Festo HSP AE Series Manual Download

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Manual

Type HSP−

−AE−IO−

Manual

541  946
en  0510NH
[691  172]

Handling module

HSP−...−AE

Summary of Contents for HSP AE Series

Page 1: ...Manual Type HSP Ū AE IO Ū Manual 541 946 en 0510NH 691 172 Handling module HSP AE ...

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: ...Republic of Germany 2005 Internet http www festo com E Mail service_international festo com The reproduction distribution and utilization of this document as well as the communicaton of its contents to others without express authorization is prohibited Offenders will be held liable for the payment of damages All rights reserved in the event of the grant of a patent utility module or design ...

Page 4: ...Contents and general instructions II Festo P BE HSP AE IO EN en 0510NH ...

Page 5: ... 3 1 1 1 Design and components 1 4 1 1 2 Method of operation 1 7 1 2 Operating elements on the motor unit 1 15 1 3 Festo Configuration Tool FCT 1 16 2 Fitting 2 1 2 1 Instructions on fitting 2 3 2 2 Fitting the handling module 2 4 2 2 1 Fastening options 2 4 2 3 Attachment components 2 7 2 4 Fitting the motor unit 2 9 2 4 1 Turning the motor unit only type HSP GE 2 10 2 4 2 Swivelling the motor un...

Page 6: ...the control panel 4 4 4 2 The menu system 4 6 4 2 1 Accessing the main menu 4 6 4 2 2 Selecting a menu command 4 6 4 3 Diagnostic menu 4 8 4 4 Positioning menu 4 10 4 4 1 Positioning Move positioning set 4 11 4 4 2 Positioning Homing 4 12 4 5 Menu Settings 4 13 4 5 1 Settings HSP setup HSP mode 4 14 4 5 2 Settings HSP setup Positioning set 4 15 4 5 3 Settings HSP setup Count direction 4 17 4 5 4 S...

Page 7: ...ng new positioning sets intermediate positions 5 27 5 5 3 Adapting existing positioning sets 5 28 5 5 4 Processing individual positioning sets test run 5 29 5 5 5 Delete positioning sets 5 30 5 6 Communication with the higher order controller 5 31 5 6 1 I O function check 5 31 5 6 2 Description of the I Os 5 32 5 6 3 Description of function pulse time diagram 5 36 6 Operation and maintenance 6 1 6...

Page 8: ...r attachment to the base plate A 8 A 3 Characteristic curves A 9 A 3 1 Setting the speed via the positioning time A 9 A 3 2 Setting the insert torque A 10 A 3 3 Positioning time t as a factor of the work load m A 11 A 4 Accessories A 12 A 4 1 Accessories for tha handling module A 12 A 4 2 Cable for connecting the motor unit A 12 A 4 3 User documentation A 13 B Index B 1 ...

Page 9: ...t ing instructions for the electric components used Please observe the standards specified in the relevant chapters and comply with technical regulations as well as with national and local regulations The handling module and the modules and cables which can be connected are only to be used as follows in accordance with designated use only in industrial applications without any modifications by the...

Page 10: ...ic axes can move suddenly with high force and at high speed Collisions can lead to serious injury to human beings and damage to components Make sure that nobody can gain access to the operating range of the axes or other connected actuators and that no objects lie in the positioning range while the system is still connected to a power supply Warning Faults in parametrization can cause injury to pe...

Page 11: ...hnical problems service_international festo com Scope of delivery Included in scope of delivery handling module and motor unit with integrated controller user documentation on CD ROM in paper form can be ordered as accessory Information on accessories for fitting and installation can be found in chapter 1 1 1 Information on ordering and further accessories can be found in appendix A 4 ...

Page 12: ...etween 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 this instruction may result in personal injury or damage to property Please note This means that failure to observe this instruction may result in damage to property The following pictogram marks pass...

Page 13: ...ions tips and references to other sources of information Accessories Information on necessary or sensible accessories for the Festo product Environment Information on environment friendly use of Festo products Text markings The bullet indicates activities which may be carried out in any order 1 Figures denote activities which must be carried out in the numerical order specified Hyphens indicate ge...

Page 14: ...rence point in the clockwise direction The factory pre setting of the count direction is negative EMC Electromagnetic compatibility Encoder Optical pulse generator rotor position transducer The electric signals generated are sent to the controller which then calculates the position and speed on the basis of the signals received Festo Configuration Tool FCT Software with uniform project and data ma...

Page 15: ... Reference travel The reference position and therefore the source of the measuring reference system of the axis will be defined by the reference travel Use the following method to do this Reference travel against a negative fixed stop The drive moves at low speed in the direction of the pick position until the fixed stop is reached Referencing Complete definition of the measuring reference system ...

Page 16: ...e Teach mode Operating mode e g for setting positions by moving to the target position when creating positioning sets see also HSP mode Torque switching Reduction of the torque for moving to the end position The transition from position controlled operation to torque controlled operation takes place when the nominal position is reached if M š 0 Nmm The torque is specified either automatically in t...

Page 17: ...riant Information on components can be found in the operating instructions supplied with the relevant product Version Designation Contents Docu package with brief description manuals on CD ROM P BE HSP AE UDOK Brief description Important instructions on commissioning and preliminary information Manuals Contents as described below Manuals Handling module HSP AE P BE HSP AE IO DE P BE HSP AE IO EN P...

Page 18: ...s Hardware version and firmware version in the FCT with active device connection to the MTR DCI under Device data Firmware version on the control panel under Diagnostic SW information Firmware version What is new Which FCT PlugIn V HM1 20 For handling modules with motor unit type MTR DCI IO HM including integrated controller and I O interface Supports type HSP 12 AE IO HSP 12 AE IO SD HSP 12 AE IO...

Page 19: ...System summary 1 1 Festo P BE HSP AE IO EN en 0510NH Chapter 1 ...

Page 20: ...IO EN en 0510NH Contents 1 System summary 1 1 1 1 Handling with electric positioning motors 1 3 1 1 1 Design and components 1 4 1 1 2 Method of operation 1 7 1 2 Operating elements on the motor unit 1 15 1 3 Festo Configuration Tool FCT 1 16 ...

Page 21: ...ing with electric positioning motors 1 Higher level controller e g Festo type FEC 2 Software level Festo Configuration Tool 3 Motor controller level MTR DCI HM coupling 4 Drive level handling module 1 2 3 4 Fig 1 1 Handling with electric positioning motors principle ...

Page 22: ...e HSP AE IO Motor fastening with flange Type HSP AE IO GE Motor fastening via single stage right angle gear unit Motor position variable Type HSP AE IO SD GE Handling module as above also with protective cover and side plates The SD design is recom mended for stand alone mode Tab 1 1 Designs of the handling module ...

Page 23: ...able as accessory Power unit for power supply 24 V DC Power supply cable for connecting the MTR DCI HM to the power supply Control cable for the transfer of information between the higher order controller and the motor unit Programming cable for transfer of information between the PC and the motor unit Further accessories Kits for mounting installation Adapters e g for grippers rotary drives Infor...

Page 24: ...lexible protective tube for moving tubing Cable support on the cross guide Adapter bracket for fastening e g on to a base plate or structure Cover profile for cable bearing in the grooves of the base plate or side plates A Adapter kit HAPG B and in some cases additional adapter plates C for fastening add on components grippers swivel drive B C Tab 1 2 Kits can be ordered as accessory ...

Page 25: ... via roller bearing guide 2 Swivel lever 3 2 adjusting screws y stroke 4 2 linear guides arranged in cross form cross guide 5 2 stops in the end positions with rubber buffers and each with a fastening rail for proximity switches 6 2 adjusting screws z stroke 7 Base plate with variable fitting and fastening possibilities Fig 1 2 Structure ...

Page 26: ...aught end positions pick and place positions by the motor unit The rubber buffers in the stops cushion exclusively the impact noise If desired the end positions can be scanned with proximity switches of type SMT 8 evaluation by PLC The switching status of the proximity switches can be observed through the viewing window when the housing cover is fitted on The motor unit consists of DC motor planet...

Page 27: ...unit takes over the following tasks specification of the nominal positions by positioning control postion encoding and torque control sequence control via digital inputs and outputs CANopen PROFIBUS in preparation Commissioning Parametrizing and commissioning of the HSP AE is carried out directly on the control panel HMI The user interface with display and four operating buttons enables positions ...

Page 28: ...itioning sets x x x x x x x x Diagnostics Service Reading and displaying diagnostic data x x The handling module can also be parametrized and commis sioned with the Command Interpreter via the RS232 inter face The CI commands listed in the Object Directory can be transmitted to the motor unit with all commercially available terminal programs Only experienced users may use the CI commands If necess...

Page 29: ...witching the swivel lever moves with reduced torque to the mechanical stop For special applications the parametrizing of the positioning sets can be modified after teaching Positioning sets for further intermediate positions can be added You can insert positioning sets e g in order to carry out emergency travel with a relative positioning movement in Step mode Relative positioning movements can al...

Page 30: ...onally with setup position mid position Pos 2 e g as reject position for bad parts HSP mode 3 2 0 1 2 Pick and place movement for insert procedures with defined force HSP mode 4 force torque switching in Pos 2 and Pos 3 for precise end position travel from the waiting positions 0 1 2 3 g p 0 1 Pick and place movement for insert procedures with defined HSP mode 5 Pick and place movement for insert ...

Page 31: ...Profile torque mode if insert torque M š 0 Profile torque mode Operating mode for positioning the handling module in the mechanical end positions For positioning at the stop a defined force can be exerted if a nominal torque value is specified Homing mode Positioning travel for referencing the incremental reference system For commissioning for testing or for demonstration the following functions a...

Page 32: ...tion recognition Please note Check within the framework of your EMERGENCY STOP concept to ascertain the measures necessary for putting your machine system into a safe state in the event of an EMERGENCY STOP e g switching off the operating voltage Warning Note that the MTR DCI IO HM does not have a separate logic voltage supply If an EMERGENCY STOP circuit is required for your application use addit...

Page 33: ...panel The control panel has an LCD graphics display 128 x 64 dots Operator control is by means of a touch sensitive keypad with four keys with which all functions can be accessed by menu Chapter 4 Status display The visual display of the operating states is shown with 3 LEDs Operating voltage Power Positioning status bus status I F interface field bus Error fault Chapter 7 2 Connections The motor ...

Page 34: ...started from the framework The PlugIn MTR DCI HM for the FCT supports all the steps necessary for commissioning the handling module The FCT is installed on your PC with an installation program The PlugIn is installed on your PC together with the installa tion program of the FCT Please note Administrator rights are required for installing the FCT You can install the FCT from the CD ROM as follows 1...

Page 35: ... following possibilities Use the Print button of the help window to print out directly individual pages of the help or all the pages of a book from the contents directory of the help Print the prepared print version of the help in Adobe PDF or Rich Text format RTF The relevant file can be found under the following directories Printed version Directory File FCT help FCT installation directory Help ...

Page 36: ...o manufacturer name MTR DCI HM PlugIn name Help button in the window range or dialogue of the PlugIn Button F1 in the active window range or dialogue of the PlugIn Dynamic help For permanent display of context related information you can use the integrated dynamic help of the FCT Activate the dynamic help via the menu Help with the command Dynamic help The dynamic help will be displayed in a docka...

Page 37: ...Fitting 2 1 Festo P BE HSP AE IO EN en 0510NH Chapter 2 ...

Page 38: ...ng options 2 4 2 3 Attachment components 2 7 2 4 Fitting the motor unit 2 9 2 4 1 Turning the motor unit only type HSP GE 2 10 2 4 2 Swivelling the motor unit only type HSP GE 2 11 2 5 Static adjustment of the mechanical end positions 2 13 2 5 1 Setting the z stroke 2 13 2 5 2 Setting the y stroke 2 14 2 5 3 Replacing the silencers rubber buffers 2 17 ...

Page 39: ...st be fitted free of offset and mechanical tension Screws must be fitted accurately otherwise threads will be damaged The specified torques must be observed The modules must not be offset Contact surfaces must be clean avoid contact faults Observe also the installation instructions supplied with modules and components ordered at a later stage Caution If mechanical modifications have been undertake...

Page 40: ...ing module before fitting Select one of the following fastening methods Fastening via the side plates user specific hole pattern Direct fastening via 4 through holes in the base plate dimensions see appendix A 2 1 Fastening on the rear of the base plate example see Fig 2 1 with sliding blocks type HMBN 5 M5 or with fastening kit type HMBK ND and connecting bracket type HMBV ND Recommendation Faste...

Page 41: ...2 Fitting 2 5 Festo P BE HSP AE IO EN en 0510NH Fig 2 1 Example of fitting accessories Please note Note that two profile columns are required for stable fastening of the HSP 25 ...

Page 42: ...arts Make sure that the handling module is fitted free of mechanical stress Tighten the fastening screws evenly Make sure there is sufficient space for connecting the power cables and compressed air tubing Avoid where possible mechanical stress of the supply lines due to rotary and swivel movements of the handling module ...

Page 43: ...ss guide vertical operation For the max loading values of the cross guide vertical operation the following applies for dynamic and static loading Mx Mper My Mper Mz Mper v 1 The reference point for forces and torques is the centre of the cross guide on the guide slide Mper see following table Maximum loading Mper permitted HSP 12 HSP 16 HSP 25 Dynamic torque 1 1 1 Nm 2 4 Nm 3 2 Nm Static toeque 2 ...

Page 44: ...ms the interface to selected Festo products e g micro grippers Mount the work load adapter plate rotary drive and or gripper gripper finger work item within the mounting surface of the universal adapter Check to see if additional fastening elements and adapter plates are necessary An overview of this can be found in the sales documentation for the handling module type HSP AE 1 Universal adapter 2 ...

Page 45: ...ht angle gear type HSP GE Please note Replacement or repair of the motor unit requires settings with very fine adjustments Make sure that the product is overhauled only by our repair service 1 Type HSP 2 Type HSP GE 1 2 Fig 2 3 Fitting the motor unit In the case of handling modules type HSP GE you can turn or swivel the motor unit Turning the motor unit 90 360 see chapter 2 4 1 Swivelling the moto...

Page 46: ...ignment of the motor unit is specified at the factory 2 4 1 Turning the motor unit only type HSP GE 1 Clamping the motor 2 Do not lose the gear clamping 1 2 Fig 2 4 Turning the motor unit only type HSP GE Please note Loosen only the fastening screw of the motopr clamp In particular screws which are locked with sealing plugs may not be loosened 1 Loosen the motor clamp 2 Screw the motor unit into t...

Page 47: ...sitions 2 4 2 Swivelling the motor unit only type HSP GE 1 Fastening screws 1 Fig 2 5 Swivelling the motor unit only type HSP GE 1 First of all turn the motor unit so that the display does not touch the base plate when the motor unit is swivelled see chapter 2 4 1 2 Loosen the four fastening screws of the motor flange 3 Swivel the drive 90 into the desired direction 4 Tighten the four fastening sc...

Page 48: ...ghtening torques HSP 12 HSP 16 HSP 25 Motor flange Fastening screws M4x12 3 Nm M4x16 3 Nm M5x16 6 Nm In order to carry out the functional check swivel the moveable mass by hand into the end positions If necessary correct the alignment of the motor unit ...

Page 49: ...ke 1 Setting the pick position 2 Setting the place position 1 2 Fig 2 6 Setting the z stroke 1 Loosen the locking nut of the adjusting screw z stroke 2 Use a hexagon socket screw key to turn the adjusting screw at the same time with counter force against the locking screw until the pick position is reached 3 Tighten the locking screw torque 1 Nm 4 Repeat the procedure for setting the place positio...

Page 50: ...fore you loosen the fastening screws of the link parts After setting the y stroke Make sure that the fastening screws of the link parts are screwed tight 1 Loosen the fastening screws of the right hand and left hand link parts just enough to enable the link parts to be shifted 1 Two fastening screws of the link part 2 One additional fastening screw of the link part only HSP 16 25 AE 3 Do not loose...

Page 51: ...16 and HSP 25 must not be loosened 2 Turn the adjusting screws y stroke until the link parts reach the desired pick or place position If side plates are fitted set the adjusting screws with a hexagon socket screw key through the holes in the side plates 1 Fastening screws left hand link part 2 Adjusting screw y stroke left hand link part 3 Stop strip 1 2 3 1 Fig 2 8 Setting the y stroke Alignment ...

Page 52: ...rews of the link parts tightening torque 6 Nm Please note Carry out a manual check after each adjustment drive without power Has the desired end position been reached Are the link parts aligned without offset For the manual check Swivel the moveable mass by hand into the end positions When doing this check that the double rollers run smoothly in the path guide If necessary correct the alignment of...

Page 53: ...s serve for reducing noise in the end positions and not for cushioning the impact forces When supplied the rubber buffers project approx 0 5 mm out of the stop After commissioning adjust the cushioning elements so that there is just a metallic impact and the noise is kept as low as possible If the impact noises become loud during operation the rubber buffers should be readjusted ...

Page 54: ...2 Fitting 2 18 Festo P BE HSP AE IO EN en 0510NH ...

Page 55: ...Installation 3 1 Festo P BE HSP AE IO EN en 0510NH Chapter 3 ...

Page 56: ... AE IO EN en 0510NH Contents 3 Installation 3 1 3 1 Notes on installation 3 3 3 2 Electrical connection of the motor unit 3 5 3 2 1 Power supply 3 8 3 2 2 Serial interface 3 11 3 2 3 I O control 3 12 3 3 Proximity switch optional 3 14 ...

Page 57: ... can thereby avoid unexpected movements of the connected actuators non defined switching states of the electronic components Make sure that the moving pneumatic tubing and electric cables are laid correctly example see Fig 3 1 Lay the cables and tubing upwards along the vertical guide rail Fasten the cables and tubing with cable binders as follows on the cable binder support of the universal adapt...

Page 58: ... installation tube The installation tube is fastened with the support on the cross guide and with the adapter bracket e g on the base plate or the structure The installation tube may be filled to max 70 1 Cable binder support universal adapter 2 Cable ducts 3 Cable binder support cross guide 4 Protective tubing 5 Through hole 1 2 3 4 5 Fig 3 1 Installation example ...

Page 59: ...sted as accessories for connecting the electric components of the system see Tab 3 2 Only in this way can you be sure that the system will function correctly Please note Lay all moving cables free of bends and free of mechan ical stress if necessary use a drag chain Observe the maximum specified cable lengths 1 Serial interface 2 Without function do not connect 3 I O control 4 Power supply POWER 1...

Page 60: ... supply DSub 9W2 Plug Operating voltage connection with high current contacts Tab 3 1 Overview of connections Do not touch the contacts of non assigned plugs as this may cause ESD electrostatic discharge which could damage the motor unit or other parts of the system Place protective caps on unused connections in order to prevent such discharges The plug connectors of the following Festo cables hav...

Page 61: ...MC 1 SUB 9HC 2 5 5 10 Serial interface Programmingcable KDI MC M8 SUB 9 2 5 Tab 3 2 Cables accessories In order to guarantee compliance with the IP protection class Tighten the union nuts locking screws of the plugs by hand Seal unused connections with protective caps Observe the permitted tightening torques specified in the documentation for the cables and connectors used ...

Page 62: ...as per IEC DIN EN 60204 1 Protective Extra Low Voltage PELV Take into account also the general requirements for PELV circuits as per IEC DIN EN 60204 1 Use only power packs which guarantee reliable electrical isolation of the operating voltage as per IEC DIN EN 60204 1 The internal power and controller electronics are supplied with DC voltage via the power supply connection Plug Pin Colour 1 Descr...

Page 63: ...the device The 24 V DC voltage input of the motor unit has no internal fuse Note that the tolerances for the power supplies must be observed see Tab 3 4 The tolerance must also be observed directly at the power connection of the motor unit Install an external fuse in the 24 V DC supply in order to limit the available current see Fig 3 3 O1 O2 A1 A2 Fig 3 3 Connection example power supply with exte...

Page 64: ...urrent 1 3 8 A 20 7 A 20 Power unit fuse secondary side 7 A slow blowing 10 A slow blowing 1 Power unit with 40 power reserve required Tab 3 4 Power supply specifications Please note Operation of the handling module can cause a voltage dip due to the dynamic change in loading POWER DOWN fault Therefore use a closed circuit power unit with high output reserve 24 V DC 6 A peak current for MTR DCI 42...

Page 65: ... remove the protective cap from the serial interface of the motor unit Connect the following connections with the programming cable the connector socket of the motor unit a serial interface COMx of the diagnostic PC M8 socket Description 1 GND Ground 2 TXD RS232 transmitting cable 1 3 RXD RS232 receiving cable 1 1 2 4 3 4 Reserved for servicingpersonnel do not connect 1 The levels comply with the ...

Page 66: ...e this connection only for commissioning Disconnect the diagnostic cable during continuous operation Seal the connection with the protective cap supplied type ISK M8 3 2 3 I O control In the case of control via digital I Os type MTR DCI IO HM note the instructions on the function of the I O interface in chapter 5 6 Caution Long I O signal cables reduce the immunity to interference Do not therefore...

Page 67: ...Input STOP bit 6 pink I6 Input ENABLE bit 7 blue O1 READY output 8 red O2 MOTION COMPLETE MC output 9 black GND GROUND reference potential 1 Cable colours with control cable type KES MC 1 SUB 9 Tab 3 6 I O connection controller connection to the motor unit Warning If a voltage is applied and the output pins are used incorrectly the device may be seriously damaged therefore Do not connect voltage t...

Page 68: ... in the stop screws 3 Fasten the proximity switch in the end position Subse quent adjustment of the stop cushioning is not necessary Please note The cables of the proximity switches must not lie in the working range of the handling module Clamp the cables in the groove of the side plates and the base plate Secure the cables with the aid of the cover profile of the installation kit cut to size Pass...

Page 69: ...The control panel 4 1 Festo P BE HSP AE IO EN en 0510NH Chapter 4 ...

Page 70: ...mmand 4 6 4 3 Diagnostic menu 4 8 4 4 Positioning menu 4 10 4 4 1 Positioning Move positioning set 4 11 4 4 2 Positioning Homing 4 12 4 5 Menu Settings 4 13 4 5 1 Settings HSP Setup HSP mode 4 14 4 5 2 Settings HSP Setup Positioning set 4 15 4 5 3 Settings HSP Setup Count direction 4 17 4 5 4 Settings HSP Setup Delivery status 4 19 4 5 5 Settings HM type 4 20 4 5 6 Settings Password edit 4 21 4 6 ...

Page 71: ...ound in this chapter Commissioning with the control panel is described as from chapter 5 1 Caution Faults may occur if control and operating functions are accessed at the same time via the serial interface the control interface and the control panel Make sure that the serial interface the control interface and the control panel are not used at the same time Please note If applicable remove any pro...

Page 72: ... LCD 128 x 64 points shows all texts in English The display can be turned in 180 steps see menu command LCD adjustment Touch sensitive keyboard The touch sensitive keyboard offers the following settings and functions for commissioning menu controlled via four butttons parametrizing and referencing the drive teaching standard applications and editing positioning sets processing testing individual p...

Page 73: ...or status display EMERG STOP Interrupts the current positioning procedure MOTOR STOP fault confirm with Enter then automatic return to the status display OK Confirms the current selection or entry Enter SAVE Saves parameter settings permanently in the EEPROM Enter START Starts a positioning procedure Scrolls within a menu level in order to select a menu command v V EDIT Sets parameters V Tab 4 1 B...

Page 74: ... panel The current button function will be displayed in the lower lines of the display Menu The main menu is accessed from the status display with the Menu button 4 2 2 Selecting a menu command With the arrow buttons on the control panel you can select a menu command from the list The current selection is marked with an arrow Diagnostic Select S in order to display further menu com mands ESC With ...

Page 75: ...oning set table Position nr Number of the positioning set 0 14 Pos set mode 5 Absolute or relative positioning Torque 4 Insert torque for reducing the torque when the nominal position is reached Position 3 5 Nominal position of the positioning set Velocity Positioning speed of the positioning set Save Save parameters in EEPROM Count direction Reversing the count direction Delivery status All setti...

Page 76: ...you can return to the higher order menu Menu command Description Pos set table No Number of the positioning set 0 14 M P R M absolute positioning with torque switching when the nominal position is reached P absolute positioning without torque switching R relativepositioning Pos Target position Vel Positioningspeed Limit param v max Maximumpositioningspeed á min Software end position Pick á max Sof...

Page 77: ...cycles In signal Hexadecimal representation of the inputs Bit 0 I0 Bit 1 I1 Bit 2 I2 Bit 3 I3 Bit 4 START Bit 5 ENABLE Out signal Hexadecimal representation of the outputs Bit 0 READY Bit 1 MOTION COMPLETE Mode Degree measurement system degrees Hom meth bl neg Referencing is always made to the fixed stop Pick Gear Gear reduction of the motor unit e g 6 75 SW information Version of the firmware of ...

Page 78: ...there are no objects in the positioning path Please note Before starting reference travel make sure that the handling module is set up completely wired and supplied with power the parametrizing is completed Selecting positioning travel or reference travel 1 Select the menu Positioning in the main menu 2 Select the menu command Move positioning set for testing a certain positioning set in the posit...

Page 79: ...2 1 Select the number of the positioning set You can set the desired number with the arrow buttons OK You can accept the selection with the Enter button ESC With the Menu button you can interrupt the activity and return to the higher order menu 2 Start the positioning procedure with START Enter During positioning travel the following information is displayed the active positioning set e g Pos 2 th...

Page 80: ... display during reference travel During reference travel the drive moves slowly at reduced search speed to the stop of the pick position and accepts the position as the reference point zero point After settling time approx nach ca 20 ms te drive is posi tioned at the zero point áa 0 EMERG STOP With the Menu button you can interrupt the reference travel HOMING ERROR fault If necessary reference tra...

Page 81: ...Menu command Description Chapter HSP Setup HSP mode Teaching typical pick and place sequences 4 5 1 HSP Setup Position set Editing the positioning set table 4 5 2 HSP Setup Count direction Reversing the count direction of all positions 4 5 3 HSP Setup Delivery status All settings undertaken in HSP Setup and all positioning sets are reset to the factory settings 4 5 4 HM type 1 Selecting the handli...

Page 82: ...e for your application You can set the desired HSP mode with the arrow buttons OK You can confirm the selection with the Enter button 2 Starting the Teach procedure START You can start the teach procedure with the Enter button Depending on the selected mode all positions will be taught one after the other the end positions Pos 0 and Pos 1 inter mediate positions 3 Saving the taught positions Pleas...

Page 83: ...ter button ESC With the Menu button you can interrupt the activity and return to the higher order menu 2 Select for the current positioning set Pos set mode for setting a relative or absolute positioning movement for intermediate positions Pos 0 1 factory setting absolute cannot be edited Torque for teaching the insert torque torque switch ing only if Pos set mode absolute Position for teaching th...

Page 84: ...d v 0 are not processed If the target position is not valid the positioning set will not be processed and the fault TARGET POSITION OUT OF LIMIT will be displayed 3 Save all the settings of the current positioning set with the menu command Save Please note The set parameters become effective immediately after confirmation with OK ENTER The settings are saved per manently in EEPROM with the menu co...

Page 85: ... 2 3 0 1 Factory setting Count direction positive Positiveangles and torques have effect from the reference point in the clockwise direction 2 3 p 2 3 1 0 If the count direction is modified note the modified position ing behaviour and the effects on the already existing position ing sets The pick and place positions are swapped Due to the modified pick position reference travel must be carried out...

Page 86: ...ction in a clockwise direction negative for setting the count direction in an anti clockwisedirection After modifying the count direction you will be requested to carry out reference travel 3 Start the reference travel with START Enter Note that the count direction of the reference point is not defined until reference travel has been successfully completed When the count direction is modified Chec...

Page 87: ...th a local password see chapter 4 5 6 OK You can accept the factory settings with the Enter button ESC With the Menu button you can interrupt the activity and return to the higher order menu If the count direction is modified by the factory setting you will be requested to carry out reference travel Start reference travel with START Enter Note that the count direction of the reference point is not...

Page 88: ...ype If necessary modify the device type as follows HSP for device type HSP AE HSW for device type HSW AE You can set the desired device type with the arrow buttons OK You can accept the selection with the Enter button The setup menu commands HSP Setup or HSW Setup corresponding to the type of the handling module set under HM type will then be displayed ESC With the Menu button you can interrupt th...

Page 89: ...stem If the password is lost in spite of care being taken you can delete the password by entering a master password In this case please contact your Festo Service partner Activate password Password Select Settings Password in the menu Enter a password with 3 figures 0 9 The current entry position is marked with a question mark 1 Use the arrow buttons to select a figure 2 Confirm your entry with En...

Page 90: ...ure with Enter 3 Set the figure for the next entry position When the correct password is entered all parametrizing and control functions of the control panel are enabled until the power supply is switched off Modify deactivate password Password Select Settings Password in the menu Enter the previous password with 3 figures 0 9 The current entry position is marked with a question mark 1 Set the fir...

Page 91: ...gs you must enter the setting HMI on Only then is the motor unit ready to process user entries on the control panel When selecting the menu commands you will be requested to modify the HMI setting HMI control You can also modify the setting directly with the menu command HMI control HMI 1 Device control on The device control is carried out manually via the control panel The control interface of th...

Page 92: ...4 The control panel 4 24 Festo P BE HSP AE IO EN en 0510NH ...

Page 93: ...Commissioning with the control panel 5 1 Festo P BE HSP AE IO EN en 0510NH Chapter 5 ...

Page 94: ...l Pick Place positioning sets 5 13 5 4 1 HSP mode 5 13 5 4 3 Teach procedure 5 15 5 5 Parametrizing via the positioning set table 5 18 5 5 1 Notes on parametrizing 5 19 5 5 2 Creating new positioning sets intermediate positions 5 27 5 5 3 Adapting existing positioning sets 5 28 5 5 4 Processing individual positioning sets test run 5 29 5 5 5 Delete positioning sets 5 30 5 6 Communication with the ...

Page 95: ...check if necessary the function of the add on components in a separate test run Please observe the notes in the operating instruc tions for the components Checking the add on components Without work load Check the correct assignment of the compressed air connections The gripping speed The function of the proximity switches With load Check that the work load is gripped firmly Check the following by...

Page 96: ...your MTR DCI the current type of the handling module e g HSP the current position of the drive áa in degrees the current setting of the device control HMI Human Machine Interface control panel Please note Reference travel must be carried out each time the device is switched on Exception Relative positioning movements can also be carried out if the reference system has not yet been referenced When ...

Page 97: ... damage to the gears Move to the fixed stops only with low energy Teach the end positions Pos 0 and Pos 1 in HSP mode and note the instructions on referencing see chap 5 3 You can then be sure that the handling module moves controlled to the end position during operation Caution Faults may occur if control and operating functions are accessed simultaneously via different user interfaces Make sure ...

Page 98: ...he FCT must not be activated when the control panel is being used for control HMI control on Control with the control panel HMI control on must not be activated when the device connection in the FCT is activated Control by the FCT must not be activated while the drive is in motion or when control is being carried out via I Os Controlling the device via the control panel In order that the control p...

Page 99: ...rencing of the reference system see chapter 5 3 2 Carry out the first commissioning as follows Note the detailed description in the chapters specified First commissioning overview Chapter 1 Teach the HSP mode which corresponds to your application End position travel HSP mode 1 End position travel with intermediate positions HSP modes 2 5 After the teach procedure it is possible to adapt the parame...

Page 100: ... the stop of the pick position Please note If the counting direction is modified Settings HSP Setup Count direction the pick position will also be modified see also chapter 4 5 3 The following position specifications refer to the reference point zero point after successful reference travel the software end positions all absolute nominal positions During reference travel the drive moves slowly at r...

Page 101: ...el negative count direction Start of reference travel Reference travel can be started as follows Menu Positioning Homing on the control panel see chapter 4 4 2 I O control interface positioning set 15 see chapter 5 6 3 FCT software Reference travel is carried out automatically during teaching of the Pick Place sequences in HSP mode Teach the pick position ...

Page 102: ... the work range in HSP mode Information on carrying out the teach procedure in HSP mode can be found in chapter 5 4 In HSP mode the following definition of the reference system and of the work range will be carried out automatically during each teach procedure reference travel for defining the reference point calculating the end positions calculating the software end positions The drive moves at f...

Page 103: ...d compensates mechanically caused deviations e g by the rubber buffers or by the gear play Offset HSP 12 AE HSP 16 25 AE D01 1 2 Software end positions The software end positions ámin ámax limit the positioning range During teaching in HSP mode the software end posi tions will be newly defined amin Pos 0 D02 amax Pos 1 D02 Offset HSP 12 AE HSP 16 25 AE D02 K5 K2 Please note If no teach procedure i...

Page 104: ...BE HSP AE IO EN en 0510NH 1 Pick stop 2 End position Pos 0 3 Zero point 4 Software end position ámin 5 Place stop 6 End position Pos 1 7 Software end position ámax ÇÇ 7 4 3 6 5 2 Ç Ç 1 D02 D02 D01 D01 Fig 5 2 Reference points and limits of the work range ...

Page 105: ...ulated at the same time see also chapter 5 3 2 Additional refer ence travel via Positioning Homing is not required All nominal positions are preset in HSP mode as absolute values The presettings for speed and torque are selected such that vibration free operation is possible with standard applications The torque switching in the end or waiting posi tions enables precise end position movement to th...

Page 106: ...tingposition 87 5 3 2 0 1 as HSP mode 1 0 1 2 2 P Mid position 50 4 0 1 as HSP mode 1 2 3 2 M Waitingposition 12 5 0 1 3 M Waitingposition 87 5 5 0 1 as HSP mode 1 2 3 4 2 M Waitingposition 12 5 0 1 2 3 3 M Waitingposition 87 5 4 P Mid position 50 No Number of the positioning set M Position controlled with torque switching direction of insert torque or P Position controlled Tab 5 1 Pick Place sequ...

Page 107: ... note Make sure that the stops are reached Make sure that there are no work items or other objects in the position ing or gripper range Check the running behaviour during the Teach procedure Interrupt the Teach procedure immediately if there is a metallic knocking of the stop screws the double rollers do not run smoothly in the path guide the mechanical end positions are not reached the work load ...

Page 108: ...at the stop of the starting position Pos 0 The taught nominal value of the position is shown on the display In the case of positions with torque switching the default value of the insert torque is also shown 3 Start the Teach procedure of delivery position Pos 1 with START Enter 4 In HSP modes 2 5 Start the Teach procedure of intermediate positions 2 4 with START Enter If necessary correct the cur...

Page 109: ...eed of the positioning procedure with torque switching the insert torque M Parameters HSP 12 HSP 16 HSP 25 Pos set mode a r absolute absolute absolute Torque 20 M Nmm 270 549 1648 Velocity v s 1400 1048 800 Tab 5 2 Factory parametrizing in HSP mode If necessary carry out a test run Note the instructions on carrying out a test run in chapter 5 5 4 If your application requires modification of the se...

Page 110: ...ing sets to your application Menu command Param Description Pos set mode absolute relative Reference of the position specification of the positioning set at the zero point absolute at the current position relative Cannot be edited for Pos 0 and Pos 1 factory setting absolute Torque M Nmm Reducing the torque to the specified value when the nominal position is reached only if Pos set mode absolute P...

Page 111: ...ation to the absolute or relative reference Recommendation Teach the nominal position again after modification to the absolute or relative reference Nominal position Position If your application requires further intermediate positions maximum 13 intermediate positions Pos 2 14 can be taught Positions Pos 0 and Pos 1 can only be taught in HSP mode not via the positioning set table Select intermedia...

Page 112: ...nts to 50 of the set speed With the speed entry in s the achievable positioning time for the relevant size can be set In operation there is no sense in setting the drive at the maximum permitted speed as the complete cycle time and the maximum vibration amplitude increase extremely due to the subsequent oscillation Please note For insert procedures the speed in the vertical linear range must be re...

Page 113: ...s It must not be ex ceeded Make sure that the permitted values for the positioning time as a factor of the work load are observed Make sure that the pulse time does not drop below the shortest permitted time Parameters HSP 12 HSP 16 HSP 25 Speed Velocity s 50 1602 50 1179 50 1048 Minimum permitted pulse time tt s 0 8 1 1 2 Recommended speed for standard applications s 1400 1048 800 ...

Page 114: ...tic curves te The time during which the handling module remains in the Pick Place positions With the following diagrams the travel time as a factor of the work load and the corresponding speed setting can be ascer tained The shortest achievable travel time t is represented taking into account the repetition accuracy and an optimized oscillation and positioning behaviour m kg t ms Fig 5 3 Travel ti...

Page 115: ...AE HSP 25 AE Fig 5 4 Setting the travel time via the speed A shorter travel time amd therefore a higher pulse rate is possible in the end positions without torque switching If a precise mechanical end position is not required Torque 0 can be set via the parametrizing of the positioning set table ...

Page 116: ...then takes place When controlling the end positions Pos 0 Pos 1 the drive does not move to the stop but posi tions itself with rated motor torque in the nominal position and remains there controlled No torque switching then takes place Advantage shorter travel time and therefore higher pulse rate Operation with torque switching In operation torque switching means The drive positions itself at firs...

Page 117: ... const M Torque v const M Mrated v Velocity M Mrated v Velocity M Torque v const M Torque v const 1 2 Fig 5 5 Parametrizing with torque switching Parameters HSP 12 HSP 16 HSP 25 Rated motor torque Mrated Nmm 540 1098 7 3296 1 Insert torque M Torque 20 Nmm 67 506 67 506 137 1030 137 1030 412 3090 412 3090 Recommended insert torque for standard applications Nmm 270 549 1648 ...

Page 118: ... AE IO EN en 0510NH 1 y stroke 52 mm 2 y stroke 60 mm 3 y stroke 68 mm HSP 12 AE 1 2 3 1 y stroke 90 mm 2 y stroke 100 mm 3 y stroke 110 mm HSP 16 AE 1 2 3 1 y stroke 130 mm 2 y stroke 150 mm 3 y stroke 170 mm HSP 25 AE 1 2 3 Fig 5 6 Setting the insert torque ...

Page 119: ...ettings HSP Setup Position set Position nr 2 14 2 Select the nominal position as reference position with Pos set mode the zero point absolute or the current position relative 3 Reducing the torque when the nominal position is reached prerequisite Pos set mode absolute Set the desired torque under Torque If there is no reduction in torque set Torque 0 4 Set the desired nominal position of the posit...

Page 120: ...arametrizing of a positioning set with Settings HSP Setup Position set Save 1 Activate the desired positioning set 0 14 with Settings HSP Setup Position set Position nr 2 Select the desired parameter for modifying an existing positioning set Note the instructions on parametrizing in chapter 5 5 1 3 Then select Save in order to save the positioning set All current settings will be displayed Check t...

Page 121: ...ion absolute or relative During a test run check that the work load is held safely the positioning time as a factor of the work load the adjustment of the end positions the setting of the stop cushioning if necessary that the proximity switches are functioning correctly 1 For the test run reduce first the nominal speed of the positioning set or create positioning sets with appropriate parametrizin...

Page 122: ...gnal at the I O interface For eliminating faults please refer to the instructions in chapter 6 If necessary optimize the settings for positioning sets 5 5 5 Delete positioning sets Individual positioning sets cannot be deleted The following functions also cause positioning sets to be deleted Restoring the factory setting wwith Settings HSP Setup Delivery status will delete all positioning sets Sav...

Page 123: ... the operating voltage is switched on the control interface is activated HMI off In order to check the configuration and the set up enter a simple test program or simulate control by directly setting the inputs Please refer here to the function description of the control interface in chapter 5 6 2 Provide the necessary system inputs on the MTR DCI There must be a 1 signal at the ENABLE input contr...

Page 124: ...1 delivery position 1 0 0 0 2 0 1 0 0 3 1 1 0 0 4 0 0 1 0 5 1 0 1 0 6 0 1 1 0 7 1 1 1 0 8 0 0 0 1 9 1 0 0 1 10 0 1 0 1 11 1 1 0 1 12 0 0 1 1 13 1 0 1 1 14 0 1 1 1 15 Reference travel 1 1 1 1 Tab 5 4 Binary code of the positioning set 15 positioning sets 0 14 can be freely selected in the I O variant Positioning sets 0 and 1 are reserved for the end positions Pos 0 and Pos 1 Positioning set 15 star...

Page 125: ...an be interrupted with a falling edge at the ENABLE input 0 If started again the positioning set will be processed further as from the current position ENABLE I6 Controller and power end stage enable Prerequisites There must be an 0 signal at START No fault A rising edge 1 at the ENABLE input causes the controller and the power end stage of the drive to be switched on A falling edge 0 at the ENABL...

Page 126: ...ied with current the drive can be shifted Depending on positioning and mounting position the swivel lever can move downwards automatically with the work load As long as the power supply is not switched off the actual position is registered even after the enable is switched off It is not necessary to carry out new reference travel Pin Status ENABLE I6 1 signal Controller and power end stage are swi...

Page 127: ... not ready to operate There must be an 0 signal at or Fault 1 signal System is ready to operate There must be an 1 signal at ENABLE and No fault MC O2 Motion complete Shows that a positioning order has been completed and that the START input has been reset Pin Status MOTION COMPLETE O2 0 signal Positioningprocedure is being carried out or the START signal is still at 1 1 signal Positioning task is...

Page 128: ...s POWER Power supply FAULT Fault TR Target reached Switch on and reference travel 1 0 1 0 TR READY O1 1 0 1 0 START I5 1 0 FAULT Drive in motion Start Reference travel 1 0 Position set 15 I1 I4 1 0 MC O2 ENABLE I6 POWER 1 0 Cancel Initialization t TR New reference travel Enable Delete faults Reference trave completed min 1 s HOMING ERROR ţ 10 ms Cancel Faults ÏÏÏÏ ÏÏ Fig 5 7 Pulse time diagram swi...

Page 129: ...th absolute positioning specification can only be started after reference travel In operation refer ence travel must be carried out each time the device is switched on Start reference travel If there are no faults and enable is active ENABLE 1 refer ence travel input word I1 I4 1 positive edge at START input can be started When the START signal 1 is set the MC signal Motion Complete is reset 0 the...

Page 130: ...ART input 0 repeat reference travel Positioning procedures ÏÏ ÏÏ ÏÏÏÏÏÏÏÏ ÏÏÏÏÏÏÏÏ ÏÏÏ ÏÏÏ 1 0 1 0 TR READY O1 1 0 1 0 START I5 1 0 FAULT Drive in motion Start 1 0 Position set I1 I4 1 0 MC O2 ENABLE I6 Nominalposition reached Ready for operation t TR t ţ t TR Start Nominal position reached t t TR Cancel Nominal torque reached Enable Torque 0 Torque š 0 ÏÏ ÏÏ ţ 10 ms Fig 5 8 Pulse time diagram pos...

Page 131: ...t can then be started with a rising edge at the START input 1 Position reached The TR signal will be set with positioning sets without torque switching when the nominal position is reached after approx 20 ms In the case of positioning sets with torque switching the TR signal will not be set until the nominal torque and posi tioning at the stop blocking are reached If the TR signal is set when the ...

Page 132: ...dge at ENABLE 0 if necessary reset the START input 0 When the fault has been eliminated and there is a rising edge at ENABLE 1 the READY output 1 signalizes that a new positioning order can be started If the fault cannot be eliminated this may be caused by a cable fracture Further instructions on fault treatment via the I O interface can be found in Fig 5 7 Information about the fault mess ages ca...

Page 133: ...Operation and maintenance 6 1 Festo P BE HSP AE IO EN en 0510NH Chapter 6 ...

Page 134: ... P BE HSP AE IO EN en 0510NH Contents 6 Operation and maintenance 6 1 6 1 Important user instructions 6 3 6 2 Instructions on care and maintenance 6 7 6 2 1 Replacing the spring clamping elements 6 8 6 2 2 Replacing the rubber buffers 6 9 ...

Page 135: ...to motion only when the protective cover or screen is fitted Subsequent adjustment After commissioning adjust the stop cushioning so that in dynamic operation there is just a metallic impact and the noise is kept as low as possible Caution If mechanical modifications have been undertaken since commissioning the reference system and the end posi tions must be taught again Carry out the following co...

Page 136: ...MTR DCI HM HMI password protection with MTR DCI HM 3 figures see chapter 4 5 6 Start up behaviour and referencing Warning Danger of injury Faults in parametrizing can cause injury to people and damage to property In the following cases a reference run is absolutely essential in order that the reference coordi nates and the working range can be set correctly with the fault REFERENCE IS NOT DEFINED ...

Page 137: ...ical components The rubber buffers in the fixed stops serve for silencing Movement to a fixed stop creates shocklike loadings in the drive string If movement is made to the end positions with a heavy load jamming may occur in the end positions This can lead to e g damage to the gears Move to the fixed stops only with low energy Caution Note the manufacturer s specifications for the permitted opera...

Page 138: ...id position when the machine is at a stand Switching off Warning Damage due to the freely running load The swivel lever can move involuntarily if the handling module is mounted vertically there is no holding torque at the drive pin there are vibrations Position the swivel lever of the handling module there fore in mid position before the device is switched off ...

Page 139: ...s kept as low as possible If the impact noises be come loud during operation the rubber buffers should be readjusted Check regularly the rubber buffers and the spring clamping elements for wear Testing Spring clamping element Rubber buffer Test cycle Every 2 million strokes approx every 2 months Every 2 million strokes approx every 2 months Signs of wear Play of the vertical guide rail in the end ...

Page 140: ...spring clamping elements Avoid unnecessary wear on the cross guide and links due to excessive pressing force The specified pre tension of the spring clamping element is sufficient for play free guidance 1 Switch off the power supply for the drive 2 Remove the protective cover and the side plates 3 Move the cross guide into the mid position 4 Use a hexagon socket screw key to unscrew the defective ...

Page 141: ...rn pre tension 0 5 mm The vertical guide rail is then free of play 8 Fasten the side plates and protective cover 6 2 2 Replacing the rubber buffers Fig 6 2 Replacing the rubber buffers 1 Switch off the power supply for the drive 2 Remove the protective cover 3 Use a suitable tool e g pliers or screwdriver to remove the rubber buffers 4 Press a new rubber buffer into the stop 5 Fasten the protectiv...

Page 142: ...6 Operation and maintenance 6 10 Festo P BE HSP AE IO EN en 0510NH ...

Page 143: ...Diagnosis 7 1 Festo P BE HSP AE IO EN en 0510NH Chapter 7 ...

Page 144: ...Diagnosis 7 2 Festo P BE HSP AE IO EN en 0510NH Contents 7 Diagnosis 7 1 7 1 General diagnostic possibilities 7 3 7 2 LED status displays 7 4 7 3 Fault messages on the display 7 6 7 4 Mechanical fault 7 9 ...

Page 145: ...cates the readiness to operate MOTION COMPLETE indicates whether a positioning task is completed The control panel The LC display shows diagnostic data fault messages the operating mode the current positioning set target and actual positions as well as speed The FCT with active device connection Displays the current positioning set target and actual positions as well as speed Displays the operatin...

Page 146: ...ge connection off operating voltage connection Positioning status and controller enable I F 1 Status 2 Readyfor operation Positioning procedure is completed Motion Complete green Motion Complete Controller and power end stage enabled Not ready to operate and enable missing Nominal position not reached positioning procedure stopped red positioning procedure stopped Controller and power end stage no...

Page 147: ...cedure runs C t ll d d t bl d off p g p Controller and power end stage enabled or Fault 1 Two colour LED 2 If there is no fault i e LED ERROR out Fault display ERROR Status Fault The motor unit is not ready to operate deactivated red No internal fault registered The motor unit is operational off The motor unit is operational ...

Page 148: ...et v 0 Modify the parametrizing or select a different postioning set Temperature OK Operating temperature lies in permitted range again after exceeding not reaching limit Warning In the event of non permitted operating temperatures the motor unit displays an appropriate warning If a positioning task is running it will not be interrupted The fault LED will flash Warning Cause HOT TEMPERATURE Operat...

Page 149: ...lt during reference travel Possible cause Reference travel interrupted It is essential that you repeat the reference run i2t ERROR Current monitoring i2t Possible cause The drive is blocked Check the mechanical parts of the drive MECHANICAL LINKAGE IS NOT ON DuringTeaching and during reference travel the motor is stopped after 1 5 motor revolutions Check the mechanical connection between the motor...

Page 150: ...of the positioning set POWER DOWN Voltagemonitoring Possible causes Voltage supply too low V 18V Voltage drop under load Check the voltage supply power unit too weak supply line too long REFERENCE IS NOT DEFINED PLEASE ENFORCE HOMING RUN When starting a positioning set After the power supply was switched on no reference run was carried out yet or a reference run was stopped The reference point zer...

Page 151: ...ts in position scanningviaproximity switch optional only Position of proximity switches incorrect Correct position of proximity switches switch optional only via PLC Incorrect type of proximity switch used Use only proximity switches of type SMT 8 Proximity switch defective Replace proximity switch Ferritic parts in the vicinity of the proximity switch Use parts made of non magnetic materials End ...

Page 152: ...7 Diagnosis 7 10 Festo P BE HSP AE IO EN en 0510NH ...

Page 153: ...Technical appendix A 1 Festo P BE HSP AE IO EN en 0510NH Appendix A ...

Page 154: ...s for attachment to the base plate A 8 A 3 Characteristic curves A 9 A 3 1 Setting the speed via the positioning time A 9 A 3 2 Setting the insert torque A 10 A 3 3 Positioning time t as a factor of the work load m A 11 A 4 Accessories A 12 A 4 1 Accessories for tha handling module A 12 A 4 2 Cable for connecting the motor unit A 12 A 4 3 User documentation A 13 ...

Page 155: ...tromagnetic compatibility 1 EMC interference emission EMC interference immunity See conformity declaration www festo com Protection against electric shock Protection against direct and indirect contact as per IEC DIN EN 60204 1 by PELV circuits Protected Extra Low Voltage Rotary position encoder Optical encoder No of increments revolutions 500 Temperaturemonitoring Silicon absolute temperature sen...

Page 156: ...ime t dwell time te s 0 8 1 0 1 2 Max positioning speed vmax s 1602 1179 1048 Max insert torque Mmax 20 Nmm 506 1030 3090 Rated motor torque Mrated 20 Nmm 540 1098 7 3296 1 Repetition accuracy Endpositions 0 01 0 01 0 02 Intermediate positions 1 5 1 5 2 Max permitted loading values of the cross guide Nm 1 1 2 4 3 2 cross guide Dynamic torque Mper with vertical operation and observance of max work ...

Page 157: ...face 9600 Baud I O specification MTR DCI 42 HM MTR DCI 52 HM Signallevel SpecifiedasperDINEN 61131 part 2 IEC1131 2 LOW 5 V HIGH 15 V Inputs Protection against incorrect polarity No Yes Electrical isolation No Optocoupler Number of digital logic inputs 6 Input current at 24 V input voltage mA 4 7 Maximum permitted input voltage V DC 30 0 Minimuminputvoltage V DC 0 30 Outputs Number of digital logi...

Page 158: ...0 100 H1 120 160 200 120 160 200 H2 0 2 34 44 75 34 44 75 H3 92 5 115 147 278 291 321 H4 40 20 40 40 20 40 H11 3 312 343 391 D1 4x 6 3 6 3 6 3 6 3 6 3 6 3 D2 3 5 4 3 4 5 3 5 4 3 4 5 D3 6 2 8 0 10 6 2 8 0 10 D4 13 13 13 13 13 13 L1 0 6 200 280 370 200 280 370 L2 0 2 170 250 340 170 250 340 L3 7 5 7 5 7 5 7 5 7 5 7 5 L4 15 15 15 15 15 15 L5 100 90 45 100 90 45 L6 100 280 100 280 Download CAD data un...

Page 159: ...A Technical appendix A 7 Festo P BE HSP AE IO EN en 0510NH HSP AE HSP AE GE Fig A 1 Dimensions of the handling module ...

Page 160: ...Festo P BE HSP AE IO EN en 0510NH A 2 1 Through holes for attachment to the base plate Dimension mm HSP 12 HSP 16 HSP 25 Base plate H1 40 20 40 L1 H1 H2 40 0 2 100 0 2 100 0 2 H2 D1 6 3 6 3 6 3 1 H L1 200 0 6 280 0 6 370 0 6 D1 ...

Page 161: ...A Technical appendix A 9 Festo P BE HSP AE IO EN en 0510NH A 3 Characteristic curves A 3 1 Setting the speed via the positioning time HSP 12 AE HSP 16 AE HSP 25 AE Fig A 2 Diagram of speed v t ...

Page 162: ...10NH A 3 2 Setting the insert torque 1 Stroke 52 mm 2 Stroke 60 mm 3 Stroke 68 mm HSP 12 AE 1 2 3 1 Stroke 90 mm 2 Stroke 100 mm 3 Stroke 110 mm HSP 16 AE 1 2 3 1 Stroke 130 mm 2 Stroke 150 mm 3 Stroke 170 mm HSP 25 AE 1 2 3 Fig A 3 Diagram of insert torque ...

Page 163: ...efinition Work load m additional mass on the vertical guide rail e g adapter swivel drive gripper and work item Positioning time t the time which the handling module requires in order to move from the stop of the pick position to the stop of the place position and back m kg t ms Fig A 4 Diagram of positioning time t m ...

Page 164: ...lement Original spare part for HSP Fasteningkit Connectingbracket HMBK ND HMBV ND Slidingblock HMBN 5 M5 Proximity switch optional SMT 8 F 1 Instructions on fitting further accessories in conjunction with Festo components are summarized in the system manual Handling technology A 4 2 Cable for connecting the motor unit Cable 2 5 m 5 m 10 m Control cable KES MC 1 SUB 9 2 5 KES MC 1 SUB 9 5 KES MC 1 ...

Page 165: ...E HSP AE IO EN en 0510NH A 4 3 User documentation User documentation in paper form German P BE HSP AE IO DE English P BE HSP AE IO EN French P BE HSP AE IO FR Italian P BE HSP AE IO IT Spanish P BE HSP AE IO ES Swedish P BE HSP AE IO SV ...

Page 166: ...A Technical appendix A 14 Festo P BE HSP AE IO EN en 0510NH ...

Page 167: ...Index B 1 Festo P BE HSP AE IO EN en 0510NH Appendix B ...

Page 168: ...B Index B 2 Festo P BE HSP AE IO EN en 0510NH Contents B Index B 1 ...

Page 169: ... I O control 3 12 Power supply 3 8 Serial interface 3 11 Control panel 4 4 Accessing the main menu 4 6 Button function 4 5 Menu structure 4 7 Selecting a menu command 4 6 Controller XII Count direction XII Modify 4 17 Cross guide 1 8 Loading values 2 7 D Device control 5 6 Diagnosis 7 3 Displaying diagnostic data 4 8 Fault messages 7 6 LED displays 7 4 Mechanical faults 7 9 Dimensions A 6 ...

Page 170: ...H Handling module XII HMI control 4 23 5 6 Homing mode XII 1 13 HSP mode XII 1 12 4 14 5 13 Discontinue the Teach procedure 5 15 Parametrizing 5 17 Start the teach procedure 5 16 Teach procedure 5 15 I I O Addressing the positioning sets 5 32 Connection 3 12 Delete faults 5 37 5 39 Enable 5 33 Function check 5 31 Maximum current A 5 Pulse time diagram 5 36 Signal level A 5 Switch on behaviour 5 37...

Page 171: ...ue 5 24 A 10 Interface serial 3 11 L LED 7 4 Lubrication A 4 M Motor unit XII 1 8 Connection 3 5 Fitting 2 9 Rated torque A 4 N Nominalposition 5 19 O Operating elements 1 15 Operating mode Homing mode XII HSP mode XII 4 14 Profile Position mode XIII Teach mode XIV Operating principle 1 7 ...

Page 172: ...st 4 22 PELV Protected Extra Low Voltage 3 8 A 3 Pictograms XI PLC XIII Positioning set XIII 4 14 4 15 5 32 Adapt 5 28 Block 5 20 Create 5 18 5 27 Delete 5 30 Discontinue Disable 5 39 Start 4 11 5 39 Test 5 29 Positioning set table 4 8 Positioning time A 9 A 11 Power supply 3 8 Fuse 3 10 Power supply unit 3 10 Profile position mode 1 13 Profile torque mode 1 13 Proximity switch 3 14 Pulse time 5 2...

Page 173: ...7 Start 4 12 5 9 5 37 Referencing XIII Referencing method XIII Relative 4 15 5 18 Rubber buffer Replace 6 9 Set 2 17 S Safety instructions VIII Scope of delivery IX Service IX Slotted guide plate XIII Software end position XIII 5 11 Speed 5 20 A 9 Spring clamping element replace 6 8 Stop 1 7 Switching off 6 6 Switching on 5 4 Swivel lever XIV 1 7 ...

Page 174: ... Target group VIII Teach procedure 5 15 Technical specifications A 3 Text markings XI Torque switching XIV Set 5 25 Switch off 5 24 Travel time 5 22 V Version XVI W Work range 5 10 5 12 Y y stroke 1 7 2 14 A 4 Z z stroke 1 7 2 13 A 4 Zero point 5 8 ...

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Festo HSP AE Series, Manual

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