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Festo SPC200 System Manual

Festo SPC200 System Manual

Smart positioning controller
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Table of Contents

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See also: Instructions for Using , Short Description
SPC200 Smart Positioning Controller
Electronics/
pneumatics manual
System manual
Smart Positioning
Controller
type SPC200
Manual
170 246
en 0901d
[713 873]

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Summary of Contents for Festo SPC200

  • Page 1 SPC200 Smart Positioning Controller Electronics/ pneumatics manual System manual Smart Positioning Controller type SPC200 Manual 170 246 en 0901d [713 873]...
  • Page 3 ....... . . 170 246 © (Festo AG & Co. KG, D 73726 Esslingen, Federal Republic of Germany, 2009) Internet: http://www.festo.com...
  • Page 4 Contents and general instructions ® ® ® Interbus , DeviceNet and PROFIBUS are registered trademarks of their respective trademark holders in certain countries. Festo P.BE−SPC200−EN en 0901d...
  • Page 5 Documentation for the SPC200 Smart Positioning Controller ....Information on operating system versions of the SPC200 and software versions of WinPISA .........
  • Page 6 3.5.4 Connections of the I/O module type SPC200−DIO−....3−38 3.5.5 Connections of the analogue input module type SPC200−2AI−U 3−47 3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF 3−50 Installing the modules on the axis interface string .
  • Page 7 ..........5−17 5.3.1 Explanation of all I/O signals in Record Select mode ... 5−22 Festo P.BE−SPC200−EN en 0901d...
  • Page 8 Contents and general instructions Operating the SPC200 with the control panel ..... . . 6−1 Structure and functions of the control panel .
  • Page 9 ........B−10 B.3.1 Proceed as follows if the compressed air supply is unstable ..B−16 Festo P.BE−SPC200−EN en 0901d...
  • Page 10 ......... C−30 C.4.4 Technical specifications of control panel type SPC200−MMI−1 ..C−31 C.4.5...
  • Page 11 Contents and general instructions Festo P.BE−SPC200−EN en 0901d...
  • Page 12 Observe also the safety regulations listed in the operating instructions for the pneumatic and electric compo nents used. The SPC200 and the modules and cables to be connected are only to be used as follows: in accordance with designated use only in industrial applications without any modifications by the user.
  • Page 13 Faults in parametrizing can cause injury to human beings and damage to property, if the controller is enabled with a 1−signal at the ENABLE input. Enable the controller only if the axis system is correctly installed and parametrized. Festo P.BE−SPC200−EN en 0901d...
  • Page 14 This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing posi tioning systems. Service Please consult your local Festo repair service if you have any technical problems. Festo P.BE−SPC200−EN en 0901d...
  • Page 15 This means that failure to observe this instruction may result in damage to property. The following pictogram marks passages in the text which describe activities with electrostatically sensitive compo nents. Electrostatically sensitive components may be damaged if they are not handled correctly. XIII Festo P.BE−SPC200−EN en 0901d...
  • Page 16 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.
  • Page 17 Common term for the modules which provide digital inputs and outputs on the axis interface string. I/Os Digital inputs and outputs Modules Function cards which are inserted in the rack of the SPC200. PLC/IPC Programmable logic controller/industrial PC Digital output Register String All the modules which are each connected to an axis interface string.
  • Page 18 Detailed informa tion on this can be found in the manual for the relevant module. Information on commissioning, programming and diagnosing the SPC200 with the WinPISA software package can be found in the relevant manual for WinPISA. Type Title...
  • Page 19 Contents and general instructions Information on operating system versions of the SPC200 and software versions of WinPISA This manual supports the following operating systems and WinPISA versions: Operating system Date of validity Associated WinPISA Date of validity Version 3.8 08−2001 Version 4.1...
  • Page 20 The explanations in the text must be observed. Overview of operating system versions The following table provides an overview of the changes in the operating system (firmware) of the SPC200: Version Identification What has been changed See section up to 3.8...
  • Page 21 ENABLE signal as from OS 4.63 on and off have been modified. A version check has been introduced. This prevents programs with new capabilities/ functions from being changed inadver tently by older versions. Festo P.BE−SPC200−EN en 0901d...
  • Page 22 OS 4.90 Support of fieldbus module type Description of SPC200−COM−DN2 fieldbus module System status flags F88 and F89 as status 7.2.6 flags for Task A and B. CP−I/O modules type CP..−CL are sup ported. Festo P.BE−SPC200−EN en 0901d...
  • Page 23 At least WinPISA 4.51 is recommended for New feature 4.93 this version. as from OS 4.93 Error messages via the fieldbus can be Description of suppressed through paramaterization (no fieldbus module stop of the PLC). Stop behaviour can be configured. 5.2.1, 5.3.1 Festo P.BE−SPC200−EN en 0901d...
  • Page 24 Contents and general instructions XXII Festo P.BE−SPC200−EN en 0901d...

  • Page 25: Summary Of Components

    Summary of components Chapter 1 1−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 26 ....... . . 1−4 1.1.1 The range of devices for the SPC200 ......1−5 1.1.2...
  • Page 27 1. Summary of components Contents of this chapter This chapter provides an overview of the extension possibi lities for positioning systems with SPC200 as well as the range of devices and the structure of the SPC200. This chapter also contains basic information on:...

  • Page 28: The Spc200 Positioning Controller

    The SPC200 positioning controller Festo assists you with your positioning tasks with the SPC200 Smart Positioning Controller. The SPC200 is a univer sal, modular−based controller which supports the coupling of pneumatic and electric axes with connection to field bus sys tems.

  • Page 29: The Range Of Devices For The Spc200

    1. Summary of components 1.1.1 The range of devices for the SPC200 The range of devices for the SPC 200 includes the following components: Components Function SPC200 The SPC200 is housed in a rack. Depend type SPC200−...−... ing on the requirement of the positioning task you can install the necessary compo nents in the rack.
  • Page 30 Special designs are available for various type CP−E16...−M... connection variants. Provide inputs for connecting sensors and enable e.g. cylinder positions to be scanned. Output module Provide universally useable electric type CP−A08−M12 outputs for controlling low−current consuming devices (valves, bulbs etc.). 1−6 Festo P.BE−SPC200−EN en 0901d...
  • Page 31 1. Summary of components Supported drives The SPC200 supports the pneumatic drives listed in the following table. Consult Festo if you wish to use other drives. Drive Description Measuring From operating Permitted system system fitting position Linear drive type Built−on or Version 3.8...
  • Page 32 1. Summary of components Notes on planning pneumatic axes Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. On each side of the drive positioning must not take place in the range of the stroke reduction (see appendix A).

  • Page 33: Structure Of The Spc200

    1. Summary of components 1.1.2 Structure of the SPC200 The SPC200 is built up on a modular basis and is housed in a rack. The host computer and memory of the SPC200 are situ ated on the rear wall printed circuit board in the rack.
  • Page 34 1. Summary of components Basic modules With the following modules the SPC200 provides a func tional controller device for penumatic axes: Power supply module type SPC200−PWR−AIF Diagnostic module type SPC200−MMI−DIAG I/O module type SPC200−DIO Fig. 1/2: Basic modules of the SPC200...
  • Page 35 The permitted voltage range is 0...10 V. I/O module Provides further freely programmable I/Os. The SPC200 supports maximum 4 I/O modules. Sub−controller module Enables two further pneumatic axes and further I/O modules to be connected.
  • Page 36 See section Documentation for the SPC200", page XV. Field bus module Enables connection to be made to the relevant field bus See section Documentation for the SPC200", page XV. 1−12 Festo P.BE−SPC200−EN en 0901d...

  • Page 37: Positioning Systems With The Spc200

    The axis interface is connected to the SPC200 by only one cable, the axis interface string. The following diagram shows the basic layout of a pneumatic axis with the SPC200.
  • Page 38 5 m filter a 24 V DC power supply if necessary, components for a pneumatic emergency stop circuit. The SPC200 Smart Positioning Controller takes control of the following tasks: specification of the nominal positions by positioning control...
  • Page 39 1. Summary of components Method of operation The following diagram shows the basic layout of a position ing control circuit with the SPC200 Smart Positioning Con troller. Position of the drive = control variable Axis interface Actual position (actual value)
  • Page 40 1. Summary of components The measured values are passed on from the axis interface to the SPC200 Smart Positioning Controller. The SPC200 com pares the nominal position with current position and calcu lates from this value the positioning signal for the propor tional directional control valve.

  • Page 41: Examples Of Multiple−Axis Systems

    1. Summary of components 1.2.2 Examples of multiple−axis systems The SPC200 can be operated independently as well as in con junction with a higher−order PLC/IPC. Within certain limits, it can also manage control functions. For this purpose I/O mod ules with digital inputs/outputs can be incorporated in the SPC200 or external I/O modules can be connected to the axis interface string.
  • Page 42 1. Summary of components INPUT/OUTPUT POWER DIAG OUTPUT INPUT First axis interface string Axis interface Second axis interface string (optional) External I/O modules Fig. 1/5: Connecting pneumatic axes and external I/O modules 1−18 Festo P.BE−SPC200−EN en 0901d...
  • Page 43 Further field bus slaves SPC200 Smart Positioning Controller Stepping motor axis Control cabinet Pneumatic axis (here type DGPL−...) Stepping motor controller Axis interface string (max. 2 axes) Fig. 1/6: Extension possibilities for positioning systems with the SPC200 1−19 Festo P.BE−SPC200−EN en 0901d...

  • Page 44: Structure Of The Axis Interface String

    SPC200 via the axis interface string. In its basic design, the SPC200 can take control of the posi tioning of two pneumatic axes. Two axis interfaces and two pneumatic axes can therefore be connected to the axis inter face string.
  • Page 45 1. Summary of components Maximum two axis interface strings and therefore up to four pneumatic axes are possible (X, Y, Z, U) per SPC200. The sec ond axis interface string is connected via the sub−controller module type SPC200−SCU−AIF, which takes control of the positioning of the further axes.
  • Page 46 DIAG OUTPUT INPUT Possible alternatives Module with outputs/valves Axis interface of the X−axis Module with inputs Axis interface of the Y−axis Module with inputs and outputs Fig. 1/9: Configurations on the axis interface string (examples) 1−22 Festo P.BE−SPC200−EN en 0901d...
  • Page 47 The individual modules are connected to each other by cables. Information is transmitted between the modules and the SPC200 via this cable. The operating voltage and the load voltage are also provided via this cable. Identification of all connected modules is carried out automatically by the SPC200.

  • Page 48: Operating Modes Of The Spc200

    Operating modes of the SPC200 The SPC200 offers suitable operating modes for the different applications. The functions of the digital inputs and outputs of the SPC200 depend on the operating mode set. The follow ing operating modes are available: Start/Stop mode...

  • Page 49: Multi−Axis Applications With The Spc200

    Multi−axis applications with the SPC200 The SPC200 axis controller offers the possibility of parallel program processing and supports the setting up of multi−axis applications. An SPC200 can control up to 4 axes. It thereby supports: the coordinated mode the autonomous mode...

  • Page 50: Commissioning And Programming Possibilities

    Please note From operating system 4.6 onwards it is recommended to carry out configuration and commissioning of the axes and programming of the SPC200 controller with WinPISA ver sion 4.3 or later. 1−26 Festo P.BE−SPC200−EN en 0901d...
  • Page 51 Test functions for components Program test in single steps Extended test functions Uploading/downloading programs Starting and stopping programs Service Updating the SPC200 firmware by downloading Reading out statistic diagnostic data Analysis and Graphical representation of measured data Optimization Entering extended system data If they correspond to operating system version 3.8, see also page XVI...
  • Page 52 1. Summary of components Control panel Control panel type SPC200−MMI−1... has a two−line LCD dis play. Up to 16 characters per line can be represented. The control panel has six buttons with which all functions can be accessed by menu.
  • Page 53 The WinPISA project window offers fast access to all project data. All project components, such as the position list, pro grams and configuration data are represented graphically in the project window. A double click suffices for checking set tings or for undertaking modifications. 1−29 Festo P.BE−SPC200−EN en 0901d...
  • Page 54 From operating system version 4.63 onwards, position registers (@n) can also be used for saving speed and ac celeration values and other parameters. Detailed informa tion can be found under the specific NC commands, see section 7.2.3. 1−30 Festo P.BE−SPC200−EN en 0901d...

  • Page 55: I/O Address Range Of The Spc200

    1. Summary of components I/O address range of the SPC200 A complete word (16 bit) for inputs and/or outputs is avail able for every component and every I/O module, irrespective of how many I/Os are integrated. Configuring the SPC200 Maximum address range...
  • Page 56 I1.0 ... I1.15 Q3.0 ... Q3.15 I3.0 ... I3.15 These I/Os are partly reserved by Q = output; I = input pre−assigned functions (control inputs and outputs) Fig. 1/12: Address assignment without field bus module (example) 1−32 Festo P.BE−SPC200−EN en 0901d...

  • Page 57: Fitting

    Fitting Chapter 2 2−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 58 Notes on fitting the pneumatic axis ....... . . 2−20 2−2 Festo P.BE−SPC200−EN en 0901d...
  • Page 59 2. Fitting Contents of this chapter This chapter explains how to fit and remove SPC200 modules as well as how to fit the following components: SPC200 basic unit Control panel Axis interface I/O function module This chapter also contains instructions on how to fit the pneumatic axis.
  • Page 60 Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string.

  • Page 61: Fitting And Removing Components

    Discharge yourself of static electricity before fitting or removing the modules. The rack type SPC200−CPU−... serves as a housing for the components of the SPC200. The processor and memory of the SPC200 are situated on the integrated rear−wall printed circuit board.
  • Page 62 Mount the stepping motor indexer module and the field bus module with a gap of at least one location from the diagnostic module, if you are using a control panel. 2−6 Festo P.BE−SPC200−EN en 0901d...
  • Page 63 2. Fitting Warning Actuators can be activated unintentionally and the SPC200 can be damaged if modules are fitted or removed when the power supply is switched on. Before carrying out in stallation and/or maintenance work, switch off the follow ing in the sequence specified: 1.
  • Page 64 2. Disconnect and remove the connecting cable from the front of the module. 3. Unlock both locking levers (see Fig. 2/1) and carefully remove the module. 4. If necessary, seal the unused connections with blanking plates. 2−8 Festo P.BE−SPC200−EN en 0901d...

  • Page 65: Fitting The Basic Unit

    2. Fitting Fitting the basic unit You can fit the SPC200 into a control cabinet in one of two ways: by screwing it directly to the wall of the control cabinet by means of a hat rail. Please note Fit the SPC200 or the hat rail so that there is sufficient space (above or below for heat dissipation 40 mm).
  • Page 66 CPV10/14−VI−BG−NRH. This kit consists of 2 brackets, 4 M4x10 screws and 2 clamping elements with spring (see Fig. 2/3). Proceed as follows when fitting the SPC200 onto a hat rail: 1. Make sure that the mounting surface can support the weight of the SPC200.
  • Page 67 2. Fitting M4*10 screw Clip Hat rail Clamping element Fixing bolts Fig. 2/3: Fitting the rack onto a hat rail Proceed with dismantling as follows: 1. Remove the clamping elements. 2. Lift up the rack. 2−11 Festo P.BE−SPC200−EN en 0901d...

  • Page 68: Fit The Control Panel Into Position

    1. the compressed air supply 2. the load and operating voltage supplies on the SPC200 and, if applicable, the load voltage supply on the axis interface string.
  • Page 69 Fig. 2/4: Fitting the control panel Proceed with dismantling as follows: 1. Switch off the compressed air supply. 2. Switch off the operating voltage and load voltage supplies for the SPC200. 3. Carefully lift up the control panel from diagnostic module type SPC200−MMI−DIAG. 2−13...
  • Page 70 2. Fitting Control panel type SPC200−MMI−1F Control panel type SPC200−MMI−1F is intended for mounting in a front plate. For fastening the control panel you require a space of approx. 114 x 102 x 70 mm and a cut−out area of approx.
  • Page 71 2. Hang the fastening clamps from the rear into the appropriate cut−outs. 3. Screw the control panel to the front plate. Control panel Front plate Fastening clamps Fastening screws Fig. 2/7: Fitting control panel type SPC200−MMI−1F 2−15 Festo P.BE−SPC200−EN en 0901d...

  • Page 72: Fitting The Axis Interface And The I/O Function Module

    Fig. 2/8 (dimension 16.9 mm"), see the brief description supplied with the product. The axis interfaces of type SPC−AIF−POT, ...−LWG, ...−MTS can be fitted vertically. Separate support brackets (accessories) are necessary here. 2−16 Festo P.BE−SPC200−EN en 0901d...
  • Page 73 Additional support bracket (accessory) for fitting with vertical mounting Fig. 2/8: Fitting dimensions of axis interface type SPC−AIF−POT, ...−LWG and ...−MTS Fastening holes for horizontal mounting Angled plug Fig. 2/9: Fitting dimensions of axis interface type SPC−AIF−INC 2−17 Festo P.BE−SPC200−EN en 0901d...
  • Page 74 2. Fasten the hat rail at least every 100 mm to the fastening surface. 3. Snap both fastenings into the hat rail (see Fig. 2/11). 4. Screw the housing to the fastening with the screws and washers supplied, as shown in the following diagram. 2−18 Festo P.BE−SPC200−EN en 0901d...
  • Page 75 Fig. 2/11: Fitting the SPC−FIO−2E/2A−M8 onto a hat rail Proceed with dismantling as follows: 1. Loosen the screws. 2. Remove the housing. 3. Use a screwdriver to lift the fastening out of the hat rail. Screwdriver Fastening Fig. 2/12: Dismantling the fastening 2−19 Festo P.BE−SPC200−EN en 0901d...

  • Page 76: Notes On Fitting The Pneumatic Axis

    If the proportional directional control valve is to be used in an environment subjected to heavy electrical interfer ence, it should be insulated from the mounting surface. Use silencers with a large flow. 2−20 Festo P.BE−SPC200−EN en 0901d...
  • Page 77 The play between the drive, guide, mass and measuring system must be smaller by the factor 10 than the required tolerance (max. 0.1 mm). 2−21 Festo P.BE−SPC200−EN en 0901d...
  • Page 78 2. Fitting 2−22 Festo P.BE−SPC200−EN en 0901d...

  • Page 79: Installation

    Installation Chapter 3 3−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 80 3.5.4 Connections of the I/O module type SPC200−DIO−....3−38 3.5.5 Connections of the analogue input module type SPC200−2AI−U 3−47 3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF 3−50 Installing the modules on the axis interface string .
  • Page 81 Contents of this chapter This chapter contains general instructions on installing the pneumatic axis. It also deals with the installation of the SPC200 basic unit with the following components and modules: Power supply module type SPC200−PWR−AIF Diagnostic module type SPC200−MMI−DIAG I/O module type SPC200−DIO...

  • Page 82: General Instructions On Installation

    Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string.

  • Page 83: General Instructions On Fitting The Pneumatic Components

    5 m filter. Use only dry non−lubricated 5 m filtered compressed air · 4...8 bar, tolerance ± 1 bar. Note the permitted pressure range of the components used. 3−5 Festo P.BE−SPC200−EN en 0901d...

  • Page 84: Service Unit

    Reference value: twice the rated flow of the valve (type MPYE−5−...) use a microfilter if you cannot avoid slight oil mist from the compressed air supply. 3−6 Festo P.BE−SPC200−EN en 0901d...

  • Page 85: Compressed Air Reservoir (Optional)

    = 2 * V = buffer volume; = cylinder volume (V * * L = cylinder stroke length = cylinder diameter / 2 3−7 Festo P.BE−SPC200−EN en 0901d...

  • Page 86: Proportional Directional Control Valve Type Mpye−

    Install larger silencers with the aid of tubing or pass the · ducted exhaust into a small compressed air reservoir and exhaust this with a large silencer. Make sure that the screw connectors and tubing provide sufficient flow. Keep the tubing as short as possible. 3−8 Festo P.BE−SPC200−EN en 0901d...
  • Page 87 3. Installation Ducted exhaust Compressed air reservoir Silencer Fig. 3/2: Ducted exhaust 3−9 Festo P.BE−SPC200−EN en 0901d...

  • Page 88: Compressed Air Tubing And Screw Connectors

    CK screw connectors of type CK−3/8−PK−13 are also permitted. Use only straight screw connectors. If angled connectors · cannot be avoided, use plug connectors from the Festo Quick Star series. Use screw connectors with the largest possible rated · width. If the proportional directional control valve and the...

  • Page 89: Drives

    3. Installation 3.2.6 Drives Use only the permitted drives with suitable guide listed in appendix A. Consult Festo if you wish to use other drives. Installation instructions for the permitted drives can be found in appendix A. 3.2.7 General instructions on measuring systems...

  • Page 90: Requirements Of The Mechanism

    0.1 mm. 3.2.9 Mass load For good positioning behaviour, the SPC200 must be adjusted to the mass load. Here the mass load represents the com plete mass to be moved with the positioning drive, including the weight of the piston and the slide.
  • Page 91 A pneumatic positioning axis always requires a minimum mass load. You can find these values in Tab. 3/1 and Tab. 3/2. If necessary, this minimum mass load must be ensured through the use of an additional weight. 3−13 Festo P.BE−SPC200−EN en 0901d...
  • Page 92 (max. workpiece mass, is defined in the application data) With this option you have the capability to adjust the servo setting of the SPC200 to various mass loads. Depending on the application, you can thus, if necessary, define the mass load of the initial state so that it is between the smallest and largest value.
  • Page 93 The mass moment of inertia must not change during the movement. Permitted mass moments of inertia for rotary module type DSMI−... in electronically regulated operation with the SPC200 are shown in the following table: Rotary module Permitted mass moment of inertia −4...

  • Page 94: Additional Pneumatic Circuits

    Please note If the operating voltage supply for the SPC200 is switched off, the proportional directional control valve type MPYE will move to the mid−position. Due to the asymmetrical voltage−pressure curve of the proportional directional con...

  • Page 95: Dimensional Reference System Terms And Definitions

    Fig. 3/5 and Fig. 3/6, the following applies: an arrow pointing to the right (or clockwise) represents a positive or increasing value. an arrow pointing to the left (or anti−clockwise) repre sents a negative or decreasing value. 3−17 Festo P.BE−SPC200−EN en 0901d...
  • Page 96 A) Drive type DGP(I)(L)−... Linear drive in this case DGPL with measuring system built on Slide shown here in various positions Measuring system type TLF, electric connection on the left side Fig. 3/3: Dimensional reference system for DGP(I)(L) 3−18 Festo P.BE−SPC200−EN en 0901d...
  • Page 97 It is a signed value; the arrow direction indicated corresponds to a positive numeric value. The mounting offset also affects the servo optimization of the SPC200; even small values (a few mm) must be specified as precisely as possible.
  • Page 98 Measuring system type LWG, electric with measuring system built on connection on the left side Piston rod advanced in various Connecting rod of the measuring positions system in various positions Fig. 3/4: Dimensional reference system for DNC(M) 3−20 Festo P.BE−SPC200−EN en 0901d...
  • Page 99 It is a signed value; the arrow direction indicated corresponds to a positive numeric value. The mounting offset also affects the servo optimization of the SPC200; even small values (a few mm) must be specified as precisely as possible.
  • Page 100 Reference stop either end stop of the with integrated incremental measuring drive itself (reproducibility: ~ 1/10 mm) system or built on externally (reproducibility: ~ 1/100 mm) Piston rod advanced in various positions Fig. 3/5: Dimensional reference system for DNCI 3−22 Festo P.BE−SPC200−EN en 0901d...
  • Page 101 This is always a positive value. This offset value also affects the servo optimization of the SPC200; even small values (a few mm) must be specified as precisely as possible. Project zero point offset specifies the offset between the axis zero point and the project zero point.
  • Page 102 D) Drive type DSMI−... Rotary drive type − in this case DSMI Electrical connection of the angle with integrated angle measuring measuring system system Stop lever in various angle positions Fig. 3/6: Dimensional reference system for DSMI 3−24 Festo P.BE−SPC200−EN en 0901d...
  • Page 103 Electric reserve of the measuring system. This is used to monitor the electrical connection. In the DSMI, this reserve is already built in, and does not have to be considered by the user. 3−25 Festo P.BE−SPC200−EN en 0901d...

  • Page 104: Installing The Spc200

    SPC200 and field devices (plug X2, pin 2). You can thereby avoid: uncontrolled movements of the connected actuators uncontrolled movement of loose tubing undefined switching states.

  • Page 105: Selecting The Power Unit

    The current requirement depends on the number and · type of the connected components. When selecting the power unit, check that it provides sufficient output. If necessary, calculate the total current requirement accord ing to the following table. 3−27 Festo P.BE−SPC200−EN en 0901d...
  • Page 106 (see technical specifications for the valves) The current requirement is determined by the loads to be switched (e.g. individual valves, protection devices, etc.). Supplied directly at the supply terminals of the outputs of I/O module SPC200−DIO−... 3−28 Festo P.BE−SPC200−EN en 0901d...

  • Page 107: Connections On The Supply Module

    3. Installation 3.5.2 Connections on the supply module The following connecting and display elements can be found on the front of power supply module type SPC200−PWR−AIF: Power supply module type SPC200−PWR−AIF Combicon screw terminal for axis interface string (X1) ERROR LED for fault display (red) POWER LED for power supply (green) 3−pin Combicon screw terminal for power supply (X2)
  • Page 108 If the distance between the power unit and the SPC200 is · more than one metre, provide two separate supply cables for the load voltage and the logic supply starting at the power unit.
  • Page 109 The SPC200 is provided with earth connections on the left and right−hand sides of the rack. Please note Connect one of the earth cables of the SPC200 with low impedance (short cable with large cross−sectional area) to the earth potential.
  • Page 110 Fig. 3/9: Example connection of a common 24 V supply Please note Switching off the load voltage leads to faults (e.g. under voltage, AIF string faults) which must be quitted when the load voltage is switched on again. 3−32 Festo P.BE−SPC200−EN en 0901d...
  • Page 111 (see section 3.6). You can then avoid functional faults on the SPC200 and on the modules connected to the axis interface string. The bus signals, the operating voltage and the load voltage for the connected field devices are provided via the 5−pin...
  • Page 112 Depending on the cable used, connect the cable screening either to the earth connection 1 or to a large surface, com plying with EMC requirements as follows: to a screening plate intended for this purpose through the cable opening into the control cabinet. 3−34 Festo P.BE−SPC200−EN en 0901d...

  • Page 113: Connections Of The Diagnostic Module

    SPC−MMI−1. a connection for a PC or for control panel type SPC200−MMI−1F. This serial interface is on a 9−pin sub min−D plug and complies with standard RS232. The serial interface is operated with the following settings: Baud rate: 9.6 ...
  • Page 114 Connect the diagnostic cable (programming cable) as follows: 9−pin plug on the 9−pin socket of the diagnostic module 25−pin or 9−pin socket on the serial interface of your PC. Instructions on connecting control panel type SPC200−MMI−1F can be found in section 3.6.3. 3−36 Festo P.BE−SPC200−EN en 0901d...
  • Page 115 Caution The control panel may be damaged if it is inserted into the SPC200 when power is still applied. Switch off the operat ing voltage before inserting the control panel into the SPC200.

  • Page 116: Connections Of The I/O Module Type Spc200−Dio−

    3. Installation 3.5.4 Connections of the I/O module type SPC200−DIO−... For controlling the SPC200 via digital I/Os, you will require an I/O module type SPC200−DIO−..This module provides 10 digital inputs and 8 digital outputs for the following func...
  • Page 117 (not with separate potential) 0 V: 0 V (not with separate potential) Input 0 Input 9 Fig. 3/13: Assignment of plug X5/X7 (inputs) Three−wire sensor Two−wire sensor Contact Fig. 3/14: Example of circuitry (PNP inputs) 3−39 Festo P.BE−SPC200−EN en 0901d...
  • Page 118 Example 1 Example 2 Not permitted Load supply 24 V Fig. 3/16: Example of circuitry (outputs X6/X8) Fig. 4/1 shows how you can supply the load voltage for plugs X2 and X6/X8 with a power unit. 3−40 Festo P.BE−SPC200−EN en 0901d...
  • Page 119 Addressing The assignment of the I/O address range depends on the configuration of the SPC200. If a field bus module is in stalled, the address range 0.0 ... 0.9 will remain unassigned. The assignment of the I/O addresses for configurations with...
  • Page 120 I/Os for controlling the SPC200 (I0.0 ... I0.9 and Q0.0 ... Q0.7). All I/Os of further I/O modules are freely programmable. If a field bus module is installed, the address ranges I0.0 ...
  • Page 121 I0.9 ENABLE ENABLE Designation on the module Addresses of the first installed I/O module when configured without a field bus module (I = input) RESET (Program Reset) in conjunction with 0−signal at the STOP input 3−43 Festo P.BE−SPC200−EN en 0901d...
  • Page 122 0 V external supply of outputs Designation on the module Addresses of the first installed I/O module when configured without a field bus module (Q = output) No freely programmable I/Os are supported in this operating mode. 3−44 Festo P.BE−SPC200−EN en 0901d...
  • Page 123 Ix.1 Ix.2 Ix.3 Ix.4 Ix.5 Ix.6 Ix.7 Ix.8 Ix.9 Designation on the module The word number (here x) depends on the configuration (I = input). No freely programmable I/Os are supported in this operating mode. 3−45 Festo P.BE−SPC200−EN en 0901d...
  • Page 124 24 V external supply of outputs 0 V external supply of outputs Designation on the module The word number (here x) depends on the configuration (Q = output). No freely programmable I/Os are supported in this operating mode. 3−46 Festo P.BE−SPC200−EN en 0901d...

  • Page 125: Connections Of The Analogue Input Module Type Spc200−2Ai−U

    3. Installation 3.5.5 Connections of the analogue input module type SPC200−2AI−U Two such modules can be installed in the basic unit type SPC200−CPU−6. Each module possesses two differential in puts. The first module (inserted on the left) provides differen tial inputs 1 and 2; the second module provides differential inputs 3 and 4.
  • Page 126 Always connect the cable screening for the analogue · signal cables on one side to the earth connection (pin 9). If possible use short signal cables. The maximum cable length should not exceed 4 m. 3−48 Festo P.BE−SPC200−EN en 0901d...
  • Page 127 A1− [A2−] Signal (−) A1+ [A2+] Signal (+) SPC200−2AI−U Fig. 3/18: Connecting a differential signal Circuitry for connecting a potentiometer Potentiometer SPC200−2AI−U Screening/shield Earth/ground connection A1+ [A2+] A1− [A2−] Fig. 3/19: Connecting a potentiometer 3−49 Festo P.BE−SPC200−EN en 0901d...

  • Page 128: Connections Of The Sub−Controller Module Type Spc200−Scu−Aif

    3. Installation 3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF In its basic design, the SPC200 can take control of the posi tioning of two pneumatic axes. With the sub−controller mod ule maximum four pneumatic axes can be operated with one SPC200.
  • Page 129 In order to avoid confusing the connections X10 and X1, assign different codes to each connection. In order to do this, push the coding pins supplied into different grooves in the contact strips. Remove the relevant material on the plug. 3−51 Festo P.BE−SPC200−EN en 0901d...

  • Page 130: Installing The Modules On The Axis Interface String

    Please note Connect the earth connection of the modules with low impedance (short cable with large cross−sectional area) to the earth potential. In this way, you will avoid interference caused by electromag netic influences. 3−52 Festo P.BE−SPC200−EN en 0901d...
  • Page 131 3. Configuration on the axis interface string At first maximum two axis interfaces are connected to the SPC200. If required, the I/O function module or at first a CP module with outputs, and then a CP module with inputs, is connected to the last axis interface.
  • Page 132 8 m CP−E16−M... Without external load voltage supply Without external load voltage supply only type CPV10−VI−FB−6 or type CPV14−VI−FB−6 is permitted Fig. 3/21: Maximum permitted cable lengths on the axis interface string (one axis) 3−54 Festo P.BE−SPC200−EN en 0901d...
  • Page 133 8 m SPC−AIF−SUP−24V SPC−AIF−SUP−24V SPC−AIF−SUP−24V SPC−FIO−2E/2A CPV−...−VI−FB−... CPV−...−VI−FB−... max. 8 m max. 8 m CP−E16−M−... CP−E16−M−... Without external load voltage supply Fig. 3/22: Maximum permitted cable lengths on the axis interface string (two axes) 3−55 Festo P.BE−SPC200−EN en 0901d...

  • Page 134: Installing The Axis Interface Spc−Aif−

    · plied. Only in this way can you comply with protection class IP65. Please note Maximum two axis interfaces may be connected to an axis interface string. Types for different measuring systems may be mixed. 3−56 Festo P.BE−SPC200−EN en 0901d...
  • Page 135 3. Installation The axis interface provides the connection between the com ponents on the axis and the SPC200. It reads the values sup plied by the measuring system and passes them onto the SPC200. It also passes the received positioning values in analogue form to the proportional directional control valve.
  • Page 136 Connecting the axis interface to the SPC200 Warning Note the maximum permitted cable lengths between the individual modules on the axis interface string and the SPC200 (see section 3.6). Use only the following original cables for connecting the axis interface. Cable type Description KSPC−AIF−1−WD−...
  • Page 137 The axis interface type SPC−AIF−INC has an 8−pin M12 plug for the sensor connection. Please note Use only the original cable. Do not extend the cable. Inter ference due to electromagnetic influences can be avoided if a short cable is used. 3−59 Festo P.BE−SPC200−EN en 0901d...
  • Page 138 4: Nominal value U(s) yellow 5: GND grey 6: n.c. (not connected) pink n.c. 7: 24 V supply for valves white 1: 24 V supply for valves blue n.c. (not connected) n.c. Fig. 3/24: Valve connection 3−60 Festo P.BE−SPC200−EN en 0901d...

  • Page 139: Installation I/O Function Module Type Spc−Fio−2E/2A−M8

    Use cable type KM8−M8−GSGD−... and plug with union nut with M8x1 thread for connecting sensors and actuators. Seal unused connections with the protective caps supplied. Only in this way can you comply with protection class IP65. 3−61 Festo P.BE−SPC200−EN en 0901d...
  • Page 140 Status LED per input (green) Actuator connections (outputs) Sensor connections (inputs) Status LED per output (yellow) Connection for axis interface string Protective cap Status LED (green) Earth/ground connection Fig. 3/25: Connecting elements of the I/O function module type SPC−FIO−2E/2A−M8 3−62 Festo P.BE−SPC200−EN en 0901d...
  • Page 141 Module on AIF string 1: x = 1; module on AIF string 2: x = 3 Fig. 3/26: Pin assignment of the outputs Example 1 Example 2 Not permitted Fig. 3/27: Example of circuitry of outputs (PNP) 3−63 Festo P.BE−SPC200−EN en 0901d...
  • Page 142 Module on AIF string 1: x = 1; module on AIF string 2: x = 3 Fig. 3/28: Pin assignment of the inputs Three−wire sensor (positive− switching) Two−wire sensor (positive− switching) Contact Fig. 3/29: Example of circuitry of inputs (PNP) 3−64 Festo P.BE−SPC200−EN en 0901d...

  • Page 143: Installing Control Panel Spc200−Mmi−1F

    Functional earth (FE) Fig. 3/30: Connecting the power supply on the control panel Connect the RS232 interface of the control panel with socket X4 of the diagnostic module SPC200−MMI−DIAG. The maxi mum cable length is 10 m. Use diagnostic cable (programming cable) type KDI−PPA−3−BU09 for connecting to the SPC200.
  • Page 144 3. Installation 3−66 Festo P.BE−SPC200−EN en 0901d...

  • Page 145: Commissioning

    Commissioning Chapter 4 4−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 146 ......4−27 4.4.3 Notes on commissioning multi−axis systems ....4−42 4−2 Festo P.BE−SPC200−EN en 0901d...
  • Page 147 4. Commissioning Contents of this chapter This chapter describes the commissioning of a pneumatic axis with the SPC200. Commissioning is explained using the example of a single− axis system controlled by an I/O module. The basic pro cedure as well as the description of the I/O control signals is also relevant for systems with an installed field bus module.
  • Page 148 Caution The SPC200 is set at the factory to certain axis and ap plication data. Before applying compressed air, you must adapt these settings to your application and to the axes which you are using.

  • Page 149: Procedure For Commissioning

    Before switching on the compressed air or the stepping motor controller for electric axes, you must first make known to the SPC200 the conditions of use in your positioning sys tem and the type of components used. You can undertake the...
  • Page 150 Carry out a movement test with the control panel or with WinPISA (see section 4.4.2, step 2). 3. Only for DNCI: New feature Carry out a reference run; only possible with WinPISA as from OS 4.82 from version 4.41. Not supported by the MMI. 4−6 Festo P.BE−SPC200−EN en 0901d...
  • Page 151 Observe here the positioning behaviour of the axis (see section 4.4.2, step 7). When all the axes are ready for operation, you can start com missioning the complete positioning system. The necessary steps depend on the equipment fitted on the system. 4−7 Festo P.BE−SPC200−EN en 0901d...

  • Page 152: Connecting A Single−Axis System For The First Commissioning

    Connecting a single−axis system for the first commissioning Caution Leave the compressed air supply switched off. · The SPC200 is set at the factory to certain axis and · application data. Before applying compressed air, you must adapt these settings to your application and to the axes which you are using.
  • Page 153 SPC200 no longer exchanges any data, all control signals are set to a 0−signal, all outputs on the SPC200 remain in the last valid state until they are reset by the SPC200 itself or by Power off/on.
  • Page 154 24 V RESET Load voltage (can be switched off separately) 24 V RESET (Program Reset) in conjunction with 0−signal at the STOP input Fig. 4/1: Connection diagram for the first commissioning via an I/O module 4−10 Festo P.BE−SPC200−EN en 0901d...
  • Page 155 With the movement test: The movement test will be discontinued. The valve control voltage will be set to an electrical medium value (offset). The READY output on the SPC200 will be reset (see Fig. 4/2). 4−11 Festo P.BE−SPC200−EN en 0901d...
  • Page 156 4. Commissioning 1 = 1−signal = 24 V 0 = 0−signal = 0 V ENABLE input on the SPC200 Reaction time of the SPC200: without stepping motor module: READY output on the SPC200 max. 100 ms with stepping motor module: Reaction time max.
  • Page 157 (Emergency stop). Due to the asymmetrical voltage−pressure curve of the proportional directional control valve, the slide can move slowly into one of the end positions when the supply pressure is switched on. 4−13 Festo P.BE−SPC200−EN en 0901d...
  • Page 158 0−signal to 1−signal. READY output This output supplies a 1−signal if the system is ready to oper ate. A 0−signal at this output indicates that the SPC200 is not yet ready to operate, because: there is a system fault or positioning fault...
  • Page 159 Please note If you are using control panel type SPC200−MMI−1F: When the MMI−1F is switched on, it tries to communicate with the SPC200. The SPC200 must therefore be ready for communication. Switch on the power supplies for the SPC200 and the MMI−1F therefore either simultaneously or in the following...
  • Page 160 4. Commissioning In this case the actual configuration of the SPC200, as well as the configuration on the axis interface string, is not the same as the saved nominal configuration. Proceed as described in section 4.3.1 under Save hardware configuration".

  • Page 161: Overview Of The Parameters Of A Positioning Axis

    A distinction is made between the axis data, the application− specific data, and the controller data. The data sets are configured and loaded into the SPC200 by means of either the control panel see section 4.4 and chapter 6 or with the WinPISA configuration and program ming software.

  • Page 162: Pneumatic Axis Data

    Length 1000 Diameter Measuring system Design Potentiometer Temposonic Length 1000 Valve Type MPYE−5−1/8−HF−010B MPYE−5−1/4−010B Flow factor Not available via control panel Value=1 means: optimal flow characteristics, no reduction due to angled connectors, very thin hoses. 4−18 Festo P.BE−SPC200−EN en 0901d...

  • Page 163: Application Data For Pneumatic Axes

    Reference run mode Not available via control panel This value is saved in the SPC200 as a % value of the Max. mass of the workpiece", and depicted in WinPISA as a Kg value. This % value cannot be altered using the control panel.

  • Page 164: Axis Data Of An Electric Stepping Motor Axis

    The axis data describe all characteristics of the selected drive, including the selected stepping motor: Axis data Unit Default values Example Cylinder Designation DGE−40−ZR Length Flow factor Motor / gear unit Motor MTR−ST87−48S−GB Steps per revolution Gear unit Not available via control panel 4−20 Festo P.BE−SPC200−EN en 0901d...

  • Page 165: Application Data Of An Electric Stepping Motor Axis

    Reference speed factor Maximum speed 0.10 Maximum acceleration 0.50 Reference run mode Corresponds to Resolution" on the control panel Only limited availability via control panel Operand = resolution for full step divided by the step mode 4−21 Festo P.BE−SPC200−EN en 0901d...

  • Page 166: Controller Data

    The Positioning timeout is used to monitor the time duration of a positioning task. If the configured time after the begin ning of a positioning task elapses without an MC signal being set, the SPC200 generates a fault. The parameter value 0 switches off the function. Controller data...

  • Page 167: Commissioning With The Control Panel

    WinPISA. Only the latest version of WinPISA provides you with simple and comprehensive support and the use of all features of the SPC200. For commissioning with the control panel, proceed as described in sections 4.4.1 and 4.4.2.

  • Page 168: Saving The Hardware Configuration

    4. Commissioning 4.4.1 Saving the hardware configuration In the switch−on phase the SPC200 assigns the axis ident ifiers to the connected axes one after the other. If modifica tions are made to the axis configuration at a later stage, the axis identifiers will be re−assigned.
  • Page 169 As a preparation for commissioning the desired hardware configuration must be created and saved. The SPC200 is prepared at the factory to save the current hardware configuration in the first switch−on phase automati cally as the nominal configuration. If you create the desired hardware configuration correctly before the first switch−on...
  • Page 170 All data and programs entered will be lost. 9. Press the ESC button in order to interrupt. Or press the Enter button in order to delete all the data in the SPC200 and to save the hardware configuration.

  • Page 171: Commissioning Pneumatic Axes

    During the movement test the controller is switched off for all axes. The software end positions set with the application parameters therefore have no effect. 4−27 Festo P.BE−SPC200−EN en 0901d...
  • Page 172 Failure to comply with this causes the movement test to be aborted immediately! When the movement test is carried out, the ENABLE signal must be controlled as described in the following: The move ment test always ends with a 0−signal at ENABLE. 4−28 Festo P.BE−SPC200−EN en 0901d...
  • Page 173 2. Switch on the power supply for the SPC200. Make sure here that there is a 0−signal at the ENABLE input (no fixed wiring of the ENABLE input with the supply voltage).
  • Page 174 0.01 V. Press the ESC button. The control voltage is reset to · 5.0 V. In order to overcome static friction, the control voltage must be increased or reduced accordingly. 4−30 Festo P.BE−SPC200−EN en 0901d...
  • Page 175 15. If you wish to carry out the movement test with a different axis, press the ESC button. Then proceed as described as from point 5. In order to return to the basic setting, press the ESC button several times. 4−31 Festo P.BE−SPC200−EN en 0901d...
  • Page 176 This identification must be carried out in the case of axes which should move at maximum speed (NC command G00). If considerable modi fications to the mass occur during operation, identification should be carried out both with and without the workpiece. 4−32 Festo P.BE−SPC200−EN en 0901d...
  • Page 177 With a dynamic identification run, an axis is set in motion at the highest acceleration and speed. Make sure that: the complete positioning range of the axis is free the correct axis and application data are set. 4−33 Festo P.BE−SPC200−EN en 0901d...
  • Page 178 5. Select the command IDENTIFICATION with the buttons { }. TEST/DIAG. AXIS IDENTIFICATION > 6. Press the Enter button in order to select the command. IDENTIFICATION X: STATIC? 7. Select the identification travel which you wish to carry out with vV. Meaning: 4−34 Festo P.BE−SPC200−EN en 0901d...
  • Page 179 In this way the electrically ascertained position values are adapted to the actual values. Carry out calibration if you wish to save or improve the absolute positioning accuracy. 4−35 Festo P.BE−SPC200−EN en 0901d...
  • Page 180 The previously selected axis and the current positioning mode will then be displayed. JOG AXIS X: CONT 4. Select the desired positioning mode with vV. Meaning: Positioning mode Meaning CONT Position continuously STEP Position in steps twice the set positioning tolerance 4−36 Festo P.BE−SPC200−EN en 0901d...
  • Page 181 Press the Enter button in order to move one step. With positioning mode CONT: Hold the Enter button pressed down for as long as positioning is carried out. You can return to the basic setting by pressing the ESC button several times. 4−37 Festo P.BE−SPC200−EN en 0901d...
  • Page 182 System has stopped. Apply a 1−signal to the See also Fig. 4.2 STOP input. Proportional directional Replace the Check first with control valve is defective proportional directional MOVEMENT TEST control valve. Check and if necessary replace 4−38 Festo P.BE−SPC200−EN en 0901d...
  • Page 183 START/STOP (see section 6.8). This operating mode is set at the factory. Set the operating mode START/STOP as follows: 1. Select the command OPERATING MODE in the menu CONFIG. SYSTEM. CONFIG. SYSTEM OPERATING MODE > 4−39 Festo P.BE−SPC200−EN en 0901d...
  • Page 184 Enter button. The command SINGLE STEP in the submenu SYSTEM (SYS.) will then be displayed. TEST/DIAG. SYS. SINGLE STEP > 2. Press the Enter button in order to select the command. SINGLE STEP 4−40 Festo P.BE−SPC200−EN en 0901d...
  • Page 185 Program 0 is defined as the starting program at the factory. Please note When defining starting programs note the instructions in section 7.1. In order to improve the positioning characteristics, you can optimize the controller parameters after the commissioning (see appendix B). 4−41 Festo P.BE−SPC200−EN en 0901d...

  • Page 186: Notes On Commissioning Multi−Axis Systems

    Note when using two starting programs that both parallel running programs have the READY output and the ENABLE, STOP and START/RESET inputs. Notes on coordinated and autonomous operation can be found in section 7.1.1. 4−42 Festo P.BE−SPC200−EN en 0901d...

  • Page 187: Controlling The Spc200

    Controlling the SPC200 Chapter 5 5−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 188 5. Controlling the SPC200 Contents General notes on operation ........
  • Page 189 The functions of the digital inputs and outputs and of the permitted NC commands depend on the operating mode set. This chapter describes how to control the SPC200 in the op erating modes named. Examples of the I/O circuitry are shown for controlling the SPC200 via an I/O module.

  • Page 190: General Notes On Operation

    Record Select The Record Select operating mode supports the close coupling of the SPC200 with a higher−order PLC/IPC. If con trolled by an I/O module, 32 NC records of the fixed starting programs can be accessed via 5 digital inputs. In this oper...
  • Page 191 Error LED goes out Controller enable? (Enable = 1?) Ready output is set. Controller is switched on. Actual position = nominal position (closed−loop controlled stop) SPC200 is ready for operation Fig. 5/1: Switch−on behaviour of the SPC200 5−5 Festo P.BE−SPC200−EN en 0901d...
  • Page 192 5. Controlling the SPC200 When the power supply is switched on, the SPC200 carries out an initialization and a self−test. If there are no faults, the set operating mode will be activated and the starting pro grams will be made available.
  • Page 193 Debounce time t ≥ 10 ms The load voltage should now be available (type > 1 s) Reaction time of the SPC200: without stepping motor module: max. 100 ms with stepping motor module: max. 2 s Fig. 5/2: Time behaviour of the I/O signals at start of sequence...
  • Page 194 5. Controlling the SPC200 Quitting a fault If a fault occurs during the program processing, the READY output will be reset automatically. When the fault has been eliminated, the fault message can be acknowledged with a START signal. If several faults occur simultaneously, quitting must be undertaken several times.

  • Page 195: Start/Stop Mode

    I/Os. The command Programmed Stop (M00) is available for loose coupling with a higher−order PLC/IPC. With this command you can synchronize the program se quence of the SPC200, e.g. with externally controlled pro cesses. The following diagram shows the I/O circuitry in case you wish to trigger the operating functions Start, Stop and Enable via an external control panel.
  • Page 196 5. Controlling the SPC200 24 V − I0.9 I0.8 I0.7 START/ ENABLE STOP 24 V RESET 24 V 24 V Q0.4 Q0.7 − − MC_A 24 V READY RESET (Program Reset) in conjunction with 0−signal at the STOP input Designation on plug X5...

  • Page 197: Explanation Of All I/O Signals In Start/Stop Mode

    Synchronization input for program A This input supports synchronization of the SPC200 with external devices (e.g. PLC/IPC). With a Programmed Stop (command M00) the SPC200 waits for a fal ling edge at this input before it processes the next NC record (see Fig. 5/6).
  • Page 198 5. Controlling the SPC200 Function Description START/ Start/continue programs or quit faults RESET The sequence of created programs will be started or continued or a fault will be acknowledged with a rising edge at this input. Prerequisites: there must be a 1−signal at the STOP input there must be a 1−signal at the ENABLE input...
  • Page 199 The MC output is not reset when a positioning task is carried out within the positioning tolerance (stroke < positioning tolerance) A separate MC signal is generated internally in the SPC200 for each axis addressed. These MC signals are AND−linked internally (see Fig. 5/5).
  • Page 200 Working method of the MC signals (MC_A and MC_B) For each program (A or B), a separate MC signal is generated internally in the SPC200 for each axis addressed. The MC output for the relevant program supplies a 1−signal if all rel evant internal MC signals supply a 1−signal (AND linking).
  • Page 201 Programmed Stop Synchronization of the SPC200 with externally controlled processes is supported by the Programmed Stop (command M00). For this purpose, the SPC200 provides separate control I/Os for programs A and B. The relevant program will be stopped with the Programmed Stop (command M00).
  • Page 202 M00, but rather only by the starting and completion of a posi tioning command. Summary of the Start/Stop mode In operating mode Start/Stop the SPC200 provides freely programmable inputs and outputs. With the Programmed Stop (command M00), two parallel running programs can be synchronized with other processes independently of each other e.g.

  • Page 203: Record Select Mode

    5. Controlling the SPC200 Record Select mode Record Select mode In the Record Select mode the SPC200 is controlled by a higher−order PLC/IPC. The controlling PLC/IPC sends posi tioning tasks in the form of binary−coded record numbers via digital I/Os to the SPC200. The SPC200 then processes the desired NC record and waits for the next positioning task.
  • Page 204 5. Controlling the SPC200 The following diagram shows an example of an I/O circuit for Record Select mode. 24 V I0.9 I0.8 I0.7 I0.0/I0.4 I0.5/I0.6 ENABLE RESET STOP RECBIT... CLK_B/A 24 V 24 V Outputs PLC/IPC Inputs 24 V Q0.3/Q0.4 Q0.5/Q0.6...
  • Page 205 In the operating mode Record Select positioning tasks are sent in the form of binary−coded NC record numbers to the SPC200 via the inputs RECBIT..With a rising edge at the CLK input, the record numbers are accepted for the relevant program and acknowledged with the ACK signal.
  • Page 206 0 ... 999 Maximum permitted number of NC records The NC records are always stored in the SPC200 beginning with NC record 0 and a step size of 1. If possible, use the same numbering in WinPISA, e.g. with the aid of the number ing function.
  • Page 207 5. Controlling the SPC200 The inputs RECBIT... have the following meaning: RECBIT5 RECBIT4 RECBIT3 RECBIT2 RECBIT1 Designation Value Input signals NC record number With control via a field bus module RECBIT... as 2−byte value from 0 to 999, see manual on the field bus module.

  • Page 208: Explanation Of All I/O Signals In Record Select Mode

    Start NC record from program A or quit fault With a rising edge at this input: the NC record number at the RECBIT... inputs will be accepted by the SPC200 for program A and processed. This will be indicated with the signal ACK_A (see Fig.
  • Page 209 5. Controlling the SPC200 Function Description Inputs RESET Reset program If there is a 0−signal at the STOP input and a 1−signal at the ENABLE input, a RESET (Program Reset) can be triggered by a rising edge at the RESET input. This will have...
  • Page 210 5. Controlling the SPC200 Function Description Outputs RC_B NC record of program B concluded (record complete) (like RC_A, but for program B) RC_A NC record of program A concluded (record complete) (see also chapter 7.4, NC command G61) 1−signal at this output indicates that a positioning task from program A has been concluded.
  • Page 211 5. Controlling the SPC200 Summary of Record Select mode The Record Select operating mode supports the close coupling of the SPC200 with a higher−order PLC/IPC. Record Select mode Description Prerequisites The program must already be saved in the program memory...
  • Page 212 5. Controlling the SPC200 Example of program in Record Select mode Inputs NC records of the starting program I0.4 ... I0.0 I11.9 ... I11.0 00000 N000 G00 X100.00 Y100.00 00001 N001 G00 X130.00 Y100.00 00010 N002 G01 X50.00 FX50 01000 N008 G90 X100.00 Y110.00...

  • Page 213: Operating The Spc200 With The Control Panel

    Operating the SPC200 with the control panel Chapter 6 6−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 214 6. Operating the SPC200 with the control panel Contents Structure and functions of the control panel ......
  • Page 215 6. Operating the SPC200 with the control panel Contents of this chapter This chapter describes the menu and operating functions of the control panel type SPC200−MMI−..All parameters and operating functions of pneumatic axes are explained in detail and general system operating functions are described.

  • Page 216: Structure And Functions Of The Control Panel

    Structure and functions of the control panel Control panel type SPC200−MMI−1... enables you to carry out commissioning, programming and diagnosis directly on the SPC200. It offers a simple menu structure and a uniform key board assignment. Warning Faults may occur if control and operating functions are accessed at the same time by WinPISA and the control panel.
  • Page 217 (here Vn.n). MMI SPC200 Vn.n INITIAL TEST The SPC200 is then ready to process user commands entered on the control panel. If a fault is ascertained, the control panel will show the current fault number (see chapter 8.2).
  • Page 218 SPC200 Vnnn X SELECT WITH <> Enter Operating system version of the SPC200 (nnn = version number); the dot after the main version identifier is not shown due to lack of space; nnn corresponds to n.nn Currently configured axes (here X−axis) Reference line: With { } you can select your menu Fig.

  • Page 219: Moving In The Menu System

    6. Operating the SPC200 with the control panel 6.1.1 Moving in the menu system SPC200 Vnnn X SELECT WITH <> Enter SYSTEM DISPLAY EDIT CONFIG. CONTROL PROGRAM SYSTEM NEW PROGRAM START SYSTEM MODIFY PROGRAM STOP SYSTEM DELETE PROGRAM RESET SYSTEM MODIFY POSREG.
  • Page 220 6. Operating the SPC200 with the control panel Enter AXIS APPLIC. CONTROL TEST/DI PARAM. PARAM. PARAM. X,Y,Z,U X,Y,Z,U X,Y,Z,U GAINFACTOR CYL.TYPE DAMPINGFACTOR CYL.LENGTH SYSTEM FILTER FACTOR CYL.DIAMETER POS. TIMEOUT SENSORMEASUREM. AXIS X,Y,Z,U Pneum. Electric axis axis SINGLE STEP INPUT TEST...
  • Page 221 6. Operating the SPC200 with the control panel The menus on the control panel Menu Description System control: SPC200 READY Control functions Start, Stop, Reset SYSTEM CONTROL > Displays: SPC200 READY Operands, system states DISPLAY > Edit program: SPC200 READY...
  • Page 222 The menu name is displayed in the bottom line. The top line still shows the text from the basic setting (SPC200...). This will remind you that you are in the first level.
  • Page 223 6. Operating the SPC200 with the control panel The top line then shows the selection made as an orientation aid. The bottom line shows again the current selection possi bility or in the lowest level entry fields. In the case of menus which contain axis−specific parameters or operating functions, the axis identifier of the first axis (N) will be shown when the menu is opened.
  • Page 224 1. Press the Esc button as often as necessary until the basic setting is shown. The first line of the display will then show the text SPC200 followed by the version number of the operating system. 2. Press the button { or } as often as necessary until the desired menu appears in the bottom line.

  • Page 225: Setting Project−Specific Parameters

    Incorrectly set parameters can lead to uncontrolled reac tions of the connected axes during operation. The SPC200 must know the conditions of use in your project and the type of components used in your positioning system. Undertake the necessary settings in the following menus:...
  • Page 226 6. Operating the SPC200 with the control panel AXIS PARAM. Enter AXIS PARAM. CYL. TYPE > Enter CYL. TYPE X: 1 Menu AXIS PARAM. is open Axis identifier can be selected, selection with vV Parameter Cylinder type can be selected Current setting of the X−axis (here cylinder type 1)
  • Page 227 6. Operating the SPC200 with the control panel With the buttons vV you can now select the axis, the para meters of which you wish to modify. When the axis has been selected, the bottom line will show the current parameter setting.
  • Page 228 6. Operating the SPC200 with the control panel The character ? indicates that the setting is not transferred into the SPC200 until the Enter button is pressed. When the Enter button is pressed, the ? is deleted. This indicates that the setting has been accepted.
  • Page 229 6. Operating the SPC200 with the control panel Menu AXIS PARAM (axis data) Pneumatic axis Cylinder type (design) CYL. TYPE 0 ... 2 Specifies the design of the drive used. 0 = with piston rod 1 = without piston rod 2 = rotary Cylinder length or max.
  • Page 230 6. Operating the SPC200 with the control panel Application data Menu APPLIC. PARAM The application data are configuration data which describe the conditions of use specified by the application. Application data for pneumatic axes The application data are an important basis for the internally ascertained control data.
  • Page 231 6. Operating the SPC200 with the control panel Menu APPLIC. PARAM (application data) Pneumatic axis Total mass to be moved by the positioning axis, or mass moment of TOOL LOAD inertia, in each case without the workpiece. X:+0000.00 −4 0.1 ... 2000 [kg] or [kgm...
  • Page 232 Note that the software end positions and the project zero point refer to the cylinder zero point. If you modify the mounting offset, the SPC200 will check to see if the resulting new reference points still lie within the range of the measur ing system.
  • Page 233 X:+0000.00 End position on the side of the measuring system zero point monitored by the operating system (software) of the SPC200 and which must not be overrun. If both software end positions are set to 0, their function will have no effect. The lower software end position refers to the cylin der zero point and represents the lower limit of the positioning range.
  • Page 234 6. Operating the SPC200 with the control panel Menu APPLIC. PARAM (application data) Pneumatic axis Positioning quality class QUALITY CLASS 1 ... 6 Describes the conditions under which a positioning task is to be regarded as concluded or when the signal MC (Motion Complete) is to be output.
  • Page 235 6. Operating the SPC200 with the control panel Application data for electric axes Menu APPLIC. PARAM (application data) Electric axis Resolution RESOLUTION 0.100 ... 9999.999 [1/mm] Y:+0010.000 Start−stop frequency START/STOP FR. 1 ... 9999 [Hz] Y:+0500.00 Project zero point POS. BASEPOINT 0.0 ...
  • Page 236 Note the instructions on how to proceed in chapter 4.3.1. SAVE CONFIGUR. When the system is started, the SPC200 checks whether the current hardware configuration is the same as the nominal configuration. The installed modules as well as the string assignment are checked here.
  • Page 237 START/STOP ; Start/Stop mode START/STOP RECORD SELECT ; Record select mode The operating mode defines how the sequence control of the SPC200 should function. Explanations of the operating modes can be found in chapter 5. Define starting programs DEFINE TASKS ;...
  • Page 238 6. Operating the SPC200 with the control panel Proceed as follows: 1. Select the parameter which you wish to modify (see chapter 6.1.1). 2. Press the Enter button in order to confirm the selection. The current parameter value for the selected axis will then be displayed in the bottom line.

  • Page 239: Edit Program

    6. Operating the SPC200 with the control panel Edit program The control panel provides you with an Editor with which you can edit both position registers as well as NC programs. If your positioning system is set up completely, you can teach position registers with the aid of the Teach functions.

  • Page 240: Create New Program

    6. Operating the SPC200 with the control panel 6.3.1 Create new program 1. Press the button { or } as often as required in the basic setting until the menu EDIT PROGRAM is displayed. SPC200 READY EDIT PROGRAM > 2. Press the Enter button in order to open the menu EDIT PROGRAM.
  • Page 241 6. Operating the SPC200 with the control panel The procedure for editing an NC record is explained using as an example the command G00 (Position at highest possible speed). This is followed by an overview of all available NC commands. A detailed description of the NC commands with program examples can be found in chapter 7.4.
  • Page 242 6. Operating the SPC200 with the control panel 5. The cursor is positioned on the axis identifier. If several axes are configured, select the desired axis with the but tons vVand then press button }. P03:N000 G00 * X+0000.00 6. If the cursor is positioned next to the axis identifier, you can switch between the following with the buttons vV: position value (X+0000.00 or X−0000.00)
  • Page 243 6. Operating the SPC200 with the control panel In order to display the NC record on the control panel, you must position the cursor on the axis identifier and switch between the configured axes. P03:N000 G00 * X+0123.45 P03:N000 G00 * Y+0100.00...
  • Page 244 NC record. The cursor is then positioned on identifier N and the NC record is intermediately saved in the SPC200. P03:N005 M30 2. Press button } in order to position the cursor on the NC command again.

  • Page 245: Instructions On Editing

    6. Operating the SPC200 with the control panel 6.3.2 Instructions on editing Failure of the operating voltage before the NC editor is exited will therefore lead to loss of the modifications undertaken. When entering extensive programs exit the Editor now and then in order to save intermediately.
  • Page 246 6. Operating the SPC200 with the control panel If the cursor is positioned on an NC word, an NC word will · be selected with vV. If the cursor is positioned on a figure, the figure value will · be increased or decreased with vV.

  • Page 247: Store Of Commands On The Control Panel

    6. Operating the SPC200 with the control panel 6.3.3 Store of commands on the control panel The operating system of the SPC200 offers as from version 4.6, in conjunction with WinPISA as from version 4.3, an extended scope of functions due to the support of new NC commands and extended NC syntax.
  • Page 248 6. Operating the SPC200 with the control panel First NC word Description Supported command operating mode Start/Stop Record Select √ √ Positioning with saved values The last programmed positioning command (G00, G01 or G02) remains effective. √ √ Positioning at the highest possible speed √...
  • Page 249 6. Operating the SPC200 with the control panel First NC word (continued) Description Supported command operating mode Start/Stop Record Select √ √ Exact stop √ √ Set positioning quality class √ √ Fast stop √ √ Start reference travel √...
  • Page 250 6. Operating the SPC200 with the control panel First NC word (continued) Description Supported command operating mode Start/Stop Record Select √ Set single−bit operand √ Reset single−bit operand √ Test single−bit operand for 1−signal √ Test single−bit operand for 0−signal √...

  • Page 251: Edit Existing Program

    6. Operating the SPC200 with the control panel 6.3.4 Edit existing program 1. Press the button { or } as often as required in the basic setting until the menu EDIT PROGRAM is displayed. SPC200 READY EDIT PROGRAM >> 2. Press the Enter button in order to open the menu EDIT PROGRAM.
  • Page 252 6. Operating the SPC200 with the control panel When a program has been selected, the program number will be displayed in the first three columns (here P03). The first NC record of the program is shown after this, e.g. P03:N000 G00 * X+0100.00...

  • Page 253: Delete Program

    6. Operating the SPC200 with the control panel 6.3.5 Delete program 1. Press the button { or } as often as required in the basic setting until the menu EDIT PROGRAM is displayed. SPC200 READY EDIT PROGRAM >> 2. Press the Enter button in order to open the menu EDIT PROGRAM.

  • Page 254: Edit Position Register

    6. Operating the SPC200 with the control panel Edit position register As an alternative to the direct entry of position values (e.g. X100) when programming, you can also specify positions by means of the position register. You simply need to enter the number of the position register (e.g.
  • Page 255 6. Operating the SPC200 with the control panel 4. Use the cursor buttons to set the desired axis identifier and the register number, e.g. X:@03, and press the Enter button. The current value of the register will then be dis played.
  • Page 256 6. Operating the SPC200 with the control panel 2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (NEW PROGRAM) will then be displayed in the bottom line. 3. Select the command TEACH with the buttons { or } and press the Enter button.
  • Page 257 6. Operating the SPC200 with the control panel 6. With the buttons vV you can now set the positioning direction (+ = in positive direction; = in negative direc tion; SAVE = save). In order to position the slide and to...

  • Page 258: Controlling The Program Sequence

    6. Operating the SPC200 with the control panel Controlling the program sequence Warning Make sure that nobody can place his/her hand in the posi tioning range of the moveable mass and that no objects lie in its path. Prerequisite In order to be able to control the sequence of programs with...
  • Page 259 Menu SYSTEM CONTROL Reset system SYSTEM CONTROL The SPC200 is reset to the status it was in when it was switched on. RESET SYSTEM A program reset and a hardware recognition are carried out here and the axis interface string is re−initialized. This procedure can take a certain amount of time, depending on the system configuration used.

  • Page 260: Displaying Operands And System States

    6. Operating the SPC200 with the control panel Displaying operands and system states In order to check the program sequence you can permanently represent operands and system states in the display. The commands for this can be found in the menu Display. The...
  • Page 261 6. Operating the SPC200 with the control panel Menu DISPLAY Status display for flags MEMORY FLAG F = flag F00:0 F00 ... F63 Status display for registers REGISTER R = register R00:+0000 R00 ... R99 Fault number ERROR (see chapter 8.2) no.

  • Page 262: Set Controller Factors

    Set controller factors Menu REGUL. PARAM The controller parameters for pneumatic axes are ascertained by the SPC200 from various basis parameters. The controller factors are standardized at 1.0. By means of these factors you can manually influence the ascertained controller para meters.
  • Page 263 6. Operating the SPC200 with the control panel Controller factors for pneumatic axes: Menu CONTROL. PARAM. Pneumatic axis Gain factor GAIN FACTOR 0.1 ... 10.0 X:+0001.00 With the gain factor you can influence the sensitivity with which the positioning control circuit reacts to modifications of the variables"...

  • Page 264: Test And Diagnostic Functions Of The Control Panel

    6. Operating the SPC200 with the control panel Test and diagnostic functions of the control panel A ready−to−operate system is required for some of the commands in this menu. The following conditions must be fulfilled: the positioning system must be set up completely, wired ·...
  • Page 265 6. Operating the SPC200 with the control panel Menu TEST/DIAG. (test and diagnosis) Sub−menu SYSTEM Program test in single steps SINGLE STEP P00 ... P99 (only supported in Start/Stop mode) With this function you can test an existing program in single−step mode.
  • Page 266 Emergency travel EXIT FROM LIMIT X:+0000.00 Reference travel REFER. TRAVEL X:+0000.00 Explanations as well as instructions on carrying out these activities can be found in the manual for the stepping motor indexer module type P.BE−SPC200−SMX−1−..6−54 Festo P.BE−SPC200−EN en 0901d...

  • Page 267: Description Of The Commands

    Description of the commands Chapter 7 7−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 268 ........7−30 7−2 Festo P.BE−SPC200−EN en 0901d...
  • Page 269 7. Description of the commands Contents of this chapter This chapter contains basic information on programming the SPC200 with the control panel. Both the coordinated and the autonomous mode of operation are explained and all the NC commands are described.

  • Page 270: General Instructions On Programming

    If a single or multi−axis system is controlled by an SPC200, only one starting program is usually defined. If two independent work stations are controlled, a separate starting program must be defined for each work station (autonomous operation of two work stations).

  • Page 271: Parallel Program Processing

    The parallel program processing supports the low−cost imple mentation of two independent work stations with one SPC200. Therefore certain I/O control signals (e.g. MC_A and MC_B) and settings for positioning are managed task−specifi cally.
  • Page 272 Sub−programs (here of task A) control signals and axes Task−specifically managed control Starting program (here of task A) signals and settings for positioning (see also chapter 7.1.3) Fig. 7/1: Common and task−specific control signals and data 7−6 Festo P.BE−SPC200−EN en 0901d...
  • Page 273 The M12 command (Stop axes) will immediately stop all addressed axes, irrespective of the task which has as siged them. In such cases both tasks must be program− technically synchronized, e.g. by the setting and interro gating of flags. 7−7 Festo P.BE−SPC200−EN en 0901d...
  • Page 274 N006 G01 Y400 FY20 Task A Positioning command for the X−axis Starting program of task A Positioning command for the Y−axis Sub−programs Work station A (two coordinated axes) Fig. 7/2: Coordinated operation (example two−axis system) 7−8 Festo P.BE−SPC200−EN en 0901d...
  • Page 275 7. Description of the commands Autonomous operation In autonomous operation two independent work stations are controlled by one SPC200. For this special case, you must define two different programs as starting programs which are processed independently of each other (parallel).

  • Page 276: Program Organisation

    7.1.2 Program organisation When programming for the SPC200 you can: create up to 100 NC programs in the SPC200 with a maxi mum total of 2000 NC records enter up to 1000 NC records (i.e. 1000 program lines) in one single program access each NC program as a sub−program.

  • Page 277: Presetting For Positioning

    7. Description of the commands 7.1.3 Presetting for positioning The following settings are effective when the SPC200 is switched on or after a program reset and are managed for each task (task A and task B) independently of each other: Presettings for positioning G02 ...

  • Page 278: New Nc Syntax And New Nc Commands

    7. Description of the commands 7.1.4 New NC syntax and new NC commands The operating system version 4.6 of the SPC200 offers, in New feature conjunction with WinPISA as from version 4.3, an extended as from OS 4.63 scope of functions due to the support of new NC commands and extended NC syntax.
  • Page 279 7. Description of the commands The operating system version 4.82 of the SPC200 offers, in New feature conjunction with WinPISA as from version 4.41, an extended as from OS 4.82 scope of functions for considering the mass load, the nominal value specification as well as the support of the DNCI drive.

  • Page 280: Addressing, Registers And Axis Status Flags

    A distinction is made between 1−bit, integer and real vari ables; between remanent and non−remanent variables. All the inputs and outputs of the SPC200 are treated like 1−bit variables. 7.2.1 Addressing The following operands are supported:...
  • Page 281 I/O address range The assignment of the I/O address range depends on the configuration of the SPC200. If a field bus module is fitted, the address range will remain 0.0 ... 0.9 unassigned. The assignment of the I/O addresses for configuration with and...

  • Page 282: Addressing The Control Signals

    Q10.0 System ready to operate ACK_A/B Q0.6 / Q0.5 Q10.1 / Q10.2 Task accepted for program A/B (acknowl edge) RC_A/B Q0.4 / Q0.3 Q10.3 / Q10.4 NC record concluded by program A/B (re cord complete) 7−16 Festo P.BE−SPC200−EN en 0901d...
  • Page 283 Synchronization input for M00 READY Q0.7 Q10.0 System ready to operate SYNC_OA/OB Q0.6 / Q0.5 Q10.1 / Q10.2 Synchronization output for M00 MC_A/B Q0.4 / Q0.3 Q10.3 / Q10.4 MC output for program A/B (motion com plete) 7−17 Festo P.BE−SPC200−EN en 0901d...

  • Page 284: Position Register X [Y Z U] @N

    7. Description of the commands 7.2.3 Position register X [Y Z U] @n The SPC200 provides 100 position registers per axis. They have the identifier X [Y Z U] @n {n=0...99}, are decimal values with 2 decimal positions between −9999.98 and +9999.99.

  • Page 285: Register Rn

    4.82 With rotary drives correspondingly °, °/s, °/s 7.2.4 Register Rn In the SPC200 100 R−registers can be used within the pro grams. They have the identifier Rn {n=0...99}, are integer variables and can accept values from −32768 ... +32767.
  • Page 286 % value 4.82 Sub−program Program number Jump address Record number Register operation Integer value Register operation Integer value Register operation Integer value By direct influence of the valve setting value functions as a positioning command 7−20 Festo P.BE−SPC200−EN en 0901d...

  • Page 287: Flag Fn

    7. Description of the commands 7.2.5 Flag Fn In the SPC200 64 flags can be used for controlling the program sequence. They have the identifier Rn {n=0...63}, are 1−bit variables and can accept the values 0 or 1. Flags are saved remanently, i.e. they are saved in the event of Power−off and loaded back into the work memory with...

  • Page 288: Axis Status Flag Fn

    Status flags are not saved remanently like flags. The status flags can be used like 1−bit variables by a running program in the SPC200, i.e. they can be read. They are used in conjunction with the following NC commands for influenc ing the program sequence.
  • Page 289 0 = Program in sub−system A is not running 1 = Program in sub−system A is running Status task B: 0 = Program in sub−system B is not running 1 = Program in sub−system B is running 90 ... 95 reserved 7−23 Festo P.BE−SPC200−EN en 0901d...

  • Page 290: Command Syntax

    7. Description of the commands Command syntax The programs for the SPC200 are based on the syntax as per DIN 66025. An NC record consists of a record number as well as an NC command with the relevant parameters. Example: N010 X100.00...
  • Page 291 Axis conditions: X−axis, Y−axis, etc. X, Y, Z, U Positioning speed Start of comment, valid until end of line Decimal divider (point) Only for programming with WinPISA In NC programs the point is used as decimal divider (e.g. X300.50). 7−25 Festo P.BE−SPC200−EN en 0901d...
  • Page 292 In order to facilitate reading, axis identifiers are shown in simple form ( [Y.., Z.., U..] ). Additional parameters have been left out intentionally. The following table contains an overview of the NC com mands arranged according to theme. 7−26 Festo P.BE−SPC200−EN en 0901d...
  • Page 293 Load position value into G28 @<Target> X<Source> [Y.., Z.., U..] the position register Add position value and G29 @<Target> X<Source> [Y.., Z.., U..] position register Load actual value into M38 @<Register> X [Y, Z, U] the position register 7−27 Festo P.BE−SPC200−EN en 0901d...
  • Page 294 M10 X<Factor> [Y.., Z.., U..] input Offset for analogue M11 X<Offset> [Y.., Z.., U..] nominal value specification Set nominal value mode M13 X<Mode> [Y.., Z.., U..] Assign nominal value M14 X<Input> [Y.., Z.., U..] inputs 7−28 Festo P.BE−SPC200−EN en 0901d...
  • Page 295 Register operations (permitted in Start/Stop mode) Load register #LR<Register> = <Value> Add to register #AR<Register> = <Value> Test register #TR<Register> = <Value> <Record number> Special commands (permitted in Start/Stop mode) Pneumatic axis: M37 X<Mass> [Y.., Z.., U..] Set mass assessment 7−29 Festo P.BE−SPC200−EN en 0901d...

  • Page 296: Explanation Of The Nc Commands

    Stepping motor axis The description of the NC command refers to the stepping motor axes If no identification is given for a particular axis type, the com mand description for both axis types is valid. 7−30 Festo P.BE−SPC200−EN en 0901d...
  • Page 297 Nominal value sequences for path, speed and acceler ation, which enable reproducible, as fast as possible and overswing−free approach to the nominal position, are speci fied by the SPC200. The maximum speed and acceleration configured in the application data have no effect with com mand G00.
  • Page 298 Speed and acceleration can only be specified directly with the positioning commands G01 and G02. If no dynamic identification travel can be carried out due to application− specific reasons, only the positioning commands G01, G02 or M10 are permitted. 7−32 Festo P.BE−SPC200−EN en 0901d...
  • Page 299 Before the nominal position is reached, the nominal speed value drops in ramp form again. The steepness of the approach and brak ing ramps is preset by the maximum acceleration defined in the application data. 7−33 Festo P.BE−SPC200−EN en 0901d...
  • Page 300 [m] t [s] t [s] a [m/s t [s] Nominal speed value Nominal acceleration value Configured maximum speed Configured maximum acceleration Nominal position value Fig. 7/6: Nominal value specification with command G00 (stepping motor axis) 7−34 Festo P.BE−SPC200−EN en 0901d...
  • Page 301 Example see G00. This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−35 Festo P.BE−SPC200−EN en 0901d...
  • Page 302 Nominal speed value Nominal acceleration value Configured maximum speed Configured maximum acceleration Programmed speed Prog. acceleration for approach ramp (G08) Nominal position value Prog. acceleration for braking ramp (G09) Fig. 7/7: Nominal value specification with command G01 7−36 Festo P.BE−SPC200−EN en 0901d...
  • Page 303 Example: N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30 This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−37 Festo P.BE−SPC200−EN en 0901d...
  • Page 304 Nominal acceleration value Configured maximum speed Effective nominal acceleration value Programmed speed Prog. acceler. for approach ramp (G08) Nominal position value Prog. acceler. for braking ramp (G09) Fig. 7/8: Nominal value specification with command G02 (pneumatic axis) 7−38 Festo P.BE−SPC200−EN en 0901d...
  • Page 305 Example: N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30 This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−39 Festo P.BE−SPC200−EN en 0901d...
  • Page 306 Switching to the next NC record is not made until the dwell time has expired. Example ;Move to position X100 N010 G00 X100 ;Wait 2.5 seconds N011 G04 250 ;Move to position X200 N012 G00 X200 7−40 Festo P.BE−SPC200−EN en 0901d...
  • Page 307 This command has a saving effect. It remains effective until a new approach ramp is defined. This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−41 Festo P.BE−SPC200−EN en 0901d...
  • Page 308 This command has a saving effect. It remains effective until a new approach ramp and braking ramp is defined. This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−42 Festo P.BE−SPC200−EN en 0901d...
  • Page 309 This command has a saving effect. It remains effective until a new braking ramp is defined. This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−43 Festo P.BE−SPC200−EN en 0901d...
  • Page 310 NC record when the posi tion defined in the preselect is reached. The SPC200 is then in the position to pro cess further NC records, while the axis traverses the remaining path to the target position.
  • Page 311 With G02 positioning commands, an automatic stop can also be triggered if the condition for further switching lies in the range of the delay phase. In this case, use positioning com mand G01. 7−45 Festo P.BE−SPC200−EN en 0901d...
  • Page 312 N012 G01 X500 FX75 N013 G01 X500 FX50 After 60 % of the positioning path from position 0 to position 500, the SPC200 reduces the speed from 75 % to 50 % of the configured maximum speed. s [mm] Speed in % of the configured maximum speed Preselect value of the X−axis...
  • Page 313 N010 G00 X100 Y100 N011 G25 X50 N012 G00 X400 N013 G00 Y300 The SPC200 processes the next NC record after 50 % of the positioning path from position X100 to position X400. [mm] [mm] Positioning path of the Y−axis in mm Preselect value of the X−axis...
  • Page 314 N014 G01 X500 FX10 When 1 % of the positioning path from X0 to X500 has been traversed, the SPC200 switches further to NC record N013. The program waits in this record until the event occurs (here 1−signal at input I0.0). Only then, where applicable, switching is made to the next positioning task (here speed reduction) during the processing procedure.
  • Page 315 N014 G01 Y100 FY10 Z100 FZ10 N015 ..The SPC200 saves the preselect values for the axes X, Y and Z in NC record N011. In the next NC record only the X−axis is moved. When the X−axis reaches the preselect value, output Q0.0 will be set.
  • Page 316 N015 G01 X400 Fx50 ;Finish traversing task from N012 with ;50% of the config. speed Speed: ;and 50% of the workpiece mass. ;The new mass from N014 is not ;yet effective here! N016 ... N017 G00 X10 ;Position 10 with 100% workpiece mass N... 7−50 Festo P.BE−SPC200−EN en 0901d...
  • Page 317 ;X−axis into position register 1 of the X−axis Remark Position registers are saved and protected against power failure (remanent). Each configured axis has its own position register record. The positions contained in the position list are saved here. 7−51 Festo P.BE−SPC200−EN en 0901d...
  • Page 318 (here 20) are added. The result (30.5) is saved in position register 10 of the X−axis. Remark Position registers are saved and protected against power failure (remanent). Each configured axis has its own position register record. The positions contained in the position list are saved here. 7−52 Festo P.BE−SPC200−EN en 0901d...
  • Page 319 = monitoring time in [ms] monitoring = stroke length of linear drive in [mm] drive Example linear drive (stroke length 500 mm): Monitoring time in [ms] = (500 + 100) / 20 = 30 7−53 Festo P.BE−SPC200−EN en 0901d...
  • Page 320 The individual position ing quality classes are described in the following table. With nominal value modes 0 and 1, the set positioning quality class has no effect (see NC command M13). 7−54 Festo P.BE−SPC200−EN en 0901d...
  • Page 321 The length of the monitoring time can be calculated (see under G60). If the tolerance range is left before the monitoring time expires, the monitoring time will be reset. During the end speed control the speed tolerance is 8.0 mm/s (linear drive) or 8.0°/s (rotary module). 7−55 Festo P.BE−SPC200−EN en 0901d...
  • Page 322 Fig. 7/11: Fast stop without damping time Nominal position s [m] value s [°] Range of the positioning tolerance Reaching the tolerance range t [s] Damping time period (200 ms MC_A/MC_B or RC_A/RC_B Fig. 7/12: Fast stop with damping time 7−56 Festo P.BE−SPC200−EN en 0901d...
  • Page 323 Fig. 7/13: Exact stop without damping time Monitoring period depending on drive s [m] s [°] Expiry of monitoring time Expiry of damping time t [s] Monitoring time Damping time MC_A/MC_B or RC_A/RC_B Fig. 7/14: Exact stop with damping time 7−57 Festo P.BE−SPC200−EN en 0901d...
  • Page 324 When moving to position X100, output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the X−axis enters the range of the positioning tolerance. The SPC200 is ready immediately to move to position X300. Remark This command has a saving effect. The fast stop remains valid until a switch is made to another positioning quality class.
  • Page 325 It is always a posi tive variable. This offset value also influences the controller optimization of the SPC200, even small values (a few mm) must be specified as accurately as possible (see chapter 3.4, Fig.
  • Page 326 Reference travel in positive direction (extend piston rod up to front stop or bearing cover). As soon as the axis stands still, the reference point is set. The status flag REF will be set immediately. 7−60 Festo P.BE−SPC200−EN en 0901d...
  • Page 327 Mode 0: position accepted as reference point Mode 5: Starting position Mode 6: Interim reference point: the restricted movement starts here Mode 7: Fig. 7/15: Reference travel modes for the pneumatic axis 7−61 Festo P.BE−SPC200−EN en 0901d...
  • Page 328 (LIM−) with acceptance as reference point Reference travel in positive direction to reference switch (REF) with acceptance as reference point Reference travel in positive direction to positive limit switch (LIM+) with acceptance as reference point 7−62 Festo P.BE−SPC200−EN en 0901d...
  • Page 329 Detailed instructions on carrying out reference travel can be found in the manual for the stepping motor indexer module type P.BE−SPC200−SMX−..If the SPC200 enable is removed (ENABLE = 0), the stepping motor axes lose the reference. 7−63 Festo P.BE−SPC200−EN en 0901d...
  • Page 330 N011 X200 N012 G91 X300 With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N010 G90 X@ABHOL_POS N011 X@ABLAGE_POS 7−64 Festo P.BE−SPC200−EN en 0901d...
  • Page 331 N011 X200 N012 G90 X300 With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N013 G91 X@ABHOL_POS N014 X@ABLAGE_POS 7−65 Festo P.BE−SPC200−EN en 0901d...
  • Page 332 N006 G00 X100 Remark In Start/Stop mode you can synchronize with this command the program sequence with other devices. G00/G01/G02 G00/G01/G02 SYNC_IA/IB SYNC_OA/OB MC_A/B Externally controlled process Program sequence Programmed stop Fig. 7/17: Programmed stop 7−66 Festo P.BE−SPC200−EN en 0901d...
  • Page 333 The end of sub−programs must be marked with this command. If the program is accessed as the main program, it will be executed once and will remain stopped with M02. It can only be restarted with a Program Reset. Example See under L Remark See also under M30 7−67 Festo P.BE−SPC200−EN en 0901d...
  • Page 334 This syntax is only available as from operating system version 4. The value 0000.00 is represented or entered on the control panel. This syntax is only available as from operating system version 4.82. It is not supported by the control panel. 7−68 Festo P.BE−SPC200−EN en 0901d...
  • Page 335 ;repeat In this example the analogue input remains active until input I0.0 supplies a 1−signal. If the input supplies a 1−signal, the program will be continued in line N014 and the analogue input therefore deactivated. 7−69 Festo P.BE−SPC200−EN en 0901d...
  • Page 336 The speed ramp can be set with the aid of commands G01 and G02. Programming is made here for movement to be made relatively by 0 mm (see line N003). The speed ramp specified in this record is therefore valid without a positioning procedure. 7−70 Festo P.BE−SPC200−EN en 0901d...
  • Page 337 Scal. factor = 30, Offset = 100 Scal. factor = 30, Offset = 0 Scal. factor = 10, s [mm] Offset = 0 Fig. 7/18: Scaling factor and offset with bei analogue nominal value specification (example linear drive) 7−71 Festo P.BE−SPC200−EN en 0901d...
  • Page 338 (see also chapter 7.1.1). This function is only effective as from operating system version 4.6. This syntax is only available as from operating system version 4.82. It is not supported by the control panel. 7−72 Festo P.BE−SPC200−EN en 0901d...
  • Page 339 Set nominal value mode permitted in operating modes: Start/Stop Nn M13 X<Mode> [Y.., Z.., U..] Mode; explanation see table below. n = 0...4 <Mode> Effect Switches to the specified mode (see following table). Example Example see under M10 7−73 Festo P.BE−SPC200−EN en 0901d...
  • Page 340 Signal at output MC_A or MC_B is not influenced by the relevant axis, the current positioning quality class is effective (see under G61). In this mode all the last defined or valid movement parameters are used (approach and braking ramps, positioning quality class, etc.). 7−74 Festo P.BE−SPC200−EN en 0901d...
  • Page 341 = 1 ... 5 Effect Withanalogue nominal value specification: The analogue input module type SPC200−2AI−U possesses two nominal value inputs (differential inputs). Nominal value module no. 1: Nominal value inputs 1 and 2 Nominal value module no. 2: Nominal value inputs 3 and 4 With command M14 one or several axes can be assigned to each analogue input channel.
  • Page 342 Remember the sav ing effect of the command and that after every Power−On, Data, System or Program Reset the basic status is acti vated again. 7−76 Festo P.BE−SPC200−EN en 0901d...
  • Page 343 N004 M38 @1 X ;of the X−axis ;Form the sum of the two position registers 0 N005 G29 @0 X@1 ;and 1, save result in position register 0 ;Move to position in register 0 N006 G00 G90 X@0 7−77 Festo P.BE−SPC200−EN en 0901d...
  • Page 344 = 1 ... 99 Effect With command M39, the controller of the SPC200 will be deactivated and the pro portional directional control valve will be controlled directly. Whilst the drive is standing still, a pressing force, e.g. against a work item, may be generated.
  • Page 345 1) Standardized valve positioning signal Specification not possible The valve voltage can be calculated as follows: Formula + 10 < 1 * n valve = valve voltage in [V] valve = valve positioning value in [%] 7−79 Festo P.BE−SPC200−EN en 0901d...
  • Page 346 This command has a saving effect. It remains effective until a new stroke limit value is defined. This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−80 Festo P.BE−SPC200−EN en 0901d...
  • Page 347 This command has a saving effect. It remains effective until a new speed limit value is defined. This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200−MMI−1..7−81 Festo P.BE−SPC200−EN en 0901d...
  • Page 348 Remark The program number can be specified directly (n) or indirectly via a register (Rn). Maximum nesting depth = 4. Example Palletizing Distance between rows 0 mm Positions 200 mm 250 mm Fig. 7/19: Palletizing 7−82 Festo P.BE−SPC200−EN en 0901d...
  • Page 349 These position registers are initialized in lines N003 and N004 (program 0). Register R0 serves as loop counter and is initialized with the number of rows. Subroutine 1 is accessed 6 times and the current pallet gap is then filled. 7−83 Festo P.BE−SPC200−EN en 0901d...
  • Page 350 ;Wait for 1−signal at input I1.1 N005 #TNI1.1 5 ;Move to position X100 N006 G00 X100 ;Jump to NC record 5 N007 E05 5 In NC record 7 the program always branches to NC record 5. 7−84 Festo P.BE−SPC200−EN en 0901d...
  • Page 351 Permitted operands are all single−bit operands, but not inputs. See also chapter 7.2.1. Example ;Reset output Q0.0 N010 #RQ0.0 Output Q0.0 supplies a 0−signal when this record is processed. Remark Certain outputs are reserved for pre−assigned functions. Flags are remanent. 7−85 Festo P.BE−SPC200−EN en 0901d...
  • Page 352 This syntax is only available as from operating system version 4.63. It is not supported by the control panel. Axis status flag Flag number of the axis Name Meaning Reference set Motion Complete Axis in the tolerance window The axis moves 7−86 Festo P.BE−SPC200−EN en 0901d...
  • Page 353 N008 #TI0.0 11 ;Po_4, if both inputs 1 N009 G00 X@Po_3 ;Po_3, if 1–signal ;only at I0.1 N010 E05 0 ;Jump back N011 G00 X@Po_4 ;Po_4, if both inputs 1 N012 E05 0 ;Jump back 7−87 Festo P.BE−SPC200−EN en 0901d...
  • Page 354 This syntax is only available as from operating system version 4.63. It is not supported by the control panel. Axis status flag Flag number of the axis Name Meaning Reference set Motion Complete Axis in the tolerance window The axis moves 7−88 Festo P.BE−SPC200−EN en 0901d...
  • Page 355 = 0 ... 99 the specified register Effect The contents of the register are added with the specified value. Example ;Delete register 0 N010 #LR0=0 ;Increase register 0 by 1 N011 #AR0=1 Remark Registers are remanent. 7−89 Festo P.BE−SPC200−EN en 0901d...
  • Page 356 A branch is made to the specified NC record if the register contains the specified value. Example ;If register 0 = 100, jump to NC record 350 N010 #TR0=100 350 A branch is made to NC record 350 if register 0 contains the value 100. 7−90 Festo P.BE−SPC200−EN en 0901d...

  • Page 357: Diagnosis And Error Treatment

    Diagnosis and error treatment Chapter 8 8−1 Festo P.BE−SPC200−EN en 0901d...
  • Page 358 ........8−35 8−2 Festo P.BE−SPC200−EN en 0901d...
  • Page 359 The SPC200 offers extensive and user−friendly options for diagnosis and fault treatment. The following possibilities are available and are described in this chapter: The LEDs on the SPC200 and on the connected field de vices show directly configuration faults, hardware faults, string faults, etc.

  • Page 360: On−The−Spot Diagnosis

    (flashing sequence corresponds to fault class which has occurred with a 1−second break, see also section 8.2) LED on the SPC200 Smart Positioning Controller Power supply module type SPC200−PWR−AIF Reaction Sequence Operating status...
  • Page 361 Eliminating faults ERROR LED Switch−on phase (3...4 seconds) None · Servicing required · Hardware fault, SPC200 is not ready for communication No internal fault registered None Lights up briefly once when the None device is switched on Flashing sequence according to the fault class with a 1−second break...
  • Page 362 POWER LED Operating voltage applied None Operating voltage not applied Check operating voltage connec tion and load voltage connection on the SPC200 (pin 1 and pin 2). ERROR LED Switch−on phase (3...4 seconds) None · Hardware fault, SPC200 is not Servicing required ·...
  • Page 363 · supply has been switched on Short circuit in the sensor Eliminate short circuit and quit · supply the fault The fault is deleted when the power supply is switched on again on the SPC200. 8−7 Festo P.BE−SPC200−EN en 0901d...
  • Page 364 SPC200. The status LEDs will be switched off and the inputs of the module supply a 0−signal. After elimin ating the short circuit, delete this fault by quitting.

  • Page 365: Fault Messages On The Control Panel

    The control panel displays fault messages in the form of an eight−figure hexadecimal number. The individual positions of this hexadecimal number contain the following information: Fault class (0...9) Axis identifier (0...4) Fault number Additional information Fig. 8/1: Composition of the fault messages (fault codes) 8−9 Festo P.BE−SPC200−EN en 0901d...
  • Page 366 The fault class reflects the type of fault which has occurred (e.g. hardware fault, configuration fault etc.) as well as the time the fault occurred. If the SPC200 is ready for communi cation, the ERROR−LED will flash according to the fault class.
  • Page 367 The fault number describes the source of the fault. With additional information some fault numbers, additional information is output in the form of a three−figure hexadecimal number which contains further important instructions on localizing the fault. 8−11 Festo P.BE−SPC200−EN en 0901d...

  • Page 368: Fault Stages

    Fault quitting by starting signal (Start/stop mode) or CLK signal (Record Select mode) or by Reset command (Reset Error, Reset Program, Reset System) The following sections describe all the fault messages sorted according to fault class and show the assigned fault stages. 8−12 Festo P.BE−SPC200−EN en 0901d...

  • Page 369: Fault Classes

    Active fault could not be acknowledged system version in z01, z0B: Fault on the first measuring system SPC200. Is it per z02, z0C: Fault on the second measuring system missible for the z03, z09: Fault on the 1st. AIF...
  • Page 370 = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) Stepping motor module, field bus module or axis interface module 8−14 Festo P.BE−SPC200−EN en 0901d...
  • Page 371 00006x03 Static identification data damaged 00007x03 Faulty PROFIBUS configuration data 00008x03 Faulty Interbus configuration data 00009x03 Faulty CANbus configuration data zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) 8−15 Festo P.BE−SPC200−EN en 0901d...
  • Page 372 006: Fault in accessing adaptation data The Carry out Data Reset. · data have not been initialized. zzz = Additional information yy = Fault number Axis identifier (0 = fault is not axis−related) 8−16 Festo P.BE−SPC200−EN en 0901d...
  • Page 373 This procedure can take a certain amount of time (max. 10 seconds), depending on the system configuration used. If there is a short circuit at the input, the operating voltage must be switched on again. 8−17 Festo P.BE−SPC200−EN en 0901d...
  • Page 374 · panel (X3) and control panel or connec zzz = fault type tion 001: Overrun 002: Parity fault zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) 8−18 Festo P.BE−SPC200−EN en 0901d...
  • Page 375 Correct the configuration; · the specified field bus I/O range in the see description of the field SPC200 is not permissible because the local bus module or the configur module itself is not present. ation menu of WinPISA from zzz = I/O word no.: version 4.41.
  • Page 376 100: Concerns the 2nd AIF string (on the subcontroller module zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) 8−20 Festo P.BE−SPC200−EN en 0901d...
  • Page 377 · specification is not valid. zzz = Additional information = Fault number = Axis identifier (0 = fault is not axis−related) ppp = Program number nnn = NC record number of the accessing NC command 8−21 Festo P.BE−SPC200−EN en 0901d...
  • Page 378 SPC200−COM−PDP from version 2.0 SPC200−COM−DN2 SPC200−COM−CO2 zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) 8−22 Festo P.BE−SPC200−EN en 0901d...
  • Page 379 Required speed cannot be reached Correct maximum speed or · speed factor zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) nnn = NC record number of the accessing NC command 8−23 Festo P.BE−SPC200−EN en 0901d...
  • Page 380 A fault occurred when the identifica− Check controller, axis and tion step was initialized application data zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) 8−24 Festo P.BE−SPC200−EN en 0901d...
  • Page 381 Carry out dynamic identifica · dynamic identification travel has not been tion travel carried out nnn07x06 The controller in the SPC200 cannot be Check controller, axis and · initialized application data nnn08x06 A task for this axis is already active (position Correct the NC record or stop ·...
  • Page 382 M39; if necessary correct NC program nnn15x06 Reserved nnn19x06 zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) nnn = NC record number of the accessing NC command 8−26 Festo P.BE−SPC200−EN en 0901d...
  • Page 383 = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) nnn = NC record number of the accessing NC command 8−27 Festo P.BE−SPC200−EN en 0901d...
  • Page 384 · frequency) exceeded (>40000 Hz) positioning speed 0000Bx07 Reserved 0000Cx07 Adaptation data incorrect Carry out Data Reset · zzz = Additional information yy = Fault number = Axis identifier (0 = fault is not axis−related) 8−28 Festo P.BE−SPC200−EN en 0901d...
  • Page 385 Correct the configuration; · to the specified field bus I/O range in the see description of the field SPC200 is not permissible because the bus module or the configur local module itself is not present. ation menu of WinPISA from zzz = I/O word no.:...
  • Page 386 When using WinPISA: re−assigned. Program could not be loaded When the Load the program again · fault is deleted, the memory of the SPC200 when the memory has been will be re−assigned. re−assigned. nnn03x08 Non−permitted record number Correct entry ·...
  • Page 387 Compatibility error between WinPISA, MMI Use the latest WinPisa · and the operating system version of the version. SPC200. A program present in the SPC200 If necessary, delete all pro · cannot be processed with the WinPISA grams and reload them into version being used.
  • Page 388 Compatibility error between WinPISA and the Use the latest version of · operating system version of the SPC200. WinPISA; if necessary down zzz = 001: The function Calibration of load it from Festo’s down operating system version 4.82 load area <...

  • Page 389: Eliminating Faults In The System

    8. Diagnosis and error treatment Eliminating faults in the system 8.3.1 Faults when switching on 1) No display on the SPC200 Cause Remedy Remarks Supply voltage is not correct Check supply voltage or See section 3.2.1 or SPC 200 is defective...
  • Page 390 Check See section A (incorrect polarity) Measuring system is defective Check See section 3.6.1 or not connected Proportional directional control Check proportional directional Carry out movement test, valve is defective control valve see section 4.4.2 8−34 Festo P.BE−SPC200−EN en 0901d...

  • Page 391: Faults When Positioning

    Use the movement test to check the function of the measur ing system, including the transmission of measured values to the SPC200. During the movement, at the same time observe the actual position displayed on the MMI control panel or in...
  • Page 392 See section 6.2 optimally (mass, work stroke) System identification has not Carry out system identification See section 4.4.2 been carried out Controller data are not set Optimize controller data See section B optimally (gain, damping) 8−36 Festo P.BE−SPC200−EN en 0901d...
  • Page 393 Notes on installing the pneumatic components Appendix A A−1 Festo P.BE−SPC200−EN en 0901d...

  • Page 394: A. Notes On Installing The Pneumatic Components

    ..... . A−24 Axis structure with standard cylinder type DNCI−..... . . A−31 A−2 Festo P.BE−SPC200−EN en 0901d...

  • Page 395: A.1 Axis Structure With Drive Type Dgp(L)−... And Type Dgpi(L)−

    (here external measuring system Service unit with 5 m filter, without type MLO−POT−...−TLF) lubricator Shock absorber (optional) Compressed air source (4 to 8 bar) Axis interface (here type SPC−AIF−POT) Fig. A/1: Axis structure with positioning drive type DGP(L)−... A−3 Festo P.BE−SPC200−EN en 0901d...
  • Page 396 If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics. A−4 Festo P.BE−SPC200−EN en 0901d...
  • Page 397 Installation instructions for drives DGP(L)−... and DGPI(L)−... Any mounting position is permitted (horizontal, vertical or diagonal) Note that in conjunction with the SPC200, the complete · stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke...
  • Page 398 If you are using a linear potentiometer, fasten it with the · aid of the clamping brackets supplied so that it is electri cally insulated from the mounting surface. A−6 Festo P.BE−SPC200−EN en 0901d...
  • Page 399 Note here the general instructions on measuring systems in sections 3.2.7 and 3.4. Positioning range of the drive Permitted positioning range Shock absorber (optional) Positioning range of the measuring system Fig. A/4: Limits of the positioning range A−7 Festo P.BE−SPC200−EN en 0901d...
  • Page 400 If compressed air is applied to port 2, the slide must move away from the measuring system zero point. Electrical connection Fig. A/5: Tubing for the slide mode Electrical connection Fig. A/6: Tubing connection for yoke mode with measuring system A−8 Festo P.BE−SPC200−EN en 0901d...
  • Page 401 Fig. A/7: Tubing on the side with the measuring system zero point Electrical connection (measuring system zero point) Identifying the direction of movement Fig. A/8: Tubing on the side opposite the measuring system zero point A−9 Festo P.BE−SPC200−EN en 0901d...

  • Page 402: A.2 Axis Structure With Standard Cylinder Type Dnc−

    (here type MLO−POT−...−LWG) Service unit with 5 m filter, without lubricator Drive (here type DNC−...) Compressed air source (4 to 8 bar) Earth strap Shock absorber (optional) Fig. A/9: Axis structure with standard cylinder type DNC−... A−10 Festo P.BE−SPC200−EN en 0901d...
  • Page 403 SPC200: constant run variant S10 (slow speed) light run variant S11 (low friction) temperature−resistant variant S6 (only on demand). Use only: DNC drives with permitted maximum piston speed > 1 m/s. permitted valve−drive combinations. A−11 Festo P.BE−SPC200−EN en 0901d...
  • Page 404 If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics. A−12 Festo P.BE−SPC200−EN en 0901d...
  • Page 405 Installation instructions for standard cylinder DNC−... Any mounting position is permitted (horizontal, vertical or diagonal). Note that in conjunction with the SPC200, the complete · stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke...
  • Page 406 In positioning applications, use only the following elements approved by Festo for coupling the mass load to the drive: Connecting element Type Articulated head SGS−...
  • Page 407 Limit the positioning range by means of shock absorbers, so that the measuring system covers the complete posi tioning range. In this way you can protect the measuring system against damage. Note here the general instructions on measuring systems in chapter 3.2.7. A−15 Festo P.BE−SPC200−EN en 0901d...
  • Page 408 (electrical connection of the potentiometer). If compressed air is applied to port 2, the slide must move away from the measuring system zero point. Electrical connection Fig. A/11: Tubing of the DNC−... A−16 Festo P.BE−SPC200−EN en 0901d...

  • Page 409: A.3 Axis Structure With Standard Cylinder Type Dncm−

    Service unit with 5 m filter, without Drive with built−on measuring system lubricator (here type DNCM−...) Compressed air source (4 to 8 bar) Earth strap Shock absorber (optional) Fig. A/12: Axis structure with standard cylinder type DNC−...−POT A−17 Festo P.BE−SPC200−E N en 0901d...
  • Page 410 Do not loosen the mechanical connections between the standard cylinder housing and the measuring system housing. When fitting the coupling plate, observe the operating instructions for the DNCM−...−POT. Fig. A/13: Do not loosen the mechanical connection A−18 Festo P.BE−SPC200−E N en 0901d...
  • Page 411 If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics. A−19 Festo P.BE−SPC200−E N en 0901d...
  • Page 412 Installation instructions for standard cylinder type DNCM−...−POT Any mounting position is permitted (horizontal, vertical or diagonal) Note that in conjunction with the SPC200, the complete · stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke...
  • Page 413 In positioning applications, use only the following elements approved by Festo for coupling the mass load to the drive: Connecting element Type Articulated head SGS−...
  • Page 414 (electrical connection of the potentiometer). If compressed air is applied to port 2, the slide must move away from the measuring system zero point. A−22 Festo P.BE−SPC200−E N en 0901d...
  • Page 415 A. Notes on installing the pneumatic components Electrical connection Fig. A/15: Tubing of the DNCM−... A−23 Festo P.BE−SPC200−E N en 0901d...

  • Page 416: A.4 Axis Structure With Rotary Module Type Dsmi−

    DSMI−...−... type MPYE−5−... (rear view) Service unit Shock absorber (optional) (without lubricator, with 5 m filter) Earthing cable Compressed air source (4 to 8 bar) Fig. A/16: Axis structure with rotary module type DSMI−... A−24 Festo P.BE−SPC200−EN en 0901d...
  • Page 417 In the application data you must always specify 0 [°] for the rotary module under Mounting position" (see also chap. 6.2). The mounting position which is permitted depends on the position of the mass centre of gravity. A distinction is made between the following cases: A−25 Festo P.BE−SPC200−EN en 0901d...
  • Page 418 The centre of gravity of the mass load lies in the rotary axis (output drive shaft of the DSMI−...) Any mounting position is permitted (horizontal, vertical or diagonal). Centre of gravity of the mass load Fig. A/18: Any mounting position for case B A−26 Festo P.BE−SPC200−EN en 0901d...
  • Page 419 A. Notes on installing the pneumatic components Installation instructions for rotary module type DSMI−... Note that in conjunction with the SPC200, the complete · swivel range of the rotary module must not be used. Permitted swivel range = max. swivel range minus stroke...
  • Page 420 (cross−sectional area min. 2.5 mm , length max. 0.5 m; see Fig. A/16). Mass load In conjunction with the SPC200, operation of the DSMI−... is regulated electronically. Special mass moments of inertia therefore apply (see chapter 3.2.9). Please note Make sure that the permitted mass moment of inertia is observed during operation.
  • Page 421 Fig. A/19: Example: Favourable and unfavourable internal vibration behaviour of the mass Tubing of the DSMI−... Work connection 2 of the proportional directional control valve must be connected to the connection which moves the stop lever in the direction of end position 1. A−29 Festo P.BE−SPC200−EN en 0901d...
  • Page 422 Work connection has effect in direction of end position 1 Work connection has effect in direction of end position 2 Fig. A/20: Work connections and fixed stops on the DSMI−...−... Fig. A/21: Tubing of the DSMI−... A−30 Festo P.BE−SPC200−EN en 0901d...

  • Page 423: A.5 Axis Structure With Standard Cylinder Type Dnci−

    Service unit with 5 m filter, without lubricator Drive with integrated incremental measuring system (type DNCI−...) Compressed air source (4 to 8 bar) Earth strap Shock absorber (optional) Fig. A/22: Axis structure with standard cylinder type DNCI−... A−31 Festo P.BE−SPC200−EN en 0901d...
  • Page 424 Make sure that the following sources of power are · switched off: operating voltage compressed air (drive vented on both sides). The sensor projects into the pressure chamber of the DNCI−..Fig. A/23: Sensor connection A−32 Festo P.BE−SPC200−EN en 0901d...
  • Page 425 The function of measuring system in the DNCI is based on magnetism. Excessively strong magnetic fields in the area of the sensor head can hinder the measuring function or falsify the measurement results. Be sure to observe the mounting conditions described in the operating instructions. A−33 Festo P.BE−SPC200−EN en 0901d...
  • Page 426 If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics. A−34 Festo P.BE−SPC200−EN en 0901d...
  • Page 427 Installation instructions for standard cylinder type DNCI−... Any mounting position is permitted (horizontal, vertical or diagonal) Note that in conjunction with the SPC200, the complete · stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke...
  • Page 428 · external torques. Recommendation: If necessary, use standard cylinder type DNCI from Festo in the variant with built−on guide unit type FENG. The cylinder, guide, measuring system and load must be rigid in the direction of movement, have little play and must be connected flush with each other.
  • Page 429 Lateral loads and torques produce incorrect measured results and can even damage the measuring system. Use an external guide for the mass load in order to pre · vent lateral loads and torques on the double piston rod. A−37 Festo P.BE−SPC200−EN en 0901d...
  • Page 430 (see Fig. A/25). When compressed air is applied to port 2, the piston must advance, and the mass load then moves to the left here. Electrical connections Compressed air source (4...8 bar) Fig. A/25: Tubing of the DNCI−... A−38 Festo P.BE−SPC200−EN en 0901d...
  • Page 431 Optimizing the positioning behaviour Appendix B B−1 Festo P.BE−SPC200−EN en 0901d...

  • Page 432: B. Optimizing The Positioning Behaviour

    ........B−10 B.3.1 Proceed as follows if the compressed air supply is unstable ..B−16 B−2 Festo P.BE−SPC200−EN en 0901d...

  • Page 433: B.1 Basic Information On Control

    B. Optimizing the positioning behaviour Basic information on control The basis for control of the pneumatic axes is a model control path stored in the SPC200. This model assumes a pneumatic axis which is built up in accordance with specifications, e.g. with regard to: the compressed air provided the valve−cylinder combination used...
  • Page 434 Note that the programmed speed and acceleration values are automatically limited to implementable values depending on the positioning stroke. The implementable maximum values are ascertained by the SPC200 individually for each axis dur ing dynamic identification travel. B−4 Festo P.BE−SPC200−EN en 0901d...
  • Page 435 Nominal value curve with G02 Identified maximum speed Nominal value curve with G01 Configured maximum speed Braking phase (t2) Approach ramp (G08) Consistent movement (t3) Braking ramp (G09) Acceleration phase (t1) Fig. B/1: Nominal speed value curve (G01/G02) B−5 Festo P.BE−SPC200−EN en 0901d...
  • Page 436 = braking time + v a Braking phase = time with constant speed = approach path = approach path = braking path = path with constant speed = complete path = complete path Consistent movement −(s B−6 Festo P.BE−SPC200−EN en 0901d...

  • Page 437: B.2 Description Of The Controller Factors

    Instructions on optimizing the positioning behaviour can be found in section B.3. The factors are standardized to 1.0 by the SPC200. If the factors are increased (> 1), the parameters will be increased accordingly; if the factors are reduced (< 1), the parameters will be reduced accordingly.
  • Page 438 The drive tends towards instability (tendency to Increase vibrate during positioning, up to continuous vibration around the nominal position, heavy overswing). The positioning process is carried out quickly and Optimal accurately. Permitted: 0.1 ... 10.0 B−8 Festo P.BE−SPC200−EN en 0901d...
  • Page 439 Reduce gain and good damping). Noise" or loud valve noises (observe gain; this Increase may be too high). The positioning process is carried out quickly and Optimal accurately, low valve noises. Permitted: 0.1 ... 10.0 B−9 Festo P.BE−SPC200−EN en 0901d...

  • Page 440: B.3 Optimize Positioning Behaviour

    Now carry out several positioning cycles. This is to · guarantee that the adaptation is effective. The adaptation is only effective with position quality classes 3, 4, 5 and 6; in positioning quality classes 1 and 2 the adaptation is not effective. B−10 Festo P.BE−SPC200−EN en 0901d...
  • Page 441 WinPISA with the following examples. 3. In order to optimize the positioning behaviour, proceed as described in the table of the corresponding example. Check first from top to bottom the most probable causes and their remedial measures. B−11 Festo P.BE−SPC200−EN en 0901d...
  • Page 442 · gured or programmed (M37) program High performance of cylinder Carry out system identifica · (friction has changed) tion again (static or dynamic) Gain factor set too low Correct parameters · Nominal position Actual position B−12 Festo P.BE−SPC200−EN en 0901d...
  • Page 443 Or very noisy acceleration Increase signal filter factor · signal with high amplitude Minimum mass load not Increase basic load · reached (see chapter 3.2.9) Too small tolerance Increase tolerance · demanded Nominal position Actual position Speed B−13 Festo P.BE−SPC200−EN en 0901d...
  • Page 444 (automatic limiting) Signal filter factor set too Correct parameters · high Gain factor set too high Correct parameters · Damping factor set too low Correct parameters · Nominal position Actual position B−14 Festo P.BE−SPC200−EN en 0901d...
  • Page 445 Reduce mass load · (in some cases causes over (see chapter 3.2.9) dampened controller) Overstressing (too high, Adapt nominal values or · fast" nominal values) carry out dynamic identifica tion travel (automatic limiting) Nominal position Actual position B−15 Festo P.BE−SPC200−EN en 0901d...

  • Page 446: B.3.1 Proceed As Follows If The Compressed Air Supply Is Unstable

    2. Lower the supply pressure statically to this level. 3. Now carry out the dynamic identification travel again. 4. When system identification is concluded, increase the supply pressure again to the value set in the application data. B−16 Festo P.BE−SPC200−EN en 0901d...
  • Page 447 Technical appendix Appendix C C−1 Festo P.BE−SPC200−EN en 0901d...

  • Page 448: C. Technical Appendix

    ......... C−30 C.4.4 Technical specifications of control panel type SPC200−MMI−1 ..C−31 C.4.5...

  • Page 449: C.1 Sequence Plans For The Programmer

    For example: READY stands for READY signal, 1 stands for 1−signal, 0 stands for 0−signal. C.1.1 Creating readiness to operate When the operating voltage is switched on, the SPC200 carries out the initialization and self−test of the connected modules. This initialization phase can take a certain amount of time (max.
  • Page 450 Record Select mode Control input Signal ENABLE 0−signal STOP 0−signal RESET 0−signal CLK_B Not relevant CLK_A Not relevant Start/Stop mode Control input Signal ENABLE 0−signal STOP 0−signal START/RESET 0−signal SYNC_IB Not relevant SYNC_IA Not relevant C−4 Festo P.BE−SPC200−EN en 0901d...
  • Page 451 Wait 10 s Switch on the load voltage Wait 1 s Set ENABLE Operating and load voltage supplies of the SPC200 Each voltage must be stable 24 V DC −5/+25 % Fig. C/1: Create readiness to operate C−5 Festo P.BE−SPC200−EN en 0901d...
  • Page 452 (reaction time max. 2 s). Timer READY =1? expired? Waiting for faults Wait 100 ms READY =1? Set STOP Debounce time Wait 10 ms SPC200 is faulty SPC200 is ready for operation Fig. C/2: Create readiness to operate (continued) C−6 Festo P.BE−SPC200−EN en 0901d...

  • Page 453: C.1.2 Start Nc Record In Record Select Mode

    Start NC record in Record Select mode ACK_A/B RECBIT1...10 Create NC record number Wait 10 ms Set CLK_A/B Start timer 2 s Timer ACK_A/B Fault expired? Reset CLK_A/B Fig. C/3: Start NC record in Record Select mode C−7 Festo P.BE−SPC200−EN en 0901d...
  • Page 454 C. Technical appendix Start timer 2 s Timer ACK_A/B Fault expired? Time requirement depends on the application Start timer Timer RC_A/B= Fault expired? Fig. C/4: Start NC record in Record Select mode (continued) C−8 Festo P.BE−SPC200−EN en 0901d...

  • Page 455: C.1.3 Start Program Or Nc Record

    The program must already be saved in the program memory The axis, application and system data must be set correctly The operating mode must be set The SPC200 is ready to operate (1−signal at ENABLE and STOP inputs and at READY output) Start NC program in Start/Stop mode In the operating mode Start/Stop the sequence is started or continued with a rising signal edge at the START input.

  • Page 456: C.1.4 Carry Out Fault Acknowledgement

    In this case, fault acknowledgement should be repeated up to three times (see sequence plan Fault treatment"). If the SPC200 is then still not ready to operate (READY signal = 0), the fault cannot be quitted, as the cause of the fault must first be eliminated.
  • Page 457 SYNC_IA not relevant If there is a 0−signal at the STOP input, a Program Reset will be triggered by a rising edge at the START/RESET input. Tab. C/2: Necessary signal states in Start/Stop mode C−11 Festo P.BE−SPC200−EN en 0901d...
  • Page 458 Carry out fault acknowledge− ment (see Fig. C/7) Increment acknowledge− ment counter Acknow− ledgem. READY =1? counter > 3 ? Fault cannot be quitted SPC200 is ready for Diagnosis required operation Fig. C/6: Fault treatment C−12 Festo P.BE−SPC200−EN en 0901d...
  • Page 459 Restore standard setting Reset START or CLK Max. waiting time until READY signal is applied Start timer 10 s Timer READY =1? expired? Wait for next fault Wait 100 ms Fig. C/7: Carry out fault acknowledgement C−13 Festo P.BE−SPC200−EN en 0901d...

  • Page 460: C.2 Cable Length And Cross−Sectional Area

    A load−dependent drop in voltage occurs on all three supply cables of the SPC200. This can lead to the voltage at pin 1 (24 L) or pin 2 (24 V) of the operating voltage connection (X2) lying outside the permitted tolerance.
  • Page 461 · the operating temperature of the devices. · 3. Enter the values in the relevant formula. The equivalent circuit diagram as well as the example explain the correla tions. C−15 Festo P.BE−SPC200−EN en 0901d...
  • Page 462 : Electronics etc. (24 V) : Outputs/valves etc. (24 L) SPC200 Pin 1 Pin 2 OUT/VAL Pin 3 Line resistor (outgoing) R Line resistor (returning) R L = distance (cable length) Fig. C/8: Equivalent circuit diagram for power supply C−16 Festo P.BE−SPC200−EN en 0901d...
  • Page 463 · κ = conductance value of the cables · κ (uniform e.g. = 56 Example: SPC200−CPU4 with basic components and field devices for 2 axes: = 1 A = 2.3 A = 24 V Bmin = 22.8 V OUT/VALmin κ...

  • Page 464: C.3 Internal Layout Of The Inputs/Outputs

    Diagnosis (short−circuit, overload, Logic recognition protection against incorrect polarity) 24 V sensor supply SPC200, inputs 0...9 (not with separate potential) Designation on plug X5/X7 (inputs 0...9) Fig. C/9: Internal layout of type SPC200−DIO (PNP inputs) C−18 Festo P.BE−SPC200−EN en 0901d...
  • Page 465 24 V +10/−15 % 0...7 Load voltage connection Diagnosis (short circuit, overload, load voltage failure) SPC200, outputs 0...7 Designation on plug X6/X8 Electrical isolation (outputs 0...7) Fig. C/10: Internal layout of type SPC200−DIO (PNP outputs) C−19 Festo P.BE−SPC200−EN en 0901d...
  • Page 466 Pin 4 Pin 3 Sensor supply via AIF string Diagnosis (short circuit, overload, protection against incorrect polarity) SPC−FIO−..., input 1.0 or 1.1 green LED Electrical isolation Fig. C/11: Internal layout of type SPC−FIO−2E/2A (PNP inputs) C−20 Festo P.BE−SPC200−EN en 0901d...
  • Page 467 Pin 4 (n.c.) Pin 1 Pin 3 Load supply via AIF string SPC−FIO−..., output 1.0 or 1.1 Diagnosis (short circuit, overload, Electrical isolation load voltage failure) Fig. C/12: Internal layout of type SPC−FIO−2E/2A (PNP outputs) C−21 Festo P.BE−SPC200−EN en 0901d...

  • Page 468: C.4 Technical Specifications

    C. Technical appendix Technical specifications C.4.1 Technical specifications for the SPC200 Type SPC200−CPU−... Dimensions Locations Height 120 mm 120 mm Width 126 mm 167 mm Depth 96.5 mm 96.5 mm Weight Not fitted Approx. 675 g Approx. 850 g Temperature range: −...
  • Page 469 ± 30 g at 11 ms duration; 5 shocks per direction Observe the tolerance of the modules connected to the axis interface string. Maximum 0.5 A be made available for each I/O module type SPC200−DIO. See technical specifications of the connected modules.
  • Page 470 Tested as per DIN/IEC 68 part 2−6: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Shock Tested as per DIN/IEC 68 part 2−27: ± 30 g at 11 ms duration; 5 shocks per direction C−24 Festo P.BE−SPC200−EN en 0901d...
  • Page 471 Tested as per DIN/IEC 68 part 2−6: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Shock Tested as per DIN/IEC 68 part 2−27: ± 30 g at 11 ms duration; 5 shocks per direction C−25 Festo P.BE−SPC200−EN en 0901d...
  • Page 472 Tested as per DIN/IEC 68 part 2−6: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Shock Tested as per DIN/IEC 68 part 2−27: ± 30 g at 11 ms duration; 5 shocks per direction C−26 Festo P.BE−SPC200−EN en 0901d...
  • Page 473 Tested as per DIN/IEC 68 part 2−6: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Shock Tested as per DIN/IEC 68 part 2−27: ± 30 g at 11 ms duration; 5 shocks per direction C−27 Festo P.BE−SPC200−EN en 0901d...

  • Page 474: C.4.2 Technical Specifications Of Axis Interface Type Spc−Aif−

    Potentiometer (only SPC−AIF−POT and ...−LWG) Reference voltage V + 10 V 2.5 K Digital measuring system (only SPC−AIF−MTS) + 24 V Observe the tolerance of the connected valve type MPYE−... Current consumption incl. digital measuring system C−28 Festo P.BE−SPC200−EN en 0901d...
  • Page 475 0.35 mm path at 10...60 Hz; 5 g acceleration at 60...150 Hz Shock Tested as per DIN/IEC 68 part 2−27: ± 30 g at 11 ms duration; 5 shocks per direction The device is intended for use in industrial applications C−29 Festo P.BE−SPC200−EN en 0901d...

  • Page 476: Type Spc−Fio−

    Electronic fuse (short circuit, overload) Trigger current Min. >500 mA Electrical isolation None Internal current consumpt. of electronics < 40 mA External load voltage supply type SPC−AIF−SUP−24V required Is provided by module SPC200−PWR−AIF (internal electronics, pin 2) C−30 Festo P.BE−SPC200−EN en 0901d...

  • Page 477: C.4.4 Technical Specifications Of Control Panel Type Spc200−Mmi−1

    C. Technical appendix C.4.4 Technical specifications of control panel type SPC200−MMI−1 Type SPC200−MMI−1 Dimensions Height Approx. 67 mm Width Approx. 59 mm Depth Approx. 52 mm Weight Approx. 90 g Temperature range Operating temperature − 5 ... + 50 °C Storage/transport −...

  • Page 478: C.4.5 Technical Specifications Of Control Panel Type Spc200−Mmi−1F

    C. Technical appendix C.4.5 Technical specifications of control panel type SPC200−MMI−1F Type SPC200−MMI−1F Dimensions Height Approx. 102 mm Width Approx. 102 mm Depth Approx. 37 mm Weight Approx. 225 g Temperature range Operating temperature 0 ... + 50 °C Storage/transport −...
  • Page 479 Index Appendix D D−1 Festo P.BE−SPC200−EN en 0901d...

  • Page 480: D. Index

    D. Index D−2 Festo P.BE−SPC200−EN en 0901d...
  • Page 481 ........7−71 D−3 Festo P.BE−SPC200−EN en 0901d...
  • Page 482 ....7−22 Axis stop (NC command M12) ..... 7−72 D−4 Festo P.BE−SPC200−EN en 0901d...
  • Page 483 ....... 3−43 Sequence diagram ......5−19 D−5 Festo P.BE−SPC200−EN en 0901d...
  • Page 484 ......XVIII Components of the SPC200 ......
  • Page 485 ......4−14 , 5−11 SYNC_OA/OB output ......5−13 D−7 Festo P.BE−SPC200−EN en 0901d...
  • Page 486 ........3−36 Programming cable ..... . 3−36 , 3−65 D−8 Festo P.BE−SPC200−EN en 0901d...
  • Page 487 ........3−30 Emergency travel (stepping motor axis), Starting with the control panel ....6−54 D−9 Festo P.BE−SPC200−EN en 0901d...
  • Page 488 ........8−12 On the control panel ......8−9 D−10 Festo P.BE−SPC200−EN en 0901d...
  • Page 489 ......2−12 General instructions for the SPC200 ....
  • Page 490 ... . . 6−48 Testing with the control panel ....6−53 D−12 Festo P.BE−SPC200−EN en 0901d...
  • Page 491 ......3−65 I/O function module type SPC−FIO−....3−62 Proportional directional control valve type MPYE−... 3−60 I/O function module type SPC−FIO−2E/2A−M8, 3−61 D−13 Festo P.BE−SPC200−EN en 0901d...
  • Page 492 ......3−15 Setting with the control panel ....6−19 D−14 Festo P.BE−SPC200−EN en 0901d...
  • Page 493 ......3−13 Setting with the control panel ....6−19 D−15 Festo P.BE−SPC200−EN en 0901d...
  • Page 494 ......4−27 Multi−axis applications with the SPC200 ... . .
  • Page 495 ......7−71 Operands (definition) ......7−14 D−17 Festo P.BE−SPC200−EN en 0901d...
  • Page 496 ..... 1−13 Range of devices for the SPC200 ....
  • Page 497 ........7−11 With Start/Stop frequency (NC command G02) ......7−39 D−19 Festo P.BE−SPC200−EN en 0901d...
  • Page 498 Presettings after Power−on or RESET ... 7−11 Programming language DIN 66025 ....7−24 D−20 Festo P.BE−SPC200−EN en 0901d...
  • Page 499 ......3−8 Range of devices for the SPC200 ....
  • Page 500 ........A−24 D−22 Festo P.BE−SPC200−EN en 0901d...
  • Page 501 ........A−8 D−23 Festo P.BE−SPC200−EN en 0901d...
  • Page 502 ....4−21 Stepping motor indexer module ... XVI , 1−12 , 2−6 D−24 Festo P.BE−SPC200−EN en 0901d...
  • Page 503 ........A−27 Structure of the SPC200 ......
  • Page 504 ......C−27 Terminating resistor (AIF string) ....3−53 Test single−bit operand for 0−signal (NC command #TN) 7−88 D−26 Festo P.BE−SPC200−EN en 0901d...
  • Page 505 ........A−25 D−27 Festo P.BE−SPC200−EN en 0901d...
  • Page 506 ........A−8 D−28 Festo P.BE−SPC200−EN en 0901d...

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