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B. Parametrizing in accordance with FHPP−FPC

B−11

Festo P.BE−SFC−LAC−CO−EN en 0708NH

Step 4

Write  record  number  1  with  target  position  0x1234
(decimal4660  increments):
PNU  404,  subindex  2    modify  parameter  value,  array,
double  word:  ReqID  8  (0x8)  with  value  0x00001234.

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

reserved

Subindex ReqID/ResID + PNU

Parameter value

Output
data

0x00

0x02

0x

81

0x

94

0x

00

0x

00

0x

12

0x

34

Input
data

0x00

0x02

0x

81

0x

94

0x

00

0x

00

0x

12

0x

34

Step 5

After receiving the input data with ResID 0x8 send output
data with ReqID = 0x0 and wait for input data with ResID =
0x0:

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

reserved

Subindex ReqID/ResID + PNU

Parameter value

Output
data

0x00

0x02

0x

0

1

0x94

0x00

0x00

0x12

0x34

Input
data

0x00

0x02

0x

0

1

0x94

0x00

0x00

0x12

0x34

Step 6

Write  record  number  1  with  speed  0x7743
(decimal  30531  increments/s):
PNU  406,  subindex  2    modify  parameter  value,  array,
double  word:  ReqID  8  (0x8)  with  value  0x00007743.

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

reserved

Subindex ReqID/ResID + PNU

Parameter value

Output
data

0x00

0x02

0x

81

0x

96

0x

00

0x

00

0x

77

0x

43

Input
data

0x00

0x02

0x

81

0x

96

0x

00

0x

00

0x

77

0x

43

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Summary of Contents for SFC-LAC CO Series

Page 1: ...Manual Motor controller Type SFC LAC CO CANopen Manual 540 656 en 0708NH 687 401 Motor controller SFC LAC...

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: ...Germany 2007 Internet http www festo com E Mail service_international festo com The reproduction distribution and utilization of this docu ment as well as the comunication of its contents to others wi...

Page 4: ...Contents and general instructions II Festo P BE SFC LAC CO EN en 0708NH...

Page 5: ...pecific terms and abbreviations XVIII 1 System summary 1 1 1 1 Overview 1 3 1 1 1 Components 1 3 1 1 2 Operating principle 1 5 1 1 3 Operational safety 1 7 1 2 Communication 1 10 1 2 1 Data exchange i...

Page 6: ...with field bus plugs adapters from Festo 3 19 3 7 5 Connection with other Sub D plugs IP20 3 23 3 8 Bus termination with terminating resistors 3 24 4 The control panel only type SFC LAC H2 4 1 4 1 Co...

Page 7: ...itions 5 17 5 2 8 Set tool load 5 18 5 2 9 Teach position records 5 19 5 2 10 Test run 5 21 5 3 Commissioning with FCT 5 22 5 3 1 Installing the FCT 5 23 5 3 2 Procedure 5 24 5 4 Commissioning on a CA...

Page 8: ...de Continuous nominal value specification Continuous mode 5 74 5 6 8 Standstill monitoring 5 76 5 7 Notes on operation 5 78 6 Diagnosis and fault display 6 1 6 1 Diagnosispossibilities 6 3 6 2 LED sta...

Page 9: ...enting the parameter entries B 20 B 2 4 Device data B 21 B 2 5 Diagnosis B 26 B 2 6 Processing data B 32 B 2 7 Position set table record list B 35 B 2 8 Project data B 47 B 2 9 Axis parameters for ele...

Page 10: ...Contents and general instructions VIII Festo P BE SFC LAC CO EN en 0708NH...

Page 11: ...s The SFC LAC and the connectable modules and cables may only be used as follows as designated only in industrial applications in faultless technical condition in orignial condition without modificati...

Page 12: ...be prevented by suitable measures such as protective screens and warning signs Warning Electric axes move with high force and at high speed Collisions can lead to serious injury to human beings and d...

Page 13: ...rvice Please consult your local Festo Service or write to the following e mail address if you have any technical problems service_international festo com Scope of delivery The SFC LAC is supplied with...

Page 14: ...de between 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 obse...

Page 15: ...tions 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 Fest...

Page 16: ...th brief description descriptions on CD ROM P BP SFC LAC Brief overview Important commissioning instructions and preliminary information Manuals Contents as described below Manual Motor controller SFC...

Page 17: ...ind the specifications on the version status as follows Hardware version and firmware version under Device data in the Festo Configuration Tool when there is active linkage to the SFC LAC Firmware ver...

Page 18: ...axis See also Fig 1 1 EMC Electromagnetic compatibility Festo Configuration Tool FCT Software with uniform project and data management for all supported device types The special requirements of a dev...

Page 19: ...of measuring reference system in section 1 3 Reference switch Built in sensor used for determining the reference position Must not be shifted in the case of linear module HME Reference travel homing m...

Page 20: ...t index and an 8 bit subindex PDO Process data object PDOs are generally transmitted event orientated cyclically or on demand A message can be received and evaluated simultaneously by all slaves The a...

Page 21: ...System summary 1 1 Festo P BE SFC LAC CO EN en 0708NH Chapter 1...

Page 22: ...1 1 Components 1 3 1 1 2 Operating principle 1 5 1 1 3 Operational safety 1 7 1 2 Communication 1 10 1 2 1 Data exchange in CANopen 1 10 1 2 2 Data profiles FHPP and DS402 1 11 1 2 3 Operating modes 1...

Page 23: ...AC CO EN en 0708NH 1 1 Overview 1 1 1 Components 1 Higher order controller 2 Software level Festo Configuration Tool FCT 3 Controller level SFC LAC 4 Drive level e g HME 1 2 3 4 Fig 1 1 Principle of a...

Page 24: ...gic and load voltage supply 24 48 V DC Voltage supply cable for supplying the SFC LAC with logic and load voltage see accessories appendix 3 2 Motor cable for connecting the linear module HME to the S...

Page 25: ...able input Uses desired position velocity and acceleration curves to calculate a force curve and from that a current curve which is then directly input fas the current setpoint value Enables motion fr...

Page 26: ...modified with the control panel or FCT software When the modifications have been saved they are transferred to the EEPROM EEPROM In the non volatile EEPROM lie the parameters which are loaded when the...

Page 27: ...ture of the power output stage in the SFC LAC the temperature of the linear motor and the temperature of the interface board in the HME Voltage monitoring Detection of faults in the logic voltage supp...

Page 28: ...to make sure that the axis always lies within the permitted positioning range Note also the following points Measure Reaction Cancelling the ENABLE signal at the controller interface The controller is...

Page 29: ...mounting position If the deceleration cannot be achieved an error will occur and the controller will be switched off The work load on the HME will continue to move due to inertia or it will fall if mo...

Page 30: ...ing the objects in the object directory of the individual stations The data exchange in CANopen is in the form of telegrams with which the work data is transmitted A distinction is made between Servic...

Page 31: ...Control is effected by way of the cyclic 8 byte control and status data see section 5 5 2 Status machine FHPP see appendix B 3 Parametrizing Parametrizing is carried out via a further 8 I O bytes Fest...

Page 32: ...vel teach start TxPDO1 RxPDO1 Parameter no PNU Subindex SI Parameter value Control status bytes Record no FHPP EDS 100 Festo Handling and Positioning Profile FHPP Parameter access Object Index Subinde...

Page 33: ...he field bus with the appropriate nominal values Profile torque mode Force control The drive exerts a certain force Interpolated position mode Continuous nominal value specification as per DS402 FHPP...

Page 34: ...rect mode In direct mode tasks are formulated directly in the output data of the master The following are possible Positioning mode Specifying position values Mode of the SFC LAC Profile position mode...

Page 35: ...nce point REF offset of the axis zero point The software end positions and the project zero point refer to the axis zero point Software end positions limit the permitted positioning range work stroke...

Page 36: ...e REF Reference point a Offset axis zero point AZ Axis zero point b c Offset software end positions PZ Project zero point d Offset project zero point LSE Lower software end position e Effective strok...

Page 37: ...ebraic sign All points and offsets have an algebraic sign Value Direction Positive values face from the basis point in the direction of the extended end position Negative values face from the basis po...

Page 38: ...not be moved Reference travel homing method Reference switch 1 2 REF AZ 1 The HME moves at search speed v_rp to the reference switch and reverses After leaving the switching range of the reference sw...

Page 39: ...ing switch homing method Homing method Fixed stop Negative fixed stop retracted end position near motor 1 2 REF AZ REF OffsetRef Positive fixed stop extended end position remote from motor 1 2 AZ REF...

Page 40: ...ioning set table Configuration of further record switching Parametrizing force control Parametrizing jog mode x x x x x x x x x x x x x x x x Commissioning Reference run homing Teaching positions Test...

Page 41: ...Fitting 2 1 Festo P BE SFC LAC CO EN en 0708NH Chapter 2...

Page 42: ...ing 2 2 Festo P BE SFC LAC CO EN en 0708NH Contents 2 Fitting 2 1 2 1 General instructions 2 3 2 2 Dimensions of the controller 2 3 2 3 Mounting the controller 2 4 2 4 Notes on mounting electric drive...

Page 43: ...upply Note Handle all modules and components with great care Note especially the following Screw connections must be fitted free of offset and mechanical tension Screws must be fitted accurately other...

Page 44: ...at rail so that there is sufficient space for heat dissipation above and below at least 40 mm Wall mounting You will require A mounting surface of approximately 180 x 320 mm 2 sets of central supports...

Page 45: ...web and the hat rail for rail 35x7 5 If possible use a part of the hat rail where there are no mounting screws If a screw needs to be connected under the SFC LAC e g Use an M6 screw as per ISO 7380ULF...

Page 46: ...y fall down and injure somebody Check whether external safety measures are necessary e g toothed latches or moveable bolts You can then prevent the working load sliding down suddenly if there is a pow...

Page 47: ...Installation 3 1 Festo P BE SFC LAC CO EN en 0708NH Chapter 3...

Page 48: ...on 3 10 3 5 Parametrizing interface 3 11 3 6 Control interface 3 13 3 7 Connecting the field bus 3 16 3 7 1 Field bus cable 3 16 3 7 2 Field bus baud rate and field bus length 3 17 3 7 3 Bus power sup...

Page 49: ...the electronic components Caution Incorrectly prepared cables may damage the electronic components and trigger off unexpected movements of the motor For connecting the electric components of the syste...

Page 50: ...or connecting to a PLC controller 2 Voltage supply Sub D 7W2 Plug Power connection with 2 high current contacts and 5 low current contacts separate load and logic voltage supply 3 Earth connection M4...

Page 51: ...2x5POL B Field bus adapter FBA 2 M12 5POL 2 Voltage supply Supply cable KPWR MC 1 SUB 15HC 2 5 5 10 max 10 m 4 Motor connection HME Motor cable KMTR LAC S50HC S50HC 2 5 5 10 max 10 m 5 Parametrizing...

Page 52: ...t and indirect contact is guaranteed in accordance with IEC DIN EN 60204 1 electrical equipment of machines general requirements Note Note that the tolerances of the voltage supply must also be observ...

Page 53: ...ved yellow Plughousing FE 3 Earthing strip with M4 cable lug Earth connection housing FE 3 1 Cable colours with power cable type KPWR MC 1 SUB 15HC 2 Not connected with cables of type KPWR MC 1 SUB 15...

Page 54: ...48 V DC 5 10 10 A 20 A Logic supply pins 1 2 Nominalcurrent Peak current Internal fuse 24 V DC 10 0 4 A 0 8 A 2 5 A very quick acting Tab 3 4 Power supply specifications 1 2 3 4 O1 5 O2 1 2 3 1 Conne...

Page 55: ...arth the SFC LAC use only one of the following terminals compare Tab 3 3 earth terminal on the housing of the SFC LAC or earthing strip with cable lug on the plug housing or at the other end of the po...

Page 56: ...ting the HME use only the cable specified in appendix A 2 Terminal on the SFC LAC Pin Description Function A1 L1 String 1 A2 L1 String 1 A3 L2 String 2 A4 GND Reference potential 0 V A5 L2 String 2 A6...

Page 57: ...cap from the parame trizing interface on the SFC LAC Connect the following terminals using the programming cable the socket on the SFC LAC a serial interface COMx of the PC M8 socket Description 1 2 4...

Page 58: ...ol software package Information on transmitting CI commands via the serial interface can be found in appendix B Note The parametrizing interface RS232 is not electrically isolated It is not suitable f...

Page 59: ...he control interface There is a 9 pin Sub D plug on the SFC LAC for connecting the field bus This connection serves for the incoming and con tinuing field bus cables Note Only field bus plugs of type...

Page 60: ...sing Connection to functional earth Clamping strap 1 Pin assignment on field bus plug type FBS SUB 9 BU 2x5POL B from Festo 2 Depending on parameterization CAN Voltage Supply see section 5 2 1 or CAN...

Page 61: ...n at pin 5 of the field bus interface is capacitively connected internally to the housing This prevents equalizing currents from flowing via the screening of the field bus cable see Fig 3 3 1 Capaciti...

Page 62: ...n branches too long or not terminated branch lines transmission over long distances unsuitable cables Observe the cable specifications For information on the cable type refer to the manual for your co...

Page 63: ...iled information in the manuals for your control system or bus interface or in CIA specification DS102 Note Refer to the manuals for your control system or bus interface in order to ascertain which T...

Page 64: ...Connect the screening shield With external voltage supply see Tab 3 7 Protect the voltage supply to the bus interface exter nally according to the number of stations on the bus Note Bus slaves have d...

Page 65: ...dapter FBA 2 M12 5POL you can connect the SFC LAC to the field bus in a user friendly manner You can disconnect the plug from the SFC LAC without interrupting the bus cable T Tap function 2 3 1 4 5 6...

Page 66: ...the Sub D plug This is to prevent equalizing currents flowing through the screening of the field bus cable Clamp the screening of the field bus cable under the clamp strap in the field bus plug The SL...

Page 67: ...e field bus Note Use protective caps or blanking plugs to seal unused connections M12 adapter Pin no 5 2 3 4 1 5 1 4 3 2 1 Screening shield 2 24 V DC bus 3 0 V bus 4 CAN_H 5 CAN_L Protective cap or pl...

Page 68: ...he maximum permitted current at the terminals is 4 A Use cables with a cross sectional area of min 0 34 mm2 Order this adapter together with the terminal strip type FBSD KL 2x5POL In this way you can...

Page 69: ...if Sub D plugs of other manufacturers are used only protection class IP20 will be fulfilled Note If both screws or bolts are dismantled simultaneously there is a danger that the plug with the interna...

Page 70: ...ing resistor in the Festo field bus plug for the bus termination 1 Protective cap 2 Resistor for bus termination 120 0 25 W V GND H L SLD V GND H L SLD V GND H L SLD 1 2 Fig 3 6 Bus termination with r...

Page 71: ...The control panel only type SFC LAC H2 4 1 Festo P BE SFC LAC CO EN en 0708NH Chapter 4...

Page 72: ...rol panel 4 4 4 2 The menu system 4 6 4 3 Diagnostic menu 4 8 4 4 Positioning menu 4 11 4 5 Menu Settings 4 13 4 5 1 Settings Axis type 4 14 4 5 2 Settings Axis parameter 4 14 4 5 3 Settings Homing pa...

Page 73: ...ommissioning via the parametrizing interface with the Festo Configuration Tool FCT Instructions on this can be found in section 5 3 2 Caution Simultaneous attempts to access the SFC LAC via FCT the co...

Page 74: ...referencing the drive entering positioning sets test functions e g for processing positioning records 1 LCD display 2 Operating buttons 3 LEDs Power green I F green red Error red Power Error I F 1 2...

Page 75: ...itioning procedure Error mode confirm with Enter then automatic return to the status display Only if HMI on Enter OK Confirms the current selection or entry Enter SAVE Saves parameter settings permane...

Page 76: ...the Festo logo then change to the status display The status display shows the following information the type designation of the SFC LAC the type of parametrized drive the position of the drive xa sti...

Page 77: ...nt p SW limit neg Software end position negative offset relative to the axis zero point SW limit pos Software end position positive offset relative to the axis zero point Tool load Tool load mass e g...

Page 78: ...uttons ESC With the Menu button you can return to the higher order menu Diagnostic Description Pos set table Nr Number of the position set a r e absolute a or relative r positioning e energy optimized...

Page 79: ...er Load voltage OK VDig Digital voltage logic voltage V I max Max string current A P_Pos Medium output at last positioning procedure W t_Pos Time taken by last positioning procedure s Cycle Number of...

Page 80: ...pre op Pre operational normal state after power on before the master transmits Start node operational State operational Start node operational transmitted by master normal operating state Baudrate Pre...

Page 81: ...hat there are no objects in its path Note Before starting the reference run make sure that the positioning system is set up and wired completely and is supplied with power the parameterizing is comple...

Page 82: ...tioning cycle continuous loop for testing all position sets in the position set table Parametrizing and referencing must have been completed There must be at least two position records in the memory T...

Page 83: ...method and the speed during reference travel 4 5 3 Position set Teach mode for programming the position record table 4 5 4 Jog mode Jog mode continuous manual procedure 4 5 5 CO parameter Setting the...

Page 84: ...meters Note the instructions in section 5 2 6 and 5 2 7 Axis parameter Description Zero point Offset axis zero point SW limit neg Software end position negative SW limit pos Software end position posi...

Page 85: ...escription Homing method switch negative Referencing to reference switch at the retracted end position with index search factory setting slock negative Referencing to negative fixed stop slock positiv...

Page 86: ...e relative Positioningmode absolute position specification refers to the project zero point relative position specification refers to the current position e energy optimized path generator Position xt...

Page 87: ...0 kBd Field bus baud rate as per settings on master CAN Profile DS402 FHPP Profile with which communication between the CAN master and the SFC LAC is handled DS402 Control takes place as per DS402 FHP...

Page 88: ...master password In this case please contact your Festo Service partner Setting up a password Select Password edit in the menu Settings Enter a password with 3 digits The current entry position is mark...

Page 89: ...d on Select Password edit in the menu Settings and enter the existing password with 3 digits 1 Use the arrow keys to select a digit 0 9 2 Confirm your entry with OK Enter The next entry position will...

Page 90: ...on The parameterisation interface has been activated Operation and parametrizing can be performed manually via the control panel or FCT The control interface has been deactivated The actual status of...

Page 91: ...Commissioning 5 1 Festo P BE SFC LAC CO EN en 0708NH Chapter 5...

Page 92: ...drive type 5 11 5 2 3 Setting the reference run parameters 5 11 5 2 4 Activating device control 5 13 5 2 5 Carrying out a reference run 5 14 5 2 6 Teaching the axis zero point 5 16 5 2 7 Teaching sof...

Page 93: ...es CCON CPOS CDIR 5 39 5 5 6 Description of the status bytes SCON SPOS SDIR RSB 5 42 5 5 7 Examples of control and status bytes FHPP standard 5 45 5 6 Drive functions 5 58 5 6 1 Reference travel 5 58...

Page 94: ...ile the system is still connected to a power supply For commissioning the mechanical layout must be configured type of drive and a dimensional reference system must be defined see also Tab 1 2 By mean...

Page 95: ...ation with a work load Observe the operating instructions for the HME 5 1 2 Check the power supply Caution Current tasks will be interrupted if there is insufficient load voltage supply LOAD POWER DOW...

Page 96: ...tion of the drive the controller attempts to con trol a different linear module Caution Unexpected movements of the HME due to incorrect parameterisation Make sure that there is no active ENABLE signa...

Page 97: ...In the following cases it is not permitted to use the FCT to access the SFC LAC for purposes of writing data e g downloading parameters or for control e g Move manually or starting a reference run Wh...

Page 98: ...terface then Reset 5 2 1 3 Set drive type 5 2 2 4 Set the parameters for the reference run Referencing method Search speed to reference point Positioning speed to axis zero point 5 2 3 5 Activate devi...

Page 99: ...CAN bus parameters at a later stage Select Settings CO parameter see also section 4 5 1 Select the desired CAN bus parameters with the arrow keys details see next page 2 Press Enter to display the cu...

Page 100: ...ng commissioning or exchange Data profile CAN Profile Possible data profiles FHPP Control and parametrizing of the SFC LAC is made as per the Festo Handling and Positioning Profile DS402 Control and p...

Page 101: ...5 2 2 Setting the drive type 1 Select your positioning drive e g size 16 stroke 100 mm HME_16_100 Enter 2 Save the setting with SAVE Enter 5 2 3 Setting the reference run parameters The reference poin...

Page 102: ...or via the object 6410 16h PNU 1055 Note Control inaccuracies If you do not enter the offset of the reference point control inaccuracies e g overshooting can occur with small 100 mm and large nominal...

Page 103: ...hed off or if there is a power failure 5 2 4 Activating device control Enable the control panel so that it can control the SFC LAC HMI on This deactivates at the same time the control interface of the...

Page 104: ...e system is still connected to a power supply Caution If the reference travel method is modified the offset of the axis zero point will be reset to the factory settings see section 5 2 6 Target positi...

Page 105: ...od before the drive reaches a fixed stop the SFC LAC will stop and an error will be displayed HOMING ERROR The reference run must be repeated after the error message has been acknowledged 1 Acknowledg...

Page 106: ...op when the reference point is recognized If necessary teach the axis zero point Warning The drive will move during the teaching procedure Make sure that nobody can reach into the positioning range of...

Page 107: ...can only be set via FCT or PNU 500 Objekt 21F4h 5 2 7 Teaching software end positions Factory settings depending on referencing method Reference travel homing method Factory settings mm Reference swi...

Page 108: ...will the settings be retained even when the power supply is switched off or if there is a power failure 5 2 8 Set tool load The weight of tools on the front panel of the HME e g a gripper must be ent...

Page 109: ...mode with the arrow keys absolute a absolute position specification related to the project zero point relative r relative position specification related to the current position energy optimized e hig...

Page 110: ...ng mode will then take effect in the drive 4 Set the speed Select Velocity Set the nominal speed with the arrow keys Accept the setting with OK Enter The setting will then take effect in the drive 5 T...

Page 111: ...be used In the positioning cycle Demo posit tab all position sets 1 31 in the position record table are executed one after the other If the position record table contains a position record with speed...

Page 112: ...ry descriptions and dialogues The PlugIns are managed and started from the framework Printed information In order to use the complete help or parts of it independently of a PC you can use one of the f...

Page 113: ...necessary consult Festo Note Administrator rights are required for installing the FCT The FCT is installed on your PC with an installation program 1 Close all programs 2 Place the Festo Configuration...

Page 114: ...missioning FCT framework Information on workiing with projects and on adding compo nents to a project can be found in the help for the FCT frame work with the command Help Contents FCT general PlugIn...

Page 115: ...ake sure that there is no active ENABLE signal on the control interface when switching on the SFC LAC Parametrize the entire system completely before activating the controller with ENABLE controller i...

Page 116: ...master The following standard specifications have been taken into account Standard specifications DS201 to DS207 CAN Application Layer CAL DS301 V4 02 The Draft Standard 301 is based on the CAL commun...

Page 117: ...ta profile See section 1 2 2 FHPP DS402 The communications profile is in both cases DS301 CAN voltage supply Supply to CAN interface see Tab 3 7 Internal voltage supply External voltage supply 1 May b...

Page 118: ...manuals for this software Obtainable from The accompanying CD contains EDS files for the SFC LAC in the CANopen folder You will find the latest EDS files on the Festo website at www festo com downloa...

Page 119: ...r 0 1 asynchronous transmission event triggered This parametrizing corresponds to the asynchronous trans mission which is standard with most masters Conversion to e g synchronous transmission is possi...

Page 120: ...s to the object Cycle number DS402 2FFFh Cycle number 2FFFh FHPP PNU 305d 131h 2000h 131h 2131h Fig 5 1 Parametrizing via SDO For parametrizing via the PDO2 FHPP FPC see appendix B 1 conversion is not...

Page 121: ...d no Reserved Reserved Direct mode CDIR Nominal value 1 Nominalvalue 2 Receive PDO2 FHPP FPC Function Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Parametrize Reserved Subindex Task identif...

Page 122: ...te 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Velocity 6081h Work item mass 20E0 06h 1 The velocity and work item mass are only accepted if the record number received via PDO1 is 0 for Direct record...

Page 123: ...ues position speed are thereby transferred Supplementary parameters e g acceleration are fixed via the parametrizing Tab 5 2 Overview of operating modes The operating mode is switched by the control b...

Page 124: ...tly in the output data of the master Positioning mode The typical application calculates dynamically the nominal target values for each task or just for some tasks Adaption to different work item size...

Page 125: ...es Record number or nominal position in the output data Return message of actual position and record number in the input data Further nominal and actual values depending on the operating mode I O data...

Page 126: ...limit Continu ous mode toggle Continu ous mode Control mode position force absolute relative reserved F edge sensitive Assignment of the control bytes overview SCON B7 OPM2 B6 OPM1 B5 HMI B4 24VL B3 F...

Page 127: ...ply message of record number 0 31 4 RSB Record status byte Bit 0 RC1 1st Record Chaining With further record switching 0 First further switching condition not configured not reached 1 First further re...

Page 128: ...5 5 2 CPOS 3 CDIR 4 Velocity In of the basic speed compare PNU 540 CI 21F8h 5 8 Position Force Position in increments or force in of rated force Input data Direct mode Byte Description 1 SCON Status...

Page 129: ...be deleted 0 Stop 1 active The axis stops with fast stop ramp Quick Stop or with the normal stop ramp compare PNU 1020 CI 605Dh The positioning task is reset B2 BRAKE Reserved must be at 0 B3 RESET R...

Page 130: ...e homing is started with the set parameters B3 JOGP Jog positive The drive moves at the specified speed in the direction of larger actual values providing the bit is set The movement begins with the r...

Page 131: ...ontrol mode 00 Positioningmode 01 Force control 10 Reserved B2 COM2 10 Reserved 11 Positioningmodeenergy optimized B3 CONT ContinuousMode Continuousnominalvalue specification 0 not active 1 active B4...

Page 132: ...Stop active 1 Mode enabled positioning possible B2 WARN Warning 0 Warning not applied 1 Warningapplied B3 FAULT Fault 0 No fault 1 There is a fault or reaction to fault active Fault number in diagnos...

Page 133: ...lt Note MC is first set after switching on status Drive blocked B3 TEACH Acknowledge Teach 0 Ready for teaching 1 Teaching carried out actual value is transferred B4 MOV Axis is moving 0 Speed of the...

Page 134: ...00 Positioningmode 01 Force control B2 COM2 01 Force control 10 Reserved 11 Positioningmodeenergy optimized B3 CONT ContinuousMode Continuousnominalvalue specification 0 not active 1 active B4 VLIM S...

Page 135: ...trol Step Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 0 1 device control Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAU...

Page 136: ...Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x x x SPOS x x x x x x x x 1 3 Enable drive Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 1 3...

Page 137: ...T HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x x x SPOS x x x x x x x x 2 3 Enable drive Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENAB...

Page 138: ...REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x x x SPOS x x x x x 0 x x 3 3 Quit fault Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 3 3 Quit fault...

Page 139: ...arning is shown with SCON B2 WARN Positioning can still be undertaken 3 3 Quit fault with positive edge at CCON B3 RESET Fault bit SCON B3 FAULT or SCON B2 WARN will be reset SPOS B2 MC will be set Dr...

Page 140: ...EF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1 4 3 Reference travel Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 4 3 Refer...

Page 141: ...runs Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 5 3 Order runs CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT B...

Page 142: ...number Byte 3 of the output data 0 Reference travel 1 31 Programmable positioning records 5 2 With CPOS B1 START Start task the preselected posi tioning task will be started The start is confirmed wit...

Page 143: ...yte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1 Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS CDIR 0 0 0 0 0 0 0 S SDI...

Page 144: ...ements in bytes 5 8 of the output word The nominal speed is transferred in in byte 3 0 no speed 100 max speed 6 2 With CPOS B1 START Start positioning task the preselected positioning task will be sta...

Page 145: ...1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1 Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT...

Page 146: ...3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS CDIR 0 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0 7 7 Conclude task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1...

Page 147: ...START The start is confirmed with SPOS B1 Acknowledge Start as long as CPOS B1 START is set 7 4 or 7 5 The relevant bits in the status will be set depending on whether the nominal value is reached or...

Page 148: ...is reached when there is an increase in the motor current at the same time as the drive shaft comes to a stand As the drive must not position continuously against the stop it must move at least 1 mm...

Page 149: ...bus Controller must be in status Operation enabled There must not be any command for jogging Tab 5 11 Parameters involved in reference travel Reference travel methods 1 hex dec Description 0Bh 11 Sear...

Page 150: ...ignals Jog left Jog right is set the drive starts to move slowly Due to the slow speed a position can be defined very accurately 2 If the signal remains set the speed will be increased until the confi...

Page 151: ...ameters involved see appendix B 2 8 Parametersinvolved Description FCT PNU CI Speed phase 2 2 x 531 20ED 21h Acceleration or deceleration 3 x 532 20EE 21h Duration phase 1 4 x 534 20E9 21h Start FHPP...

Page 152: ...y 2 The user must make sure that the desired parameter is selected For this the parameter Teach target and if applicable the correct record address must be entered Teach target PNU 520 is taught 1 spe...

Page 153: ...econd With the usual cycle times of the PLC field bus motor controller there will be inaccuracies of several millimetres even at a speed of only 100 mm s Overview of parameters involved see appendix B...

Page 154: ...ster Up till the start the controller replies with the number of the record last processed 2 With a rising edge at START CPOS B1 the controller accepts the record number and starts the positioning tas...

Page 155: ...POS B1 START N 1 5 1 Requirement Acknowledge Start 0 2 Rising edge at START causes the new record number N to be accepted and Acknowledge Start to be set 3 As soon as Acknowledge Start is recognized b...

Page 156: ...tual record number Input data N 1 N N 1 N 1 N 1 0 1 0 1 0 1 0 1 0 1 0 The axis moves SPOS B4 MC Halt CPOS B0 HALT 1 0 Start CPOS B1 START 1 0 Confirm Halt SPOS B0 HALT 1 2 1 Record is stopped with HAL...

Page 157: ...ACK Motion Complete SPOS B2 MC Actual record number Input data N 1 N N 1 N 1 N 1 0 1 0 1 0 1 0 1 0 1 0 The axis moves SPOS B4 MOV Halt CPOS B0 HALT N 1 1 0 Start CPOS B1 START Deleteremaining path CPO...

Page 158: ...x 401 20E0 01h Target position x 404 20E0 02h Speed x 406 20E0 03h Acceleration x 407 20E0 04h Deceleration x 408 20E0 0Ah Jerk when accelerating x 409 20E0 05h Mass of the effective load without too...

Page 159: ...0E0 09h Reply message FHPP PNU 400 2 Active positioning record Status byte 4 RSB B0 RC1 1 First further record switching carried out counts as carried out if after the first record with further switch...

Page 160: ...unknown during planning or change frequently several different work item positions A positioning profile formed by linking records can be implemented externally controlled by the master Sequence for...

Page 161: ...limited to the value in the parameter Speed limit Once this speed has been reached the bit Speed limit reached is set in the status byte SDIR When the nominal value has been reached taking into accou...

Page 162: ...ut data START CPOS B1 Acknowledge Start SPOS B1 Motion Complete SPOS B2 N 1 N N 1 1 0 1 0 1 0 1 0 N 2 Fig 5 7 Start the task The sequence of the remaining control and status bits as well as the functi...

Page 163: ...SPOS B2 0 Motion Complete SPOS B1 positive edge Acknowledge Start SPOS B4 1 Drive moves Requirement Device control by PLC field bus Controller must be in status Operation enabled 1 Further parameters...

Page 164: ...ation interval is generally greater than a position control cycle 350 s the controller interpo lates automatically the values between two specified position values With each specification interval the...

Page 165: ...values 570 20B6h Start FHPP CDIR B3 CONT 1 CPOS B1 START positive edge must remain set for as long as the nominalvalue specification is active CDIR B4 CONTT 0 1 Toggle bit CCON B1 STOP stops the nomi...

Page 166: ...l position window for a defined time due to external forces or other influences the bit SPOS B6 STILL will be set As soon as the drive is in the standstill position window again for the standstill mon...

Page 167: ...al position 1041 6064h Standstill position window 1042 2040h Standstill monitoring time 1043 2041h Start FHPP SPOS B2 positive edge Motion Complete Reply message FHPP SPOS B6 1 Drive has moved out of...

Page 168: ...gic voltage supply is switched on when the homing method is changed when the axis zero point is modified Note Make sure that homing is carried out when the SFC LAC is switched on each time there is a...

Page 169: ...he permitted operating conditions of the motors and drives used e g the permitted positioning speeds Note Damage to components Movement to the mechanical end positions is not permitted during operatio...

Page 170: ...and control functions can be blocked Recommendation Protect your settings against undesired modifications with a password FCT password protection 8 characters see SFC LAC PlugIn help HMI password pro...

Page 171: ...Diagnosis and fault display 6 1 Festo P BE SFC LAC CO EN en 0708NH Chapter 6...

Page 172: ...s and fault display 6 1 6 1 Diagnosispossibilities 6 3 6 2 LED status displays 6 5 6 3 Fault messages 6 7 6 4 Diagnostic memory 6 13 6 5 Diagnosis via CANopen 6 15 6 5 1 Node guarding reaction to bus...

Page 173: ...ar text Control panel of the SFC LAC only type H2 Section 6 3 in clear text FCT text field in the Device status window Help for PlugIn Diagnostic memory the last 16 fault messages FCT in the Diagnosis...

Page 174: ...ication via the field bus Detailed diagnosis On the spot diagnosis Section 4 3 Festo Configuration Tool With active device connection Display of the current position set target and actual positions as...

Page 175: ...nd load voltages applied green Logic voltage is applied Load voltage is not applied flashes There is no voltage out Tab 6 3 LED Power Fault display ERROR Status Fault The SFC LAC is not ready for oper...

Page 176: ...Connection error free ON OFF flashes once Warning Limit reached Several communication errors have occurred or the SFC LAC receives no reply master switched off or cable break ON OFF flashes twice Node...

Page 177: ...rning or an error message appears accordingly Messages Messages inform about operating states Message Cause Attention Motor moves Message before the start of a positioning movement After confirmation...

Page 178: ...es this can mean that no reproducible reference position can be determined Please do not move the reference switch Contact the Festo Service 0x0001 WARNING MOTOR COLD Temperature HME 10 C or increase...

Page 179: ...re the reference position has been lost Carry out a reference run PNU 205 0x0200 1 TARGET POSITION OUT OF LIMIT The specified target position is outside the permitted positioning range Check software...

Page 180: ...oad and work load correctly ascertain new control parameters see FCT help for control parametrizing re parametrize the drive and start the commuta tion point search again with new control para meters...

Page 181: ...aulty Contact the Festo Service PNU 205 0x0004 82 CAN COMMUNICATION ERROR CAN communication error Contact the Festo Service PNU 205 0x0002 83 i2t ERROR Current monitoring i2t Possible cause The drive...

Page 182: ...legrams received than could be processed stack fault PNU 207 0x0004 123 TX_QUEUE_OVERRUN Not all the CAN telegrams to be sent could be sent Bus load too high stack fault PNU 207 0x0008 CAN_CONTROLLER_...

Page 183: ...1 Current diagnostic message Subindex 2 Previous diagnostic message Subindex 16 Oldest diagnostic message 1 see appendix B 2 5 Tab 6 7 Diagnostic memory Structure Configuration of the diagnostic memo...

Page 184: ...ion of the controller it was ascertained that it is not permitted in the context of the other parameters Note Non permitted parameters are rejected by the parameter protocol and do not generate a faul...

Page 185: ...a CAN bus failure can be detected node guard ing must be activated default switched off In the case of actuators it is advisable to monitor the master for failure in order to provide an appropriate em...

Page 186: ...ing LAC Bit 3 5000 Hardware fault EEPROM Bit 5 5112 Load voltage monitoring Bit 2 5113 Logic voltage 15 V Bit 2 5300 Hardware error HME Bit 5 5441 Homing error Bit 5 6310 No homing performed prior to...

Page 187: ...meter channel offers the following possibilities of access to diagnostic information Diagnosis PNU Section Diagnostic memory PNU 200 204 compare appendix B 2 5 and 6 4 Fault PNU 205 PNU 207 PNU 208 co...

Page 188: ...6 Diagnosis and fault display 6 18 Festo P BE SFC LAC CO EN en 0708NH...

Page 189: ...Technical appendix A 1 Festo P BE SFC LAC CO EN en 0708NH Appendix A...

Page 190: ...A Technical appendix A 2 Festo P BE SFC LAC CO EN en 0708NH Contents A Technical appendix A 1 A 1 Technical specifications A 3 A 2 Accessories A 5 A 3 Converting the units of measurement A 6...

Page 191: ...perature 85 C restart only when temperature falls below 80 C Electromagnetic compatibility EMC 1 2 interference immunity and interference emission see conformity declaration www festo com Vibration as...

Page 192: ...interface specification RS232 38400 Baud see section 3 5 CANopen data Version Physical layer Data link layer as per ISO 11898 corresponding to DS102 as per CAN specification 2 0 CAN protocol as per DS...

Page 193: ...KDI MC M8 SUB 9 fix 2 5 Protective caps Type Comment 1 protective cap for the parametrizing interface ISK M8 10 items per bag Wall mounting Type Comment 2 sets of central supports 4 brackets MUP 18 2...

Page 194: ...epresenting measurements in the imperial system conversion is made within the FCT software inch inch s inch s2 inch s3 The distance between two index lines north or south pole of the magnetic displace...

Page 195: ...Parametrizing in accordance with FHPP FPC B 1 Festo P BE SFC LAC CO EN en 0708NH Appendix B...

Page 196: ...task reply processing B 8 B 1 4 Example of parametrizing via FPC PDO2 B 10 B 2 Parameters as per FHPP B 12 B 2 1 Parameter groups B 12 B 2 2 Overview of parameter numbers PNU B 13 B 2 3 Representing t...

Page 197: ...the parameter numbers see section 5 4 4 B 1 1 Structure Components Description Parameter identifier PKE Parameter identifier ParID Contains parameter number PNU identifies a parameter task or reply i...

Page 198: ...f the Festo Parameter Channel FPC Parameter identifier PKE The parameter identifier contains the task or reply identifier AK and the parameter number PNU PKE ParID Byte 3 Byte 4 Bit 15 14 13 12 11 10...

Page 199: ...ify parameter value array word 4 7 8 Modify parameter value array double word 5 7 9 reserved Request number of array elements 2 10 reserved 2 11 Modify parameter value byte 1 11 7 12 Modify parameter...

Page 200: ...umber of array elements transferred 7 Task cannot be carried out with fault number see following table 8 reserved No higher order for PKW interface 1 9 reserved Spontaneous message word 1 10 reserved...

Page 201: ...erved 7 0x07 reserved 8 0x08 reserved 9 0x09 Description data do not exist 10 0x10 reserved 11 0x0A No control sovereignty 12 0x0B reserved 13 0x0C Text not legible in cyclic exchange 14 0x0D reserved...

Page 202: ...sk placed by evaluating the reply identifier by evaluating the parameter number PNU if applicable by evaluating the subindex IND if applicable by evaluating the parameter value 5 The SFC LAC provides...

Page 203: ...n movement is to be made to this position the posii tioning command must not be given until the SFC LAC has completed and confirmed the modification of the position table Caution In order to be sure t...

Page 204: ...ord number 1 with absolute positioning PNU 401 subindex 2 modify parameter value array byte ReqID 12 0xC with value 0x00 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 reserved Subindex ReqID...

Page 205: ...g the input data with ResID 0x8 send output data with ReqID 0x0 and wait for input data with ResID 0x0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 reserved Subindex ReqID ResID PNU Paramet...

Page 206: ...rsion numbers identifier words etc Diagnostic memory 200 299 Memory for diagnostic events Fault numbers fault time incoming outgoingevent Processing data 300 399 Current nominal and actual values loca...

Page 207: ...h 2069h Manufacturer Firmware Version BCD 101 2065h 206Ah Version FHPP 102 2066h 2066h Version FCT PlugIn 104 2068h 1 2 206Bh Supported Drive Modes 112 2070h 6502h Controller Serial Number 114 2072h 1...

Page 208: ...ce Errors 208 20D0h 2FFBh Extended Device Errors 209 20D1h 2FFCh Device Warnings 215 20D7h 2FF2h Processing data B 2 6 PositionMonitoring 300 212Ch 1 3 2800h TorqueMonitoring 301 212Dh 1 3 2801h Local...

Page 209: ...y 406 2196h 1 32d 20EDh Record Acceleration 407 2197h 1 32d 20EEh Record Deceleration 408 2198h 1 32d 20EFh Record Jerk Acceleration 409 2199h 1 32d 20E7h Record Work Load 410 219Ah 1 32d 20E8h Record...

Page 210: ...2214h 20EE 21h Jog Mode Time Phase 1 534 2216h 20E9 21h Project data Direct mode positioning Direct Mode Base Velocity 540 221Ch 21F8h Direct Mode Acceleration 541 221Dh 20EE 22h Direct Mode Decelera...

Page 211: ...ffset Axis Zero Point 1010 23F2h 607Ch Homing Method 1011 23F3h 6098h Homing Velocity 1012 23F4h 1 2 6099h HomingRequired 1014 23F6h 23F6h Homing Max Torque Force 1015 23F7h 23F7h Axis data electric d...

Page 212: ...tion Window 1042 2412h 2040h Standstill Timeout 1043 2413h 2041h Axis data electric drives 1 supplementary parameters FollowingErrorWindow 1044 2414h 6065h Following Error Timeout 1045 2415h 6066h Com...

Page 213: ...Interface Temperature HME 1064 2428h 6410 35h Max Interface Temperature HME 1065 2429h 6410 36h Output Stage Temperature SFC LAC 1066 242Ah 6510 31h Output Stage Max Temperature SFC LAC 1067 242Bh 651...

Page 214: ...e fraction encoder increments motor revolution Encoder increments 1001 1 Value range 0 232 1 Default 500 Motor revolutions 1001 2 Fix 1 CI 608Fh 01h 02h uint32 rw 1 Name of the parameter 2 Parameter n...

Page 215: ...econdary version CI 2069h 00h uint16 r DS402 see object 1009h Manufacturer Firmware Version BCD PNU 101 uint16 r Description Firmware version specification in BCD binary coded decimals xxyy xx main ve...

Page 216: ...xx main version yy secondary version CI DS402 206Bh 01 02h uint16 r Compare CI objects 2067h and 2068h Supported Drive Modes PNU 112 uint32 r Description Supported controller operating modes Fix 69h...

Page 217: ...ith display CI DS402 20E3h 00h uint16 r Manufacturer Device Name PNU 120 1 30d char r Description Name of drive SFC LAC CO CI DS402 1008h 00h V string r User Device Name PNU 121 1 25d char rw Descript...

Page 218: ...and FCT ON 1 0x01 Control via controller interface ON default CI DS402 207Dh 00h uint8 rw HMI Parameter control panel parameters PNU 126 1 4 uint8 r Description Settings on the control panel only type...

Page 219: ...overwritten with the current user specific settings Fix 1 0x01 Save data Reset Device 127 3 0x10 Reset device EEPROM is not deleted status as after switch on off CI DS402 20F1h 01h 03h uint8 w Note A...

Page 220: ...Value Type of diagnostic event 0 0x00 No fault or fault message deleted 1 0x01 Incoming fault 2 0x02 Outgoing fault 3 0x03 reserved 4 0x04 Overrun time stamp Event 1 200 1 Active diagnostic event Eve...

Page 221: ...r PNU 204 1 4 uint8 r w Description Configuration of the diagnostic memory Fault Type 204 1 rw 1 0x01 Record incoming and outgoing faults default 2 0x02 Record only incoming faults outgoing fault faul...

Page 222: ...it 1 0x2 CAN COMMUNICATION ERROR Bit 2 0x4 ELGO SENSOR COMMUNICATION ERROR Bit 3 0x8 HARDWARE ERROR HME Bit 4 0x10 ERROR MOTOR HOT Bit 5 0x20 ERROR SFC LAC HOT Bit 6 0x40 DIGITAL POWER DOWN Bit 7 0x80...

Page 223: ...No Error 0x01 Error Counter Limit reached 0x02 Guarding Heartbeat Error 0x04 CAN bus off 0x10 Status STOP 0x20 Status pre operational 0x40 Status operational Baud Code 206 2 CAN bus baud rate Values 0...

Page 224: ...UEUE_OVERRUN Bit 3 0x8 TX_QUEUE_OVERRUN Bit 4 0x10 CAN_BUS_OFF Bit 5 0x20 CAN_CONTROLLER_QUEUE_OVERRUN CI DS402 2FFAh 00h uint16 rw Extended Device Errors PNU 208 uint16 rw Description Reading or dele...

Page 225: ...ve warning s Explanations of the fault messages can be found in the section 6 3 Diagnosis Writing Delete all warnings 0 0x0000 Reading Bit 0 INDEX WARNING Bit 1 WARNING MOTOR COLD Bit 2 WARNING MOTOR...

Page 226: ...iption Position Actual Value 1 Actual Value Actual position in increments Position Demand Value 2 Demand Value Nominal controller position in increments CI DS402 2800h 01h 02h r Torque Monitoring PNU...

Page 227: ...1 Bit 24 31 reserved 0 With DS402 controller Bit 2 Reference switch CI DS402 60FDh 00h uint32 r Local Digital Outputs PNU 304 1 2 uint32 r Description With FHPP controller Image of the digital outputs...

Page 228: ...2h int32 r FHPP Status Data PNU 320 1 2 Record r Description FHPP input data 8 bytes status data each 4 bytes consistent 1 uint32 FHPP status bytes 1 4 SCON SPOS 2 int32 FHPP status bytes 5 8 actual p...

Page 229: ...n for reading and writing is made via the subindex of the PNU 401 417 Position set record Sub index PNU 401 RCB1 PNU 402 RCB2 PNU 404 Target position PNU 405 Delay time PNU 417 0 00 Reference run homi...

Page 230: ...cyclic I O data Value range 0 34 0x00 0x22 Values 0 0x02 Homing position record 0 1 0x01 Position record 1 2 0x02 Position record 2 Position record 31 0x1F Position record 31 32 0x20 Jog mode 33 0x21...

Page 231: ...imized path generator 0x07 Target position is relative to last nominal value energy optimized path generator Record 0 401 1 Do not use reference travel Record 1 401 2 Record control byte 1 positioning...

Page 232: ...tching condition for record linking see section 5 6 5 Values 0x00 No further switching 0x01 Further switching Record 0 402 1 Do not use reference travel Record 1 402 2 Record control byte 2 positionin...

Page 233: ...iption Target positions of the positioning record table Default 0 Value range 231 231 1 0x80000000 0x7FFFFFFF Record 0 404 1 Do not use reference travel Record 1 404 2 Position record 1 Record 404 Pos...

Page 234: ...5 Waiting time after positioning record 2 30 Record 31 405 32 Waiting time after positioning record 31 CI 20E4h 01h 20h int32 rw Note Object 20E0h 08h is intended for access via DS402 Record Velocity...

Page 235: ...operation the value is ignored Value range 0x400 0x03A98000 Default 0x006D6000 Record 0 407 1 Do not use reference travel Record 407 Nominal acceleration value positioning record 1 30 Record 31 407 3...

Page 236: ...h power operation the value is ignored Value range and default see PNU 407 Record 0 408 1 Do not use reference travel Record 408 Nominal deceleration value positioning record 1 30 Record 31 408 32 20h...

Page 237: ...inc s3 Z 1 5000 m s3 Default 0x2710000 inc s3 Z 400 m s3 calculation is made with 1 10 of the value Record 0 409 1 Do not use reference travel Record 409 Jerk with positioning record 1 30 Record 31 40...

Page 238: ...25 0 25000 g Note The mass of a tool fastened to the front of the HME which remains the same with all positioning records is entered in object 6510 51h Record 0 410 1 Do not use reference travel Recor...

Page 239: ...d 1 30 Record 31 415 32 20h Adjustment time for positioning record 31 CI 20E6h 01h 20h uint16 rw Subindex 20E6 22h PNU 1023 adjustment time with positioning in direct mode Note Object 20E0h 07h is int...

Page 240: ...n braking in increments s3 Values see PNU 409 Record 0 417 1 Do not use reference travel Record 417 Jerk when braking with positioning record 1 30 Record 31 417 32 20h Jerk when braking with positioni...

Page 241: ...re PNU 401 and 404 Value range 231 231 1 Default 0 CI DS402 21F4h 00h int32 rw Software End Positions PNU 501 1 2 int32 rw Description Software end positions in increments An entry of 0 for both end p...

Page 242: ...permitted speed in inc s Fix 0x2EE000 CI DS402 607Fh 00h uint32 r Max Acceleration PNU 503 uint32 r Description Max permitted acceleration deceleration in inc s2 Fix 0x03A98000 CI DS402 60C5h 00h uin...

Page 243: ...perform anuncontrolledmovement Thisparameteristakenintoaccountinallcontrolmo desinwhichthepositioncontrollerisnotactiveinthestatus Operationenabled Monitoringcan be deactivated when bit RCB1 B5 is set...

Page 244: ...rw Description The parameter defined is the one which is written with the actual position with the next Teach command see section 5 6 3 Values 1 0x01 Target position in positioning record default with...

Page 245: ...l in inc s Value range 0 0x002EE000 Default 0xC800 Z 50 mm s CI 20EDh 21h uint32 rw Jog Mode Acceleration Deceleration PNU 532 uint32 rw Description Acceleration and deceleration in inc s2 Values see...

Page 246: ...ach the final setpoint speed Value range 0 0x002EE000 Inc s Default 102400 Inc s CI 21F8h 00h uint32 rw Direct Mode Acceleration PNU 541 uint32 rw Description Acceleration in direct mode in inc s2 Val...

Page 247: ...he mass of a tool fastened to the front of the HME which remains the same with all positioning records is entered in object 6510 51h CI 20E8h 22h uint32 rw Direct Mode Jerk Deceleration PNU 547 uint32...

Page 248: ...36 Value range 0 65535 Default 100 CI DS402 60F6h 03h uint16 rw Force Damping Time PNU 553 uint16 rw Description If the actual force has been in the target window this amount of time the Motion Comple...

Page 249: ...LAC CO EN en 0708NH Direct mode FHPP continuous mode Interpolation Time PNU 570 uint16 rw Description Time gap between two position specifications in FHPP continuous mode in 1 10 ms Value range 0 6553...

Page 250: ...00h uint8 r Encoder Resolution PNU 1001 1 2 uint32 r Description Measurement resolution Number of increments between two index pulses Corresponds to 6410 12h Encoder Increments 1001 1 Fix 2048 MotorR...

Page 251: ...1003 1 Fix 2000 m Shaft Revolutions 1003 2 Fix 1 CI DS402 6092h 01h 02h uint32 r Position Factor PNU 1004 1 2 uint32 r Description Read the conversion factor number of sensor increments per 1 measured...

Page 252: ...iption Axis parameter Axis Length 1005 1 uint32 Axis length in increments Value range 0 231 1 1005 2 reserved 1005 3 reserved Axis Type 1005 4 int32 0 HME16 100 1 HME16 200 2 HME16 320 3 HME25 100 4 H...

Page 253: ...arry out the reference run Values Function 11 0x0B Search for reference switch in negative direction with index search 18 0xEE Search for stop in positive direction 17 0xEF Search for stop in negative...

Page 254: ...0h uint8 r Homing Max Torque Force PNU 1015 uint8 rw Description Maximum force during homing Value range 10 100 CI DS402 23F7h 00h uint8 rw Controller parameters Quick Stop Option Code PNU 1019 uint16...

Page 255: ...ill be regarded as being within the target window The width of the window is twice the value transferred with the target position in the centre of the window Value range 0 Stroke Default 102 Inc CI DS...

Page 256: ...140 HME 25 320 130 HME 25 400 130 PositionController damping 1024 19d CI 13h damping Position controller damping Value range 100 5000 Factory setting HME 16 100 1100 HME 25 100 1100 HME 16 200 1200 HM...

Page 257: ...e SFC LAC in C Range 20 120 C Output Stage Max Temperature 1026 2 CI 02h r Max Temperature Highest temperature measured to date for the SFC LAC in C Saved in EEPROM Max Current 1026 4 CI 04h rw Curren...

Page 258: ...NU 1025 4 CI DS402 6410h 04h uint32 r Max Phase Current PNU 1028 uint32 rw Description Max string current Value range 0 20000 mA Default 15000 mA CI DS402 6410h 05h uint32 rw Quick Stop Deceleration P...

Page 259: ...e rated current compare PNU 1035 Note that the current limitation also limits the maximum possible speed or force and that higher nominal speeds may not therefore be reached or the drive stops Value r...

Page 260: ...ements Value range 231 231 1 CI DS402 6064h 00h int32 r Standstill Position Window PNU 1042 uint32 rw Description Standstill position window in increments Amount by which the drive may move after MC u...

Page 261: ...S402 6065h 00h uint32 rw Following Error Timeout PNU 1045 uint16 rw Description Time during which a drag error larger than that defined in PNU 1044 may remain before a drag error is registered Value r...

Page 262: ...nal Power PNU 1053 uint32 r Description Rated output of the HME in W CI DS402 6410h 14h uint32 r Actual Power PNU 1054 uint32 r Description Actual power of the HME in W CI DS402 6410h 15h uint32 r Off...

Page 263: ...t in commutation POSITION PLAUSIBILITY ERROR 0xFF Fault in commutation COMMUTATION POINT ERROR CI DS402 2050h 00h uint8 r Record Power Consumption PNU 1057 uint32 r Description Power consumption with...

Page 264: ...C CI DS402 6410h 32h int16 r Lower Coil Temperature Threshold PNU 1062 uint16 r Description Lower temperature threshold of the coils motor 70 C A warning message is triggered when this temperature is...

Page 265: ...20 120 C CI DS402 6410h 36h int16 r Output Stage Temperature SFC LAC PNU 1066 int16 r Description Temperature of the output stage of the SFC LAC Range 20 120 C CI DS402 6510h 31h int16 r Output Stage...

Page 266: ...Description Tool load e g a gripper on front panel of the HME Value range HME 16 0 10000 g HME 25 0 25000 g CI DS402 6510h 51h uint32 rw Start Delay Commutation PNU 1072 uint32 rw Description Waiting...

Page 267: ...pplies globally for all sub states SAx i e T4 T5 and T6 are derived from each SAx sub status Each Tx transition automatically has higher priority than a TAx transition Such a structure is a simplifica...

Page 268: ...ns T4 T6 and T7 affect all sub states and always have higher priorities than the TA transitions Switched off S1 Controller switched on S3 Drive enabled S2 Drive blocked SA1 Operation enabled SA5 Jog l...

Page 269: ...ched on A fault cannot be ascertained T2 Load voltage applied Field bus master must be higher order controller Enable drive 1 CCON xxxx xxx1 T3 Stop 1 1 CCON xxxx xx11 T4 Stop 1 0 CCON xxxx xx01 T5 En...

Page 270: ...finished The next record is not to be processed automatically Stop status does not matter CPOS 0xxx xxxx TA3 Motion Complete 0 Stop 1 0 CCON 000x xx11 CPOS xxxx xxxN TA4 Start positioning task 0 1 St...

Page 271: ...1 or Stop 1 0 CCON 000x xx11 CPOS xxxx xxxN TA11 Jog negative 0 1 Stop 1 CCON 000x xx11 CPOS 00xP xxx1 TA12 Either Jog positive 0 1 CCON 000x xx11 CPOS xxx0 xxx1 or Stop 1 0 CCON 000x xx11 CPOS xxxx x...

Page 272: ...B Parametrizing in accordance with FHPP FPC B 78 Festo P BE SFC LAC CO EN en 0708NH...

Page 273: ...Object directory DS204 and CI C 1 Festo P BE SFC LAC CO EN en 0708NH Appendix C...

Page 274: ...C 1 Object directory DS402 and CI C 3 C 2 Object descriptions C 11 C 2 1 Communication profile area C 12 C 2 2 Manufacturer specific profile area C 20 C 2 3 Standardized device profile area C 26 C 3 S...

Page 275: ...Object DS CI FHPP Section Index Sub 402 PNU Group 1xxx Communication profile area Device Type 1000h x x C 2 Error Register 1001h x C 2 Pre defined Error Field 1003h 1 n x C 2 COB ID Sync Message 1005h...

Page 276: ...ion Status 2050h x x 1056 B 2 10 Start Delay Commutation 2051h x x 1072 B 2 10 Version FHPP 2066h x x 102 B 2 4 Version FCT PlugIn Min 2067h x C 2 Version FCT PlugIn Opt 2068h x C 2 Manufacturer Hardw...

Page 277: ...22h x x 1023 B 2 9 Record Jerk Acceleration 20E7h 1 20h x x 409 B 2 7 Direct Mode Jerk Acceleration 22h x 543 B 2 8 Record Work Load 20E8h 1 20h x x 410 B 2 7 Direct Mode Work Load 22h x 544 B 2 8 Jo...

Page 278: ...0h x 417 B 2 7 Direct Mode Jerk Deceleration 22h x 547 B 2 8 Project Zero Point 21F4h x x 500 B 2 8 Direct Mode Base Velocity 21F8h x 540 B 2 8 Teach Target 21FCh x x 520 B 2 8 HomingRequired 23F6h x...

Page 279: ...30 C 2 Status Word 6041h x x 331 C 2 Quick Stop Option Code 605Ah x x 1019 B 2 9 Halt Option Code 605Dh x x 1020 B 2 9 Fault Reaction Option Code 605Eh x x 1021 B 2 9 Operation Mode 6060h x x 332 C 2...

Page 280: ...2 9 Max Velocity 607Fh x x 502 B 2 8 Profile Velocity 6081h x x C 2 Profile Acceleration 6083h x x C 2 Profile Deceleration 6084h x x C 2 Quick Stop Deceleration 6085h x x 1029 B 2 9 Motion Profile Ty...

Page 281: ...rce 5 x x 511 B 2 8 Position Control Parameter Set 60FBh 12h 16h x x 1024 B 2 9 Local Digital Inputs 60FDh x x 303 B 2 6 Local Digital Outputs 60FEh 1 2 x x 304 B 2 6 Motor Type 6402h x x 1030 B 2 9 M...

Page 282: ...10 Max Interface Temperature 36h x x 1065 B 2 10 Supported Drive Modes 6502h x x 112 B 2 4 Festo Order Number 6503h x x 124 B 2 4 Drive Manufacturer 6504h x x 122 B 2 4 HTTP Drive Catalog Address 6505...

Page 283: ...ult 00000000 status upon delivery and after resetting Super Password 20FAh 02h V string Entering the super password Resets all passwords FCT password and HMI password object 20FB Contact Festo Service...

Page 284: ...x0042 Type code for servo drive FHPP 0 0x0000 not used Error Register DS402 1001h Var uint8 r Description Internal errors are stored in the error register The error register is part of the emergency o...

Page 285: ...red error The error numbers comprise 16 bits of error code lower 2 bytes LSB see section 6 5 2 error code in Tab 6 10 and 16 bits of additional information upper 2 bytes 0 Standard Error Field 02h FEh...

Page 286: ...tiplied by the Life time factor object 100Dh Default 0 monitoring switched off Value range 0 32767 0x0000 0x7FFF Life Time Factor monitoring time factor DS402 100Dh Var uint8 rw Description Multiplica...

Page 287: ...8h 01h 04h Record uint32 r Description Device identification Vendor ID 01h Manufacturer identifier for Festo Fix 29 0x1D Product Code 02h Product code for the Festo Configurator RevisionNumber 03h Fir...

Page 288: ...0h PDO2 Object 1401h COB ID for PDO 1400h 1401h 01h uint32 COB ID used by the PDO PDO1 Default 0x200 Node ID PDO2 Default 0x300 Node ID TransmissionType 1400h 1401h 02h uint8 Transmissiontype Default...

Page 289: ...DS402 01h Fix 0x30000008 Fix 0x60400010 02h Fix 0x30010008 Fix 0x20320108 03h Fix 0x30020008 Fix 0x60600008 04h Fix 0x30030008 Fix 0x607A0020 05h Fix 0x30040020 Receive PDO2 Mapping Parameter DS402 16...

Page 290: ...DO 1800h 1801h 01h uint32 COB ID used by the PDO PDO1 Default 0x180 Node ID PDO2 Default 0x280 Node ID TransmissionType 1800h 1801h 02h uint8 Transmissiontype Default 255 0xFF Event triggered asynchro...

Page 291: ...0008 Fix 0x60410010 02h Fix 0x30210008 Fix 0x20320108 03h Fix 0x30220008 Fix 0x60610008 04h Fix 0x30230008 Fix 0x60640020 05h Fix 0x30240020 Transmit PDO2 Mapping Parameter DS402 1A01h 01h 04h Record...

Page 292: ...the individual objects Object 607Ah Target position Object 6081h Profile velocity Object 6083h Profile acceleration Object 2084h Profile deceleration Record Number 2032h 01h uint8 Read or write record...

Page 293: ...panel settings DS402 CI 20D0h 01h 02h Array uint8 r Description Dimensions and decimal positions on control panel Compare CI object 20FFh PNU 126 MeasuringUnit 01h Definition of unit of measurement T...

Page 294: ...l Word RCW 20E0h 01h uint16 rw Word RCW record control word Bit 0 0 absolute position specification 1 relative position specification Bit 1 2 00 standard path generator 11 energy optimized path genera...

Page 295: ...us word Values 1 60000 ms Delay 20E0h 08h int32 rw Only with FHPP with further record switching record linking Time between Motion Complete of a record with further record switching and the start of t...

Page 296: ...tomatically Values 0x00 deactivated default 0x01 activated FCT Password CI 20FAh 01h 02h Array V string rw w Description Managing the passwords FCT Password 01h rw Password for the FCT software Value...

Page 297: ...Nbus Address CI 2FF3h 00h Var uint8 rw Description Field bus address of the SFC LAC Values 0 127 0x00 0x7F Default 255 0xFF invalid address CANbus Data Rate CANbus transmission rate CI 2FF5h 00h Var u...

Page 298: ...eatures must be observed compared with access via the field bus interface Reset fault bit 7 as per DS402 processing with positive edge but via CI the level will be evaluated START bit bit 4 with refer...

Page 299: ...1 energy optimized Note Onlyavailable for control via the feld bus not via CI 15 0x8000 In direct mode 0 configured values for acceleration and deceleration 1 symmetrical ramp deceleration accelerati...

Page 300: ...ment see Tab C 4 Note for access via the CI interface If this object is accessed via the CI interface the following special features must be observed compared with access via the field bus interface B...

Page 301: ...active xxxx xxxx x0xx 1111 Fault reaction active 6 0x0040 Switch on disabled xxxx xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000 Fault 7 0x0080 Warning 8 0x0100 The drive moves as FHPP SPOS...

Page 302: ...6061h 00h Var int8 r Description Reading the operating mode of the controller Values see object 6060h Position Window Time damping time DS402 CI 6068h 00h Var int8 r Description Damping time of the r...

Page 303: ...0h Var int32 rw Description Defining or reading a target position in increments This position will be saved in the position table in the column intended in the line addressed by object 2032 No movemen...

Page 304: ...C0h 00h Var int16 rw Description Fix 2 Interpolation manufacturer specific Interpolation Data DS402 CI 60C1h 01h 02h Record rw Description Interpolation data record Demand Position 01h int32 Nominal p...

Page 305: ...I 60C4h 01h 06h Record Description Max Buffer Size 01h uint32 r Maximum buffer size Fix 0 no buffer used Actual Buffer Size 02h uint32 rw Actual buffer size Fix 0 Buffer Organisation 03h uint8 rw Orga...

Page 306: ...ral data of the SFC LAC Max Current 41h uint16 rw Identical to 6073h PNU 1034 Device Control 43h uint16 rw Identical to PNU 125 207Dh and PNU 1026 06 Controller Serial Number A0h uint32 r Number Seria...

Page 307: ...switched off A start switched off H fault reaction active B not ready to switch on C switch on disabled switch on lock D ready to switch on E switched on F operation enable ready to operate Fault pow...

Page 308: ...self tests requiring no movement of the axis are carried out By way of field bus and or CI communication controller parameters program records etc can be modified see also status E E Switchedon This...

Page 309: ...tage 1 Switch on 1 Note In DS402 the same status transition also for Enable Operation 1 rest the same This combination is also provided for transitions 4 and 16 however there is a conflict in 4 So thi...

Page 310: ...ause of the fault must be eliminated e g overheating temperature reduced to permissible level The emergency stop reaction is completed A positive edge comes from the field bus on Fault Reset 15 Fault...

Page 311: ...tory The total of all parametrizing and control possibilities is referred to as the object directory A unique number index subindex is assigned to each object which has access to the object Access pro...

Page 312: ...nsmission e g via the control program of the host You should use the control panel or the FCT for commis sioning and parametrization Note that control of the SFC LAC via the RS232 does not comply with...

Page 313: ...0 Baud Data format Asynchronous character frame 1 start bit 8 data bits no parity bit 1 stop bit Tab C 7 Specifications of the transmission protocol 3 You can use the following command to initialise d...

Page 314: ...not be accepted Values outside the permitted value range will be limited to the nearest valid value Recommendation Check that values and parameters have been written correctly by downloading the curre...

Page 315: ...nsfer a value in the specified format to the SFC LAC As a response write commands will be reflected exactly character by character from the SFC LAC A checksum PS will be inserted in front of the CR RE...

Page 316: ...m in 2 hexadecimal digits 2H CR End character Carriage Return 0D Tab C 9 Syntax of a CI command reply Value The transferred value 1 2 or 4 data bytes as hex number depends on the data type of the obje...

Page 317: ...s via the serial interface takes place in increments and requires conver sion All parameters are always saved in increments in the controller and are not converted into the relevant measuring system u...

Page 318: ...on The sum of all bytes sent shortened to 1 byte modulo 256 W asc char IIIISS Value modulo 256 R asc char IIIISS modulo 256 Format 2 hexadecimal digits UINT8 Syntax W IIIISS Value PS CR R IIIISS PS CR...

Page 319: ...Index D 1 Festo P BE SFC LAC CO EN en 0708NH Appendix D...

Page 320: ...D Index D 2 Festo P BE SFC LAC CO EN en 0708NH Contents D Index D 1...

Page 321: ...y 2 6 Hat rail mounting 2 5 Wall mounting 2 4 Axis zero point 5 16 B 59 Default values 5 16 B BCD XVIII Bus termination 3 24 Button function Overview 4 5 C Cable 3 5 Field bus 3 16 CAN baud rate 5 10...

Page 322: ...3 16 Connection 3 4 5 5 Continuous nominal value specification 5 74 Control 3 13 Control interface 3 4 Control panel 4 4 Accessing the main menu 4 6 Button functions 4 5 Menu system 4 6 4 7 Controller...

Page 323: ...tion 3 4 3 9 Earthing 3 9 EDS file XVIII 5 28 EMC XVI Energy optimized B 37 Error treatment 5 48 ESD 3 5 F Fault Description 6 9 Fault messages Description 6 7 Fault numbers 6 14 B 6 FCT XVI Festo Con...

Page 324: ...FLASH memory 1 6 Force control 5 34 5 55 5 70 B 49 Function principle 1 5 H Hat rail mounting 2 5 HMI XVI Homing mode 1 13 Homing param 4 15 I I O data Cyclic 5 35 Important user instructions XII Incr...

Page 325: ...16 Measuring units 1 17 Conversion A 6 Memory types EEPROM 1 6 FLASH memory 1 6 RAM 1 6 Menu system 4 6 4 7 MMI XVI Motor connection 3 4 MSB XVIII O Object directory XVIII C 39 Operating mode Direct...

Page 326: ...interface 3 11 Password 5 80 Enter 4 18 Modify deactivate 4 19 Setup 4 18 Password protection 5 80 Path generator energy optimized B 37 PDO XVIII 5 30 Pictograms XIII PLC XVII Position absolute 5 19 5...

Page 327: ...ethod 5 11 Fixed stop 1 19 Reference switch 1 18 Relative 5 19 5 44 Reply identifier AK B 4 B 6 S Safety instructions X Scope of delivery XI Screw terminal adapter 3 22 SDO XVIII Serial interface 3 11...

Page 328: ...k identifier AK B 4 B 5 Teach XVII Teach mode 4 14 4 16 5 16 Teaching via the field bus 5 62 Technical specifications A 3 Terminating resistor XVIII 3 24 Text markings XIII Tool load definition XVII T...

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