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Festo SFC-DC series, Manual

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Festo SFC-DC series Manual Download Page 120

5.      Commissioning

5−36

Festo    P.BE−SFC−DC−IO−EN    en  0801a

Stopping  the  reference  run  and  errors  when  starting
a  positioning  procedure  without  a  reference  run

Please  note

If  an  error  occurs  during  the  reference  run  or  if  the  refer
ence  run  is  stopped,  the  reference  run  must  first  be  re
peated  before  a  different  position  set  is  started.

Information  on  error  treatment  via  the  I/O  interface  can  be
found  in  Fig.5/6  and  Fig.5/7.  Information  about  the  fault
messages  can  be  found  in  section  6.3.

1

0

1

0

ENABLE

I7

READY

O2

1

0

1

0

ERROR

O4

START

I8

1

0

1

0

ACK

O3

STOP

I6

1

0

Drive  in  motion

Reference  run
stopped

Start  of
reference  run

1

0

Position  set
I1...I5  =  0

1

0

MC

O1

Clear  faults

Start
position  set

I1...I5  =  1...31

Fault

Fig.5/3:

Pulse−time  diagram    stopping  a  reference  run  /  error  during  positioning
procedure

Summary of Contents for SFC-DC series

Page 1: ...Manual Electronic Motor controller type SFC DC IO Manual 540 418 en 0801a 731 438 Motor controller SFC DC...

Page 2: ...Adobe and Reader are either a registered trademark or a trademark of Adobe Systems Incorporated in the United States and or other countries...

Page 3: ...ublic of Germany 2008 Internet http www festo com E Mail service_international festo com The reproduction distribution and utilization of this docu ment as well as the communicaton of its contents to...

Page 4: ...Contents and general instructions II Festo P BE SFC DC IO EN en 0801a...

Page 5: ...ioning with electric drives 1 3 1 1 1 Structure of the SFC DC 1 8 1 1 2 Method of operation 1 10 1 1 3 Reference coordinates and working area 1 12 1 2 EMERGENCY STOP concept 1 15 1 3 Commissioning opt...

Page 6: ...eparing for commissioning 5 3 5 1 1 Check the connection to the mains power supply 5 3 5 1 2 Check the drive 5 3 5 2 General instructions on commissioning 5 4 5 3 Commissioning with the control panel...

Page 7: ...2 LED status displays 6 4 6 3 Fault messages on the display only type SFC DC H2 6 6 A Technical appendix A 1 A 1 Technical specifications A 3 A 2 Accessories A 5 B Supplementary information B 1 B 1 T...

Page 8: ...ions VI Festo P BE SFC DC IO EN en 0801a B 5 Object description B 14 B 5 1 Object classification overview B 14 B 5 2 Group 1xxx B 16 B 5 3 Group 2xxx B 17 B 5 4 Group 6xxx B 28 B 6 Converting the meas...

Page 9: ...e designated use of the relevant components and modules Please observe also the safety instructions in the operating instructions for the pneumatic components used The SFC DC and the connectable modul...

Page 10: ...ea must be prevented by suitable measures such as protective screens and warning signs Warning Electric axes can move suddenly with high force and at high speed Collisions can lead to serious injury t...

Page 11: ...e consult your local Festo repair service at the following e mail address if you have any technical problems service_international festo com Scope of delivery The scope of delivery of the Single Field...

Page 12: ...ween the following danger warnings Warning This means that failure to observe this instruction may result in serious personal injury or damage to property Caution This means that failure to observe th...

Page 13: ...ons 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...

Page 14: ...g instructions supplied with the relevant product Type Title Contents Docu package with brief description manuals on CD ROM P BE SFC DC UDOK Brief description Important in structions on commissioning...

Page 15: ...rsion and firmware version in the Festo Configuration Tool with active device connection to the SFC DC under Device data Firmware version on the control panel under Diagnostic Software information Fir...

Page 16: ...the power electronics power electronics controller position controller Drive Mechanical component of an axis which transfers the drive power for the movement defines the guide for the positioning mov...

Page 17: ...ference point REF Relative point for the relative measuring system The reference point de fines a known position orientation within the positioning path of the drive Reference switch External sensor e...

Page 18: ...Contents and general instructions XVI Festo P BE SFC DC IO EN en 0801a...

Page 19: ...System summary 1 1 Festo P BE SFC DC IO EN en 0801a Chapter 1...

Page 20: ...oning with electric drives 1 3 1 1 1 Structure of the SFC DC 1 8 1 1 2 Method of operation 1 10 1 1 3 Reference coordinates and working area 1 12 1 2 EMERGENCY STOP concept 1 15 1 3 Commissioning opti...

Page 21: ...ition or by a specified distance relative to the last target position Parametrizing with a PC is possible via the RS232 interface with the FCT software package The optional control panel with display...

Page 22: ...SFC DC IO EN en 0801a Components 1 Higher level controller e g Festo type FEC 2 Software level Festo Configuration Tool 3 Controller level SFC DC 4 Motor drive level SLTE 1 2 3 4 Fig 1 1 Principle of...

Page 23: ...ge see accessories appendix A 2 Motor cable For connecting the electric mini slide SLTE to the SFC DC see accessories appendix A 2 Control cable For transfer of information between the higher level co...

Page 24: ...leration and braking ramp Homing mode Positioning travel for referencing the mechanical reference system For commissioning for testing or for demonstration the fol lowing functions are also available...

Page 25: ...functions ensure operational safety temperature monitoring measurement of the power end stage temperature voltage monitoring detection of faults in the logic voltage supply detection of faults in the...

Page 26: ...3 Fig 1 2 Single Field Controller SFC DC Control panel The control panel has an LCD graphics display 128 x 64 dots Operator control is by means of a membrane keypad with four keys with which all funct...

Page 27: ...Operating voltage Power Positioning status bus status I F interface field bus Fault Error Connections The SFC DC has the following connections 1 Reference switch 2 RS232 interface to PC 3 I O interfa...

Page 28: ...processed in the position controller and passed on to the speed regulator 1 Controller SFC DC 2 Controller 3 Nominal value generator 4 Position controller 5 Speed regulator 6 Current regulator 7 End s...

Page 29: ...he internal volatile memory RAM When the modifications have been saved they are transferred to the EEPROM The parameters which are loaded after the device has been switched on are saved in the non vol...

Page 30: ...ed stop depending on the referencing method It is the reference point of the axis zero point Axis zero point AZ is shifted by a defined distance from the reference point axis zero point offset and is...

Page 31: ...erence point a Offset axis zero point Defined distance of the axis zero point to the reference point b c Software end positions limit the permitted positioning range working stroke If the target posit...

Page 32: ...alues are entered or displayed according to the measur ing system set either for the Festo Configuration Tool or the control panel Measuring system Linear axis Metric Metric measuring units e g mm mm...

Page 33: ...TOP you should stop the drive by canceling the ENABLE signal at the I O interface see chapter 6 Use additional separate safety limit switches if an EMERGENCY STOP circuit is required for your applicat...

Page 34: ...nds For further information see Appendix B Functions Control panel FCT Parametrizing Selection of the axis type of the SLTE and the associated axis parameters Uploading downloading configuration data...

Page 35: ...iption of commission ing with the control panel as from chapter 5 3 1 3 2 Festo Configuration Tool FCT The Festo Configuration Tool or brief FCT is the software platform for configuring and commission...

Page 36: ...installed by the FCT installation program Internet Explorer as from version 6 0 necessary for the print functions Interface Serial interface COMn as per RS232 9600 baud Screen resolution Screen resol...

Page 37: ...rated dynamic help of the FCT Activate the dynamic help via the menu Help with the command Dynamic help The dynamic help will be dis played in a dockable window Activate the element in the window for...

Page 38: ...he pages of a book from the contents directory of the help Print the prepared print version of the help in the Adobe PDF or Rich Text format RTF The relevant file can be found under the following indi...

Page 39: ...Fitting 2 1 Festo P BE SFC DC IO EN en 0801a Chapter 2...

Page 40: ...tting 2 2 Festo P BE SFC DC IO EN en 0801a Contents 2 Fitting 2 1 2 1 General instructions 2 3 2 2 Dimensions of the controller 2 3 2 3 Fitting the controller 2 4 2 4 Notes on fitting of electric axes...

Page 41: ...ponents with great care Please note especially the following Screw connections must be fitted free of offset and mechanical tension Screws must be fitted accurately otherwise threads will be damaged T...

Page 42: ...sufficient space above or below for heat dissipation 40 mm Fitting onto a wall You will require a mounting surface of approximately 120 x 160 mm 2 sets central supports type MUP 18 25 accessories The...

Page 43: ...rail if possible use a part of the top hat rail where there are no fastening screws if a screw connection is necessary under the SFC DC Use M6 screw acc to ISO 7380ULF for example 4 Hang the SFC DC o...

Page 44: ...al position the work load may fall down and injure somebody Check whether additional external safety measures are necessary e g toothed latches or moveable bolts You can then avoid the working mass sl...

Page 45: ...Installation 3 1 Festo P BE SFC DC IO EN en 0801a Chapter 3...

Page 46: ...nts 3 Installation 3 1 3 1 Overview of installation 3 3 3 2 Power supply 3 6 3 3 Earthing 3 9 3 4 Motor connection 3 10 3 5 Controller 3 11 3 5 1 I O controller only type SFC DC IO 3 11 3 6 Serial int...

Page 47: ...tes of the electronic compo nents Caution Incorrectly prepared cables may damage the electronics and trigger off unexpected movements of the motor Use only the cables listed as accessories for connect...

Page 48: ...ting any PLC controller Digital inputs and outputs 24 V DC PNP Earth connection M4 stud Functionalground connection optionally via motor cable Power supply DSub 7W2 Plug Power connection with 2 high c...

Page 49: ...omply with protection class IP54 Connection Cable Type Length m Power supply Power supply cable KPWR MC 1 SUB 15HC 2 5 5 10 Motor connection Motor cable KMTR DC SUB 15 M12 2 5 5 10 Controller Control...

Page 50: ...t electric shock protection against direct and indirect contact is guar anteed in accordance with IEC DIN EN 60204 1 electrical equipment of machines general requirements The internal power and contro...

Page 51: ...ad black 1 O2 Load power GND load black 2 1 Logic power VCC 24 VDC logic white A O output 2 Logic power GND GND logic brown A O output 3 n c Reserved green 4 FE Earth connec tion housing 3 2 5 n c Res...

Page 52: ...10 3 A 30 5 A 30 7 A very quick acting Logic supply pins 1 2 Rated current Peak current Internal fuse 24 VDC 10 0 1 A 30 0 8 A 30 1 A slow blowing Tab 3 4 Power supply specifications 1 2 3 4 A1 5 A2...

Page 53: ...t the SFC DC to the earth potential use one of the following earth connections earthing strip at the free end of the power supply cable see assembly instructions for cable type KPWR MC 1 SUB 15HC or e...

Page 54: ...he Festo accessories motor cable KMTR DC SUB 15 M12 cable length max 10 m Connection Pin Designation Function 1 5VDC VCC logic 8 1 2 O Encoder channel A RS485 3 A Encoder channel A 15 9 4 B Encoder ch...

Page 55: ...sed for communication with the higher level con troller via digital I Os Caution Long I O signal cables reduce the immunity to interfer ence Make sure therefore that the maximum permitted I O signal c...

Page 56: ...n set coding Bit3 grey 6 I5 Input position set coding Bit4 pink 7 I6 Input STOP bit blue 8 GND Electrically isolated GND reference potential red 9 I7 Input enable bit black 10 I8 Input start bit viole...

Page 57: ...en 0801a The I O power supply must fulfil the following requirements Power supply Value I O supply pins 1 8 Rated voltage Rated current Peak current 24 V DC 10 0 05 A 2 A Tab 3 7 Power supply specifi...

Page 58: ...9 cable length 2 5 m If necessary remove the protective cap from the serial interface of the SFC DC Connect the following connections with the programming cable the connection socket on the SFC DC a s...

Page 59: ...software package Information on transmitting CI commands via the serial inter face can be found in chapter 7 Please note The RS232 interface is not electrically isolated It is not suitable for permane...

Page 60: ...ble type KM8 M8 Connecting the reference switch Use the correct switch type normally open for the reference switch in the PNP variant For connecting the reference switch use a cable with rotating thre...

Page 61: ...ESD and protection against incorrect polarity Use this connection only for the reference switch sensor supply Use of this connection as a power supply for other devices is not permitted The input for...

Page 62: ...3 Installation 3 18 Festo P BE SFC DC IO EN en 0801a...

Page 63: ...Control panel only type SFC DC H2 4 1 Festo P BE SFC DC IO EN en 0801a Chapter 4...

Page 64: ...ntents 4 Control panel only type SFC DC H2 4 1 4 1 Composition and function of the control panel 4 4 4 2 The menu system 4 6 4 2 1 Accessing the main menu 4 6 4 2 2 Diagnostic menu 4 8 4 2 3 Device co...

Page 65: ...d bus variants can be found in the manual for the relevant product variant With the SFC DC H0 without control panel you can carry out commissioning of the SFC DC via the RS232 inter face with the Fest...

Page 66: ...itioning sets test functions e g for moving to individual position sets 1 LC display 2 Operating buttons 3 LEDs Power green I F green red Error red 1 2 3 RS 232 Ref I F Power Error I F Fig 4 1 Control...

Page 67: ...the higher order menu level or status display EMERG STOP Interrupts the current positioning procedure Error mode confirm with Enter then automatic return to the status display OK Confirms the current...

Page 68: ...menu is accessed from the status display with the button Menu The current button function will be displayed in the lower lines of the LCD display Function Button With the arrow buttons on the control...

Page 69: ...oint p SW limit neg 3 Stroke limitation Software end position negative SW limit pos 3 Stroke limitation Software end position positive SAVE Save parameters in EEPROM Homing paramet Homing method Selec...

Page 70: ...c and press the Enter button 2 Select one of the following menu commands Position set table Axis parameter System parameter System paramet Firmware version of the SFC DC e g V1 00 Software information...

Page 71: ...relative r positioning Pos Target position Vel Positioningspeed Acc Acceleration acceleration ramp Dec Braking acceleration braking ramp Axis parameter Menu command for displaying the following axis...

Page 72: ...ation of the inputs Bit 0 I1 position set coding Bit 0 Bit 1 I2 position set coding Bit 1 Bit 2 I3 position set coding Bit 2 Bit 3 I4 position set coding Bit 3 Bit 4 I5 position set coding Bit 4 Bit 5...

Page 73: ...odify the HMI setting HMI control You can also modify the setting directly with the menu com mand HMI control HMI 1 Device control on The device control is carried out manually via the control panel T...

Page 74: ...TE Select the type used SLTE10_50_G04 type SLTE 10 50 LS5 0 DC VCSC G04 SLTE10_80_G04 type SLTE 10 80 LS5 0 DC VCSC G04 SLTE16_50_G04 type SLTE 16 50 LS7 5 DC VCSC G04 SLTE16_80_G04 type SLTE 16 80 LS...

Page 75: ...that no objects lie in its path Axis parameter Manual Zero point Offset of axis zero point SW limit neg Stroke limitation Software limit switch negative SW limit pos Stroke limitation Software limit...

Page 76: ...to reference switch negative with index search switch positive Referencing to reference switch positive with index search Velocity v_rp v_rp Speed for searching for the reference point Velocity v_zp...

Page 77: ...absolute relative Positioningmode absolute absolute position specification related to the project zero point relative relative position specification related to the current position Position xt Targe...

Page 78: ...displayed 3 After entering the third figure save your setting with SAVE Enter Enter password As soon as a password is active it will be automatically scanned when the menu commands Positioning Settin...

Page 79: ...ed 3 Repeat the entry for the further entry positions 4 Enter the new password with 3 figures If you wish to deactivate the password enter 000 5 After entering the third figure save your setting with...

Page 80: ...arametrizing is completed Do not start a positioning run until the reference system has been defined by means of a reference run Warning Danger of injury With all positioning procedures the motor turn...

Page 81: ...setting Referencing to stop in negative direction 3 Make sure that nobody can place his her hand in the positioning range of the moveable mass and that no objects lie in its path Start the reference r...

Page 82: ...table Parametrizing and referencing must be completed Demo posit tab Positioning run continuous loop for testing all position sets 1 31 in the position set table Parametrizing and referencing must be...

Page 83: ...et Pos the target position xt the speed v the current position xa Function EMERG STOP With Menu you can interrupt the positioning procedure Error mode EMERG STOP con firm with Enter then automatic ret...

Page 84: ...4 Control panel only type SFC DC H2 4 22 Festo P BE SFC DC IO EN en 0801a...

Page 85: ...Commissioning 5 1 Festo P BE SFC DC IO EN en 0801a Chapter 5...

Page 86: ...5 3 4 Teach the axis zero point and the software end positions 5 17 5 3 5 Positioning with position sets 5 19 5 3 6 Teach the position sets 5 20 5 3 7 Test run 5 22 5 4 Commissioning with the Festo Co...

Page 87: ...During operation the SLTE must not hit any stop without shock absorption exception reference run Recommendation Use shock absorbers or other suitable buffer elements on all stops where no reference r...

Page 88: ...g with Move man ually or when starting reference travel When the SFC DC is currently performing a positioning movement or when a movement is started during access e g via the control interface or via...

Page 89: ...n can cause injury to people and damage to property In the following cases a reference run is absolutely essential in order to set the reference coordi nates and the working range correctly during ini...

Page 90: ...settings you can if necessary delete the EEPROM directly via the serial interface with the CI command 20F1 Data memory control see chapter 7 User specific settings will then be lost Use CI commands on...

Page 91: ...d on the menu com position of the control panel can be found in chapter 4 Device control In order that the control panel can control the connected SFC DC the control interface of the SFC DC must be de...

Page 92: ...5 3 2 3 Carry out reference travel 5 3 3 4 Teach the following axis parameters for defining the axis zero point and the working area Offset of the axis zero point to the reference point Positive and...

Page 93: ...Size 16 stroke 150 SLTE_16_150_G04 Enter 2 Save the setting with SAVE Enter 5 3 2 Setting the reference run parameters In order to search for the reference point and for positioning the drive in the a...

Page 94: ...xed stop referencing method Negative fixed stop near motor 1 2 REF REF AZ Positive fixed stop remote from motor 1 2 REF REF AZ 1 Slide moves at search speed v_rp to the mechanical fixed stop 2 Slide m...

Page 95: ...erence run by means of the Festo Configuration Tool see help for PlugIn SFC DC the CI command Object 6073 Max current see appendix B 4 Caution Damage to components During operation it is not permitted...

Page 96: ...method Reference switch Reference switch negative near motor 1 2 REF AZ Reference switch positive remote from motor 1 2 REF AZ 1 Slide moves at search speed v_rp to the reference switch and reverses...

Page 97: ...ositions and of the target positions of the posi tion set table will be retained Note that these values refer to the previous axis zero point Always carry out reference travel after changing the refer...

Page 98: ...hat no objects lie in the path of the axis while the system is still connected to a power supply The drive moves during reference travel at first at the preset search speed v_rp corresponding to the s...

Page 99: ...must be correctly parametrized Please note When carrying out reference travel note that the drive must be in the permitted positioning range the drive moves in the search direction corresponding to t...

Page 100: ...rence switch the SFC DC will stop before the drive reaches a fixed stop and show a fault HOMING ERROR Reference travel must be repeated when the fault message has been quitted Quit the fault message w...

Page 101: ...positions during operation Teach the axis zero point 1 Select Settings Axis parameter Zero point 2 Move the drive to the desired axis zero point manually with the arrow buttons 3 Accept the position r...

Page 102: ...rameter SW limit neg or SW limit pos 2 Move the drive manually with the arrow buttons 3 Accept the position reached with OK Enter The setting will then become effective in the drive 4 Save the paramet...

Page 103: ...TARGET POSITION OUT OF LIMIT cannot be processed After successful reference travel carry out a test run if necessary without a work load see chapter 5 3 7 If necessary optimize the settings for positi...

Page 104: ...cation related to the current position Accept the value with OK Enter Please note If you modify the positioning mode you must then teach again the target position of the position set otherwise the mod...

Page 105: ...ominal acceleration with the arrow buttons Accept the setting with OK Enter The setting will then become effective in the drive 6 Complete or correct the acceleration value of the braking ramp of the...

Page 106: ...mo posit tab all position sets 1 31 in the position set table will be processed one after the other If the position set table contains a position set with speed v 0 this position set and all the follo...

Page 107: ...on V1 00 and later Firmware version V1 10 and later Check with later versions of the SFC DC whether an up dated PlugIn is provided If necessary consult the Festo Service Please note Administrator righ...

Page 108: ...o Configuration Tool or open an existing project Add a device to the project with the Plu gIn SFC DC 4 Create the device connection online connection between the PC and the SFC DC via the Festo Config...

Page 109: ...necessary for commissioning an SFC DC With the PlugIn SFC DC for the Festo Configuration Tool the necessary parametrizings can be carried out offline i e with out the SFC DC being connected to the PC...

Page 110: ...window Project output Separate I O In order to check the configuration and the axis set up enter a simple test program or simulate control by directly setting the inputs Please refer here to the func...

Page 111: ...nable the controller only if the axis system is correctly installed and parametrized You must carry out reference travel in the following cases position set 0 with the first commissioning when the ref...

Page 112: ...sition set 0 carries out the reference run The position sets are selected via the binary code of the inputs I1 bit 0 I5 bit4 Position set I1 2 0 I2 2 1 I3 2 2 I4 2 3 I5 24 0 1 0 0 0 0 0 1 1 0 0 0 0 2...

Page 113: ...I2 2 1 I1 2 0 Position set 16 0 0 0 0 1 17 1 0 0 0 1 18 0 1 0 0 1 19 1 1 0 0 1 20 0 0 1 0 1 21 1 0 1 0 1 22 0 1 1 0 1 23 1 1 1 0 1 24 0 0 0 1 1 25 1 0 0 1 1 26 0 1 0 1 1 27 1 1 0 1 1 28 0 0 1 1 1 29 1...

Page 114: ...ge at the input STOP under the following preconditions 0 signal active at MC 1 signal active at ERROR MC Motion Complete provides a 0 signal until a position set is interrupted with STOP The position...

Page 115: ...cal position the slide can move down wards together with the work load As long as the logic voltage supply is not switched off the actual position is acquired even after the enable is switched off It...

Page 116: ...ee also section 5 6 2 A 1 signal at output MC indicates that a positioning procedure has been completed Output Status MC output O1 0 signal Positioningprocedure is being carried out There is a fault 1...

Page 117: ...ART signal accepted 0 1 START input reset The output ACK is affected by the state of the input START When there is a positive edge at the input START during the execution of a position set MC signal 0...

Page 118: ...erence run 1 0 min 1 s 1 0 1 0 Power supply ENABLE I7 READY O2 1 0 1 0 ERROR O4 START I8 1 0 1 0 ACK O3 STOP I6 1 0 Drive in motion Reference run completed Start of Reference run Initialization 1 0 Po...

Page 119: ...et 1 confirmation via the ACK signal 0 takes place The MC signal Motion Complete is reset 0 the drive executes the reference run After the START signal is reset 0 comes confirmation via the ACK signal...

Page 120: ...ifferent position set is started Information on error treatment via the I O interface can be found in Fig 5 6 and Fig 5 7 Information about the fault messages can be found in section 6 3 1 0 1 0 ENABL...

Page 121: ...osition set 1 0 Position set I1 I5 0 31 1 0 MC O1 Positioning procedure completed Start position set No start Fig 5 4 Pulse time diagram positioning Moving to a position When the START signal is set 1...

Page 122: ...MC O1 Positioning procedure completed New start of position set Fig 5 5 Pulse time diagram stopping position sets Stopping the position set An ongoing positioning procedure can be stopped with 0 signa...

Page 123: ...OP I6 1 0 Drive in motion Fault occurs Start position set 1 0 Position set I1 I5 0 31 1 0 MC O1 Acknowledge fault New start of position set Fig 5 6 Pulse time diagram acknowledging faults with STOP Fa...

Page 124: ...ition set 1 0 Position set I1 I5 0 31 1 0 MC O1 Acknowledge fault Ready for operation Start position set Fig 5 7 Pulse time diagram acknowledging faults with ENABLE A 0 signal at the ENABLE input caus...

Page 125: ...switching PNP Inputs Number of digital logic inputs 8 Input current at 24 V input voltage typ 7 mA Max permitted input voltage 30 V DC Min input voltage 0 V DC Protection against incorrect polarity Y...

Page 126: ...l functions can be blocked Recommendation Protect the settings of your axis against undesired modifi cations with a password FCT password protection 8 characters see PlugIn help SFC DC HMI password pr...

Page 127: ...trically isolated It is in tended for permanent connection to PC systems and not as a control interface Use the connection only for parametrizing and diagnosis Control in operation Warning Danger of i...

Page 128: ...the end positions with a heavy load jamming in the end positions may occur Please note Take into account any functions implemented within the framework of the EMERGENCY STOP concept correspon dingly i...

Page 129: ...Diagnosis and error treatment 6 1 Festo P BE SFC DC IO EN en 0801a Chapter 6...

Page 130: ...nd error treatment 6 2 Festo P BE SFC DC IO EN en 0801a Contents 6 Diagnosis and error treatment 6 1 6 1 Diagnostic options 6 3 6 2 LED status displays 6 4 6 3 Fault messages on the display only type...

Page 131: ...operate MOTION COMPLETE indicates whether a positioning task is completed ERROR indicates an error in the SFC DC The control panel of the SFC DC H2 IO The LC display shows diagnostic data fault messa...

Page 132: ...of the SFC DC H2 The visual display of the operating states is shown via 3 LEDs Operating voltage LED POWER Interface LED e g positioning status controller enable I F Fault LED ERROR Operating voltage...

Page 133: ...pped Motion Complete green red Motion Complete Controller and power end stage not enabled Positioning mode or fault warning Target position not yet reached positioning procedure in progress controller...

Page 134: ...n the event of an impermissible operating temperature or an unfavourable position of the reference switch the SFC DC will display an appropriate warning If a positioning task is run ning it will not b...

Page 135: ...o Configuration Tool Fault Possible cause DIGITAL POWER DOWN Voltagemonitoring Possible causes Digital voltage supply too low Voltage dip under load Check the voltage supply Power unit too weak Supply...

Page 136: ...that the limits are observed motor characteristic curves the mechanical parts e g for stiffness If necessary reduce the ambient temperature PLEASE ENFORCE HOMING RUN When starting a position set After...

Page 137: ...Technical appendix A 1 Festo P BE SFC DC IO EN en 0801a Appendix A...

Page 138: ...A Technical appendix A 2 Festo P BE SFC DC IO EN en 0801a Contents A Technical appendix A 1 A 1 Technical specifications A 3 A 2 Accessories A 5...

Page 139: ...1 By means of PELV power circuit Protected Extra Low Voltage CE marking symbol see conformity declaration www festo com As per EU EMC directive 1 Vibration As per DIN IEC 68 EN 60068 part 2 6 0 35 mm...

Page 140: ...Logic voltage supply power connection pins 1 2 Rated voltage Rated current Peak current 24 V DC 10 0 15 O 0 5 A I O power supply connection I F pins 1 8 Rated voltage Rated current Peak current 24 V...

Page 141: ...arks 1 protective cap for the serial interface ISK M8 10 pieces per bag 1 protective cap for the connection Reference switch if not used Wall fitting Type Remarks 2 sets central supports type 4 bracke...

Page 142: ...A Technical appendix A 6 Festo P BE SFC DC IO EN en 0801a...

Page 143: ...Supplementary information B 1 Festo P BE SFC DC IO EN en 0801a Appendix B...

Page 144: ...2 General Objects B 8 B 3 3 Objects for parametrizing and commissioning B 8 B 3 4 Objects for creating position sets B 9 B 3 5 Objects for controlling B 9 B 3 6 Objects for setting the operating mode...

Page 145: ...via Service Data Objects SDO SDOs are used for normal parametrizing of the con troller Access to the SDOs is always made from the higher order controller host A clear number index subindex is assigne...

Page 146: ...e host Use preferably the control panel or the FCT for commis sioning and parametrizing Note that control of the SFC DC via the RS232 does not comply with designated use Warning Injury to people and d...

Page 147: ...Transmissionspeed baud rate 9600 Baud Data format Asynchronous character frame 1 start bit 8 data bits no parity bit 1 stop bit Initializethe data transmission with the following com mand Command310D...

Page 148: ...itted instead of the usual reply Possible causes incorrect starting character separating character or empty character incorrect hex figure incorrect value type Please note Transmission of the command...

Page 149: ...B 3 1 Objects for device description Name Explanation Index Device type Classification of the device type 1000 Manufacturer device name Designation of the controller 1008 Manufacturer hardware version...

Page 150: ...lete EEPROM non volatile data storage Restore factory setting 20F1 Position Range Limit Limiting the positioning path stroke with a min and a max limit value 607B Home Offset Defines the project zero...

Page 151: ...itioning procedure 6083 Profile Deceleration Defining or reading the acceleration of the braking ramp for a positioning procedure 6084 B 3 5 Objects for controlling Please note The control parameters...

Page 152: ...n Display Read the current operating mode 6061 Digital Inputs Read the digital inputs as from bit 16 0 15 reserved 60FD Digital Outputs Read the digital outputs as from bit 16 0 15 reserved 60FE B 3 7...

Page 153: ...permitted for your SFC DC WRITE W Write commands W transfer a value in the specified format to the SFC DC As a reply write commands will be reflected exactly character by character from the controller...

Page 154: ...at depending on data type PS Checksum in 2 hexadecimal figures 2H CR End character Carriage Return 0D Value The transferred value 1 2 or 4 data bytes depends on the data type of the object to be read...

Page 155: ...they can be trans ferred Further information on converting can be found in appen dix B 6 All values are transferred in hexadecimal figures 1 character represents 4 bits it is known as a tetrad Tn The...

Page 156: ...Array UINT8 W 20F1 01 02 FCT Password Array V String RW 20FA 01 02 Local Password Var V String RW 20FB User Device Name Var V String RW 20FD LCD Parameter Array UINT8 RW 20FF 01 02 Communication Erro...

Page 157: ...tio Array UINT32 RW 6091 01 02 Feed Constant Array UINT32 RW 6092 01 02 Homing Method Var INT8 RW 6098 Homing Speeds Array UINT32 RW 6099 01 02 Position Control Parameter Set Array UINT16 RW 60FB 12 1...

Page 158: ...1008 Designation of drive Example SFC DC VC 3 E H2 IO Name Class IIII SS Type Acc manufacturer_ device_name VAR 1008 00 V STRING R Object 1009 Coding of hardware version Example V 01 00 Name Class II...

Page 159: ...lement Object 607A target_position Object 6081 profile_velocity Object 6083 profile_acceleration Object 6084 profile_deceleration Name Class IIII SS Type Acc position_number Array 1 2032 01 UINT8 RW 1...

Page 160: ...g mm mm s mm s2 0x02 Reserved 1 0x04 Reserved 1 Angle measuring units Degree e g degree degree s degree s2 0x08 Reserved 1 For rotational movements rev rev min rev min2 0x0F Reserved 1 Increments 1 C...

Page 161: ...r Pos set mode Target position Profile velocity Profile acceleration Profile deceleration 02 2032 03 1 The values are only saved in the position table with this command no movement is made Name Class...

Page 162: ...231 Increments s Subindex 04 Acceleration compare Profile Acceleration Object 6083 Value Default Unit 0 232 Increments s2 Subindex 04 Deceleration compare Profile Deceleration Object 6084 Value Defaul...

Page 163: ...is slide length of the SLTE Value Default 1 Unit 231 231 1 0 SLTE 50 presetting 1 SLTE 80 2 SLTE 100 3 SLTE 150 1 Value is automatically entered by selecting an axis type Object 20E2 Setting and readi...

Page 164: ...ease note All user specific settings will be lost if deleted except for cycle number The status after deletion corresponds to the standard factory setting The gear factor is set to the standard factor...

Page 165: ...er password Subindex 02 Entering the super password For resetting all passwords FCT password and local password for HMI Object 20FB Contact the Festo Service if you require the super password Object 2...

Page 166: ...s ASCII 7 bit Object 20FF Setting LCD parameters voltage contrast Please note The settings of the LCD parameters are lost when the EEPROM is deleted and the settings must be carried out again With an...

Page 167: ...re incorrect value type Name Class IIII SS Type Acc communication_ error Var 2FF0 00 UINT16 R Value Comment 0xFF In the case of a transmission fault the value 0xFF will be transferred instead of the r...

Page 168: ...served 0 0x0000 W Write delete the device fault Bit Fault 0 POSITION ERROR 1 MOTOR STOP 2 HOMING ERROR 3 OVERHEATING 4 LOAD POWER DOWN 5 I2t ERROR 6 HARDWARE ERROR 7 TARGET POSITION OUT OF LIMIT 8 Res...

Page 169: ...tary information B 27 Festo P BE SFC DC IO EN en 0801a Object 2FFF Display cycles traversed for diagnostic purposes Name Class IIII SS Type Acc cycle_number Var 2FFF 00 UINT32 R W 1 Value Default Unit...

Page 170: ...us modifications triggered via the Control Word must be read back via the Status Word Only when the requested status can be read in the Status Word may a further command be written via the Control Wor...

Page 171: ...ionstatus 0x0021 READY_TO_SWITCH_ON Status after initialization 0x0027 SWITCHED_ON OPERATION_ENABLE Power electronics and positioning are enabled 3 0x000F FAULT There is a fault 4 0x0010 VOLTAGE_DISAB...

Page 172: ...t 0xFE Demo Mode fixed sequence 0x01 Profile Position Mode position controller with positioning mode 0x03 Reserved 1 Profile Velocity Mode 0x04 Reserved 1 Torque Profile Mode 0x06 Homing Mode referenc...

Page 173: ...e Var 6062 00 INT32 R Value Unit 231 231 1 Increments Object 6064 Actual value of the position controller Name Class IIII SS Type Acc position_actual_ value Var 6064 00 UINT32 R Value Unit 0 232 1 Inc...

Page 174: ...value of the speed regulator Name Class IIII SS Type Acc Velocity_Demand_ Value Var 606B 00 INT32 R Value Unit 231 231 1 Increments s Object 606C Actual value of the speed regulator Name Class IIII SS...

Page 175: ...ent limitation also limits the maxi mum possible speed and that higher nominal speeds may not therefore be achieved Name Class IIII SS Type Acc max_current Var 6073 00 UINT16 RW Value Default Comment...

Page 176: ...I SS Type Acc target_position Var 607A 00 INT32 RW Value Unit 231 231 1 Increments Object 607B Limiting the permitted positioning range Plausibility rule Min Limit Max Limit Name Class IIII SS Type Ac...

Page 177: ...1 mm for SLTE 10 Increments Object 607E Change of direction with position specifications Name Class IIII SS Type Acc polarity Var 607E 00 UINT8 RW Value Function 0x00 Position value applies unmodifie...

Page 178: ...16 Z 2500 mm s2 897 969 Increments s2 Object 6084 Defining or reading the deceleration for a positioning procedure Name Class IIII SS Type Acc profile_ deceleration Var 6084 00 INT32 RW Value Default...

Page 179: ...alue default Comment 1 Cannot be set Object 6091 Reading the gear ratio motor revolutions power take off revolution Name Class IIII SS Type Acc gear_ratio Array 6091 01 UINT32 R 1 02 UINT32 R 1 1 Writ...

Page 180: ...nit 1 232 1 5000 m Subindex 02 Power take off revolution feed constant denominator Value default Comment 1 Cannot be set Object 6098 Homing method Defining or reading the referencing methods Name Clas...

Page 181: ...nce travel Name Class IIII SS Type Acc homing_speeds Array 6099 01 UINT32 RW 02 UINT32 RW Subindex 01 Speed for searching for the reference point REF Value Default Unit 1 17959 SLTE 10 1 23384 SLTE 16...

Page 182: ...NT16 R 1 15 UINT16 R 1 16 Reserved 17 UINT16 R 1 18 Reserved 19 Reserved 20 UINT16 R 1 1 Write only in service cases Caution The control parameters of the SFC DC are defined in predefined parameter se...

Page 183: ...cation of speed regulator path generator Value Default Unit 1 50 3 Subindex 20 Saving the current position when switching off Value Function 0x000F Save current position at power off in EEPROM 0x00F0...

Page 184: ...5 are reserved Object 60FE Image of the digital outputs in the upper bits Name Class IIII SS Type Acc digital_outputs Array 60FE 01 UINT32 R 02 UINT32 R Value Comment 0 232 1 From bit 16 onwards bits...

Page 185: ...I2t time has elapsed to protect the motor the current is automatically limited to the value set in Object 6075 motor_rated_current Value Default Unit 0 215 1 100 Z 2 s Controller cycles for SFC DC app...

Page 186: ...e default Festo AG Co KG Object 6505 Internet address of the manufacturer Name Class IIII SS Type Acc http_drive_ catalog_address Var 6505 00 V string R Value default www festo com Object 6510 Definin...

Page 187: ...re of the end stage Value Unit 40 85 C Subindex 32 Maximum temperature of the end stage Value Unit 80 C Subindex 40 Motor rated current Value Default Unit 0 232 1 336 SLTE 10 presetting 1440 SLTE 16 m...

Page 188: ...ntrolling the I O interface Value Function 0 1 0 I O interface OFF 1 I O interface ON default Subindex A0 Series number of the controller Format 0xTTMYYSSS Value Comment 8 bits 0x01 0x1F TT Day 4 bits...

Page 189: ...troller all parameters are always saved in increment specifications inc inc s inc s2 and not converted until they are written or read For the display conversion from the inter nal basis system into th...

Page 190: ...n drive here type SLTE 2 Specification in 2 natural numbers for counter or denominator of the fraction 3 For the SFC DC pulse quadruplication by digital interpolation Conversion factors UF 1 minch 25...

Page 191: ...v x inc rev Speed V inc s Positioning speed to target position m inc V m x UF m m s x inc m position Speed during reference travel Positioning speed to the axis zero point during reference inch inc V...

Page 192: ...B Supplementary information B 50 Festo P BE SFC DC IO EN en 0801a...

Page 193: ...Index C 1 Festo P BE SFC DC IO EN en 0801a Appendix C...

Page 194: ...C Index C 2 Festo P BE SFC DC IO EN en 0801a Contents C Index C 1...

Page 195: ...axis type 5 9 Axis zero point XIV 1 12 5 17 B Basic modules 1 9 Button function Menu selection 4 6 Overview 4 5 C Cable 3 5 Control 1 5 Motor 1 5 Power supply 1 5 Programming 1 5 Commissioning Possibi...

Page 196: ...nsions 2 3 D Demo mode 5 22 Device control 4 11 5 7 5 24 Diagnostic 4 8 Dimensions 2 3 Drive XIV 1 5 E Earth connection 3 9 Earth ground 3 9 Electric axis XIV EMC XIV EMERGENCY STOP 1 15 Encoder XIV 1...

Page 197: ...H HMI control 4 11 Homing mode 1 6 Homing param 4 14 I I O interface 3 4 Important user instructions X Increments 1 14 B 47 Inputs outputs 4 10 5 26 Maximum current 5 41 Signal level 5 41 L LED 6 4 M...

Page 198: ...s Axis type 5 9 Display 4 8 Reference run 5 9 Parametrizing 1 16 Measurement system 1 14 Password 4 16 5 42 Enter 4 16 Modify deactivate 4 17 Set up 4 16 Pictograms XI PLC XIV Position set XV 1 16 Car...

Page 199: ...y out 4 19 5 14 5 28 Parameters 5 9 Set parameters 4 14 Starting 5 15 Reference switch 3 4 3 16 Reference travel XV Referencing XV Reference point XV Reference switch XV 1 5 Referencing method XV Refe...

Page 200: ...tion XV 1 13 5 17 Negative XV Positive XV Starting positioning procedures 5 37 Stopping a reference run 5 36 Stopping positioning procedures 5 38 Switching on 5 34 System data Display 4 8 System param...

Page 201: ...C Index C 9 Festo P BE SFC DC IO EN en 0801a V Version XII W Wall fitting 2 4 Working area 1 12 Software end position XV Working stroke 1 13...

Page 202: ...C Index C 10 Festo P BE SFC DC IO EN en 0801a...

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