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Festo SPC200 Electronic Manual

Festo SPC200 Electronic Manual

Smart positioning controller. stepping motor indexer module type spc200-smx-1
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SPC200 Smart Positioning Controller
Electronics manual
Stepping motor
indexer module
Type SPC200−SMX−1
Manual
188 895
en 0503b
[693 858]

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Summary of Contents for Festo SPC200

  • Page 1 SPC200 Smart Positioning Controller Electronics manual Stepping motor indexer module Type SPC200−SMX−1 Manual 188 895 en 0503b [693 858]...
  • Page 3 ....... . . 188 895 E (Festo AG & Co. KG, D 73726 Esslingen, Federal Republic of Germany, 2003) Internet: http://www.festo.com...
  • Page 4 Contents and general instructions Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 5: Table Of Contents

    ........3−8 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 6 ..........4−22 4.3.5 Loading the axis configuration into the SPC200 ....4−22 4.3.6...

  • Page 7: Designated Use

    Please observe also the safety instructions in the operating instructions for the pneumatic components used. The SPC200 and the modules and cables to be connected are only to be used as follows: As specified in industrial applications.

  • Page 8: Target Group

    This manual is intended exclusively for technicians trained in control and automation technology, who have experience in fitting, installing, commissioning, programming and diagnos ing stepping motor axes. Service Please consult your local Festo repair service if you have any technical problems. Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 9: Important User Instructions

    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. Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 10 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 11: Notes On Software Version

    Contents and general instructions Notes on software version Please note This manual refers to stepping motor indexer modules type SPC200−SMX−1 with software version as from 1.42. Observe the different positioning speeds depending on the software version of the stepping motor indexer module: Function...

  • Page 12: Notes On The Use Of This Manual

    Notes on the use of this manual This manual contains basic general information on fitting, installing and commissioning the SPC200, as well as a de scription of its method of operation as a stepping motor con troller. The manual deals with the SPC200 Smart Positioning Controller with operating system version as from 4.6 and...
  • Page 13 Consider in particular the specifications for the permitted operating conditions of the motors and drives used in the documentation enclosed (manufacturer data), e.g. for the permitted start−stop frequency or the minimum positioning speeds. Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 14: List Of Abbreviations

    Linear drive Digital input I/Os Digital inputs and outputs Modules Function cards which can be plugged into the rack of the SPC200. Digital output Record Select mode Operating mode of the SPC200 which supports close coupling with a higher−order PLC/IPC.

  • Page 15: System Summary

    System summary Chapter 1 1−1 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 16 ........1−12 1−2 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 17: System Structure

    1. System summary System structure Stepping motor drives must be connected to the SPC200 by means of special stepping motor indexer modules. Each step ping motor indexer module type SPC200−SMX−1 enables a stepping motor axis to be coupled on..

  • Page 18: System Summary

    1. System summary Basis structure for operating a stepping motor axis With just the following modules the SPC200 can control a stepping motor controller: Power supply module Diagnostic module I/O module (optional field bus module) Stepping motor indexer module Fig. 1/2: Basis structure for a stepping motor controller 1−4...
  • Page 19 3 stepping motor indexer modules can be fitted in the SPC200 for controlling 3 electric axes. The SPC200 can be controlled via I/Os or via the field bus in the operating mode Start/Stop or in the Record Select mode.
  • Page 20 1. System summary For setting up a stepping motor axis with the SPC200 you will require the following components: The SPC200 Smart Positioning Controller with stepping motor module type SPC200−SMX−1 The control cable from the SPC200 to the stepping motor...

  • Page 21: Connecting And Display Elements Of The Stepping Motor Indexer Module

    The diagram below shows the connecting and display elements of the stepping motor indexer module type SPC200−SMX−1. Control plug (AMPLIFIER, X30), 15−pin FAULT LED (red) STATUS LED (green) Signal plug (SIGNALS, X31) Fig. 1/3: Connecting and display elements 1−7 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 22: Drive Packages

    1. System summary Drive packages Festo offers drive packages for electric axes. These consist of: stepping motor controller stepping motor (in some cases with brake) gears (if necessary). The drive package must be suited to the requirements of the positioning system (moveable mass, positioning time, etc.) as well as to the electromechanical linear axis used.
  • Page 23 Fig. 1/4: Control connection of the stepping motor controller The control connection of the stepping motor indexer module type SPC200−SMX−1 has been optimized for the stepping motor controllers offered with the Festo drive packages. Other stepping motor controllers can only be used providing...
  • Page 24 Outputs (push−pull control, electric as per RS 485): Pulse Direction Enable Full/half step (not used with SEC−ST) Input (relay contact in the stepping motor controller): Ready (bridged in the connecting cable for the SEC−ST) 1−10 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 25: Electromechanical Linear Drive

    Accessories For the positioning systems Festo offers accessories suited to the drive packages and linear drives (see Festo delivery pro gram or catalogue). 1−11 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 26: Emergency Stop Concept

    The status of the limit switches connected to the sensor plug is evaluated by the operating system of the SPC200. Warning The limit switches connected to the sensor plug are not suitable for implementing an EMERGENCY STOP function.

  • Page 27: Fitting

    Fitting Chapter 2 2−1 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 28 Arrangement of the sensors ....... 2−8 2−2 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 29 Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. all load and operating voltage supplies on the SPC200 and the connected components of the positioning system. You can thereby avoid:...

  • Page 30: Fitting And Removing The Stepping Motor Indexer Module

    The modules are fastened on the rack with the aid of a lock ing lever. A tool is not therefore required for fitting or remov ing a module. 2−4 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 31 2. Fitting Warning Actuators may make sudden unexpected movements and the SPC200 will be damaged if modules are added or re moved whilst the power supply is switched on. Before carrying out installation and/or maintenance work, switch off the following power supplies in the sequence specified: 1.
  • Page 32 2. Loosen and pull off the connecting cable on the front of the module. 3. Unlock both locking levers (see diagram) and carefully pull out the module. 4. If necessary, seal the unused slots with blanking plates. 2−6 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 33: Reference/Limit Switches

    Use the correct type of switch for the necessary reference and limit switches: Sensor Contact Reference switch N.O. = normally open Limit switches N.C. = normally closed 2−7 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 34: Arrangement Of The Sensors

    (stroke reserve). The usual arrangement of the sensors on an electric axis with safety limit switches is shown in the following diagram. 2−8 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 35 Sensor connections for the EMERGENCY STOP circuit Switching ranges of the hardware limit switch (braking range < stroke reserve) Positioning range Switching ranges of the safety limit switch (EMERGENCY STOP range) Fig. 2/2: Arrangement of the sensors 2−9 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 36: Installation

    Installation Chapter 3 3−1 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 37 ........3−8 3−2 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 38: General Instructions

    Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. all load and operating voltage supplies on the SPC200 and the connected components of the positioning system. Load and operating voltage supplies:...
  • Page 39 In this way you can avoid electromagnetic interference which might impair reliable operation of the system. Please note Lay all moveable motor and sensor cables free of bends and free of mechanical stress, if necessary, in a drag chain. 3−4 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 40: Spc200 With Stepping Motor Indexer Module

    3. Installation 3.1.1 Overview of electrical installation Motor SPC200 with stepping motor indexer module Electromechanical linear drive Control cable (e.g. KSPC−SECST−...) Motor cable Stepping motor controller Sensor cable (e.g. SEC−ST) (reference and limit switches) Main switch Control cabinet Power unit Fig.

  • Page 41: Connecting The Sensors

    Check within the framework of your EMERGENCY STOP circuit to ascertain the measures necessary for putting your machine/system into a safe state in the event of an EMERGENCY STOP (e.g. switching off the operating volt age, switching off the compressed air). 3−6 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 42 You must make sure that the switchover point always lies within a step resolution. The following diagram shows as an example the connection of the sensors. LIM+ LIM− 24 V 24 V Fig. 3/3: Connection diagram for the sensors 3−7 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 43: Connecting The Stepping Motor Controller And The Stepping Motor

    Connecting the control cable There is a sub−D plug on the stepping motor indexer module for connecting the SPC200 to the stepping motor controller (AMPLIFIER, X30). This plug has been designed for stepping motor controllers with 5 V control signals.
  • Page 44 + F/H STEP (full/half step) Not connected − F/H STEP (full/half step) Not connected 1) 2) Not connected − READY 1) 2) + READY Not used with stepper motor controller SEC−ST Connections bridged in the connecting cable 3−9 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 45 +/− DIRECTION Output: Determines the direction of rotation of the motor. +/− ENABLE Output: Enable signal for the stepping motor controller. +/− F/H STEP Output: Defines whether the motor is controlled for full or half step. 3−10 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 46: Commissioning

    Commissioning Chapter 4 4−1 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 47 ..........4−22 4.3.5 Loading the axis configuration into the SPC200 ....4−22 4.3.6...

  • Page 48: Procedure For Commissioning

    4. Commissioning Procedure for commissioning For user−friendly commissioning and programming of an SPC200 with stepping motor indexermodule, you will require the WinPISA software package as from version 4.3. However, commissioning can also be carrried out by means of the control panel.

  • Page 49: Commissioning

    Preparations for commissioning Check the connection to the mains power supply Make sure that the stepping motor controller and the SPC200 are disconnected from the power supply. Check the voltage for the stepping motor controller and the 24 V power supply.
  • Page 50 Please refer to the documentation on the stepping motor con troller for the correct pre−settings and for instructions on opti mizing the settings. Switching on the power supply on the SPC200 Please note Make sure that the axis is always within the positioning range defined by the limit switches when it is switched on and before the start of reference travel.
  • Page 51 In some cases emergency movement (diagnosis and fault treatment) Test and start program Instructions on providing the signals can also be found in the SPC200 or WinPISA manuals, in some cases also in the man ual for the field bus module. 4−6 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 52: Commissioning With Winpisa

    WinPISA manual for the necessary steps. With the existing stepping motor indexer module there are one or several stepping motor interfaces in the project win dow under the SPC200. A stepping motor axis is assigned to each stepping motor interface. Fig. 4/1: Stepping motor interface...

  • Page 53: Selecting A Specification For The Axis

    WinPISA. You can create these specifications your self with the aid of the Planning Tool (PtTool). Information on further necessary entries can be found in the following sections. 4−8 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 54 4. Commissioning Please note The SPC200 with stepping motor indexer module can be used with various stepping motor controllers. By selecting an appropriate specification for the axis, you determine the following: the calculation of the resulting resolution, the support of the control output F/H−STEP of the step ping motor indexer module.
  • Page 55 WinPISA WinPISA calculates from this the resul be set in WinPISA. WinPISA calculates from this the resul New drive package MTRE−ST−... ting resolution which is saved in the SPC200 (see section from Festo with inte 4.3.3). grated stepping motor Output F/H−STEP of the stepping motor indexer module is...

  • Page 56: Configuration Of The Axis Parameters

    After an upload these fields appear empty, as this in formation is not saved in the SPC200. Designation The designation of the linear drive used for the electric axis (display field).

  • Page 57: Configuration Of The Application Parameters

    Fig. 4/4: Parameter set for the .. axis, register card Application parameters" Description of the parameters under Application parameters" The application parameters are configuration data which de scribe the conditions of use specified by the application. 4−12 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 58 + 6.25000 Steps mm Please note The parameter Resolution with full step" us only used to determine the final resolution, but not saved in the SPC200. Only the parameters Resolution" and "Step mode" are saved. 4−13 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 59 The resulting resolution will be calculated as per formula (see 1/10 Resolution"). The output F/H STEP on the stepping motor indexer module of the SPC200 motor indexer module of the SPC200 MTRE−ST−... Motor with is not supported, it remains at 0"...
  • Page 60 Consider the manufacturer data for the permitted operat ing conditions of the used motors and drives, e.g. for the permitted start−stop frequency. 4−15 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 61 Defined end position on the side of the machine zero point position which is monitored by the SPC200 and which must not be overrun. The lower software end position refers to the ma chine zero point and represents the lower limit of the posi tioning range.
  • Page 62 Defined end position on the side opposite the machine zero position point which is monitored by the SPC200 and which must not be overrun. The upper software end position refers to the machine zero point and represents the upper limit of the positioning range.
  • Page 63 Permitted: 0.1 ... 10.0 [m/s] Note that the maximum permitted step frequency (position ing frequency) with the SPC200 is 40 kHz. The maximum step frequency is calculated from the product of the resolution and the maximum speed: Step frequency + resolution < speed...
  • Page 64 Commissioning the stepping motor" (Command [Online] [Commission] [Stepping motor] ), or with the control panel. Permitted: 0 ... 4 With command G74 the reference travel mode in the NC pro gram will be defined individually. 4−19 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 65 If an incorrect reference travel mode is set, this can lead to collisions, as all positions of the axis refer to the reference point. When carrying out reference travel, make sure that the correct mode is used. 4−20 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 66 Power off/on), the axis will try to leave or find the last actu ated switch with the start−stop frequency (SS). If the switch is neither left nor found, the axis will move to the opposite limit switch. 4−21 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 67: Configuration Of The Settings For Analogue Reference Value Specification

    Providing the hardware configuration of the SPC200 corre sponds to the project, you can load the configured values into the SPC200 in the dialogue window Parameter set for the .. axis." The online mode must be active for this purpose. If necessary, close the dialogue window Parameter set for the ..

  • Page 68: Functional Check Of The Stepping Motor Axes

    Proceed with the functional check as follows: 1. Select the command [Stepping motor] in the menu [Online] [Commissioning] in active online mode. The dialogue window Commission stepping motor" will be displayed. 4−23 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 69 Select the desired stepping motor axis under Axis selection." Check the checkboxes of the relevant inputs under Status of the inputs." Note the different designs of sensors: Limit switches (end switches): N.C., normally closed Reference switch: N.O., normally open 4−24 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 70 Check that the limit switches function correctly. In order to do this, move the axis up to the limit switches: the posi tive limit switch switches when moving in the positive direction; the negative limit switch switches when moving in the negative direction. 4−25 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 71 With Stop" you can interrupt the current reference travel. The relevant position of the axis, related to the position of the machine zero point, is shown under Procedure." After successful reference travel the functional check of the axis is completed. 4−26 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 72: Commissioning With The Control Panel

    SPC200. Please note The control panel type SPC200−MMI−.. does not support all new or extended functions of the SPC200 with firmware as from version 4.6. The prerequisite for commissioning a stepping motor axis is that the current hardware configuration of the SPC200 is saved (see user manual for the SPC200).

  • Page 73: 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 74 Reference speed factor MAX. SPEED Maximum speed MAX. ACCELER. Maximum acceleration MODE OF REFER. Reference travel mode MICRO/HALF STEP Step mode (Micro/Half step) with SEC−ST−...: always 0 with MRC−...: 0 or 1 (see following sections) 4−29 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 75: Functional Check Of The Stepping Motor Axes

    When the axis moves in accordance with the functions in the dialogue window Commission stepping motor," it moves in each case at the set reference speed. If necessary, set a lower reference speed factor during the functional check of the axes. 4−30 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 76 Now switch on the stepping motor controller. The input Servo ready" (SRDY) shows with a 1−signal that the stepping motor controller is ready to operate. 4−31 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 77 If necessary, check the status of the limit switches on the control panel (command STEPMOTOR INPUT, see Step 2). 4−32 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 78 REFERENCE TRAV. Y:+0100.00 The current reference travel can be interrupted with the Esc key or with the Enter key. After successful reference travel the functional check of the axis is completed. 4−33 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 79: Program Example

    Program some positioning movements. Proceed as described in the section Commissioning ..." in the SPC200 manual or in the WinPISA manual. The test program for a stepping motor axis can contain e.g. the following records:...

  • Page 80: Instructions On Operation

    SPC200 or the step ping motor controller is switched on or, if applicable, after faults.
  • Page 81 (see manufacturer data of the components used). Note that due to too small accelerations resonance effects can occur. The resonant frequency is for drives with 2−phase stepping motors usually between 50 and 250 Hz. 4−36 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 82: Diagnosis And Error Treatment

    Diagnosis and error treatment Chapter 5 5−1 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 83 ..........5−8 Notes on judging the positioning behaviour ......5−11 5−2 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 84: Diagnosis And Error Treatment

    5. Diagnosis and error treatment General instructions on diagnosis Information on general diagnosis and fault treatment can be found in the manual for the SPC200 type P.BE−SPC200−... or in the WinPISA manual. This chapter contains special information on diagnosing the stepping motor indexer module.

  • Page 85: On−The−Spot Diagnosis

    Operating voltage not applied lights up is off Function card has not started; SPC200 defective or function card defective; servicing required lights up flashes for a Limit switch actuated, short circuit or incorrect polarity at sensor...

  • Page 86: Diagnosis With Winpisa

    Whether or not reference travel has been carried out is shown after the entry Reference travel." Fig. 5/1: Status display, register card System The other entries correspond to the display for a selected pneumatic axis (see WinPISA manual). 5−5 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 87 (N.O.) is actuated. Servo ready SRDY When the checkbox is Check the stepping motor deactivated, the stepping controller or cabling (bridged motor controller does not in the cable for the SEC−ST) indicate readiness to operate. 5−6 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 88: Diagnosis On The Control Panel

    Meaning of the inputs (description see section Diagnosis with WinPISA"): Input Meaning LIM+ 0−signal: Positive limit switch actuated 1−signal: Reference switch actuated LIM− 0−signal: Negative limit switch actuated SRDY 1−signal: Stepping motor controller sends message Ready to operate 5−7 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 89: Emergency Travel

    2 s (e.g. in the event of cable fracture in the limit switch cable). Please note Before starting emergency travel, make sure you under stand the function of the limit switches. Note that the limit switch opposite cannot be recognized during emergency travel. 5−8 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 90 Emergency travel" under Activity." Start emergency travel with Start." The axis moves from the limit switch into the positioning range. During emergency travel the button Start" changes to Stop." With Stop" you can interrupt the current emergency travel. 5−9 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 91 V. Accept this with the Enter key. 3. Now select the command EXIT FROM LIMIT with }. Start emergency travel with the Enter key. The current emergency travel can be interrupted with the Esc key or with the Enter key. 5−10 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 92: Notes On Judging The Positioning Behaviour

    Drive operates in the range of S With 2−phase stepping motors: produces untypical noises the resonance increase resolution, that means operate the motor with step mode 1/2 or 1/4 instead of 1/1 (note that torque will be re duced) 5−11 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 93 5. Diagnosis and error treatment 5−12 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 94 Technical appendix Appendix A A−1 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 95: A. Technical Appendix

    ............A−7 A−2 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 96: A.1 Technical Specifications

    Tested as per DIN/IEC 68 part 2−27; (± 30 g at 11ms duration; 15 cycles) Note the tolerance of the connected sensors. Pin−compatible with the stepping motor controllers of the Festo drive package for 5 V control signals. The SPC200 is intended for industrial usage.

  • Page 97: A.2 Internal Circuitry

    Fig. A/1: Principle RS 485 / RS 422 Circuitry of the inputs (+/− READY): SPC200 Stepping motor controller +READY (+ 24 V from sensor plug) −READY Fig. A/2: Relay contact On the connecting cable for the SEC−ST the input READY is bridged. A−4 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 98 A. Technical appendix Circuitry of sensor connection (SIGNALS, X31) Circuitry of the inputs (LIM+, REF, LIM−): SPC200 Sensors LIM+ 24 V 24 V (supply) Fig. A/3: Sensor inputs A−5 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 99 A. Technical appendix A−6 Festo P.BE−SPC200−SMX−1−EN en 0503b...

  • Page 100: A.3 Index

    ........1−8 A−7 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 101 ......2−7, 2−8, 5−6, 5−8 Lower software end position ....4−16, 4−29 A−8 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 102 ........Start−stop frequency ......4−15, 4−29 A−9 Festo P.BE−SPC200−SMX−1−EN en 0503b...
  • Page 103 ........4−7, 5−5 A−10 Festo P.BE−SPC200−SMX−1−EN en 0503b...

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