply – Sensor signals – Power supply – Output voltage +10 V 0...+10 V 24 V CAN field bus 5 V and GND Are picked up at 2 magnetic field sensors 24 V (DC) 0...
B. Technical appendix B.2 Index Zahlen 0-signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI 1-signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI A Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Activate modification mode . . . . . . . . . . . . . . . . . . . . . . . 4-20 Adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Technical appendix D Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21 Display on the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI, 3-11 E Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Error messages on the SPC11 . . . . . . .
B. Technical appendix Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 Fixed stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 Mass load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 Measuring system: type MLO-POT-...-LWG . . . . . . . . . 3-12 Measuring system: type MLO-POT-...-TLF . . . . . . . . . . 3-12 Measuring system: Type MME-MTS-...-AIF . . . . . . . . . 3-13 Proportional directional control valve . .
B. Technical appendix P Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Set time-dependency diagram parameter A . . . . . . . . . A-6 Setting the parameters using PLC/IPC . . . . . . . . . . . . . A-4 Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X Positioning time monitoring . . . . . . . . . . . . . . . . . . 4-10, 4-11 Proportional directional control valve . . . . . . . . . . . . . . . . . 3-8 Q Quit faults . . . . . .
B. Technical appendix Start-up Preparing for commissioning . . . . . . . . . . . . . . . . . . . . 4-24 Start-up via digital inputs/outputs . . . . . . . . . . . . . . . . A-4 Status information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Stop with return travel . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11 Stop without return travel . . . . . . . . . . . . . . . . . . . . . . . . 4-11 Switch-on reaction After successful commissioning . . . . . . . . . . . . . . . . .
B. Technical appendix B-10 Festo P.
