Festo SPC200 Manual
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Festo SPC200 Manual

Smart positioning controller, software package winpisa, programming, commissioning and service for pneumatic and electric axes
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Table of Contents

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See also: Instructions for Using , System Manual
Smart Positioning Controller SPC200
Software package
WinPISA
Version 4.51
Programming,
Commissioning
and Service for
pneumatic and
electric Axes
Manual
170 097
en 0901d
[713 866]

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Summary of Contents for Festo SPC200

  • Page 1 Smart Positioning Controller SPC200 Software package WinPISA Version 4.51 Programming, Commissioning and Service for pneumatic and electric Axes Manual 170 097 en 0901d [713 866]...
  • Page 3 ....... . . 170 097 E (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 , PROFIBUS and Temposonics are registered trademarks of their respective trademark holders in certain countries. Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 5: Festo Conditions For Using The Software Packages

    The product contains data−processing programs, files and the associated product descriptions. These in their entirety are referred to below as the software package". Festo or third parties hold proprietary rights in respect of these software packages. Insofar as the rights belong to third parties, Festo has acquired the appropriate licences.
  • Page 6 II. Exporting the software package If exporting the software package, the customer is required to observe the export regulations of the Federal Republic of Germany and of the country in which the software package was acquired. Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 7 Festo who will supply a revised version excluding all other guarantee claims. 3. If Festo does not fulfil its duty to rectify the fault within the specified period, or if the improvement fails, the licence holder has the right to demand an appropriate reduction in the usage fee or to terminate the contract.
  • Page 8 2. Festo is not liable further for the lack of economic success or for damage or claims of third parties, with the exception of claims of violation of the protective rights of third parties.

  • Page 9: Table Of Contents

    ....XXII Information on operating system versions of the SPC200 and on software versions of WinPISA ........
  • Page 10 ......... . 3−5 Modifying the axis and application parameters ..... . . 3−8 VIII Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 11 ........4−37 4.3.5 Loading the project into the SPC200 ......4−40 Movement test .
  • Page 12 ..........5−113 Downloading programs to the SPC200 and starting up ....
  • Page 13 ..........6−69 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 14 ............C−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 15: Designated Use

    WinPISA can be completely removed from computers, on which it is no no longer required, using an uninstall program. The SPC200 and the peripherals which can be connected to it are documented in their own manuals. The safety information and description of intended use given in these manuals MUST be followed.

  • Page 16: Safety Instructions

    When commissioning and programming positioning systems with WinPISA, you must at all costs observe the safety regula tions listed in the system manual for the SPC200 as well as in the operating instructions for the other components used. The user must make sure that nobody is in the operating range of the connected actuators or axis system.

  • Page 17: Target Group

    (PLC), positioning systems and field bus systems. Service If you have any technical problems, please contact your local Festo Service. Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 18: Important User Instructions

    This means that damage to property can occur if these instructions are not observed. In addition, the following pictogram indicates passages in the text which describe activities with electrostatically vulnerable components: Electrostatically vulnerable components: incorrect handling can cause damage to components. Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 19 Pictograms Information: Recommendations, tips and references to other sources of information. Accessories: Details about necessary or useful accessories for the Festo product. Environment: Information on the environmental−friendly use of Festo products. Text markings The bullet marks activities which may be carried out in ·...

  • Page 20: Current Information On Winpisa

    4.93, 4.90, 4.82 or 4.63. Information on operating system version 4.82 can be found in the system manual for the SPC200 type P.BE−SPC200−..Please note Projects and files created with WinPISA version 4.51 can also be processed with earlier WinPISA versions.

  • Page 21: Contents Of The Software Package

    Contents and general instructions Commissioning for pneumatic axes and controllers of the SPC200 is described via I/Os. Information on electric axes and field bus modules can be found in the specific manuals (see section Documentation on the Smart Positioning Controller SPC200").

  • Page 22: Conventions

    This button will be shown adjacent to the text (e.g. the Online mode on" button). A few actions depend on the symbol selected in the project window. This symbol will be shown adjacent to the text (e.g. the Hardware symbol). Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 23: Product−Specific Terms And Abbreviations

    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 can be plugged into the rack of the SPC200. PLC/IPC Programmable logic controller/industrial PC Digital output Register String Total number of modules which are connected to an axis interface string.

  • Page 24: Documentation On The Spc200 Smart Positioning Controller

    Special information on this can be found in the manual for the relevant module. Information on the functioning, fitting, installation and com missioning of pneumatic axes with the SPC200 can be found in the system manual for the SPC200. Type...

  • Page 25: Information On Operating System Versions Of The Spc200

    Contents and general instructions Information on operating system versions of the SPC200 and on software versions of WinPISA The following operating system versions are supported by this manual: Operating system Validity date Relevant WinPISA Validity date Version 3.8 08−2001 Version 4.1 05−2001...
  • Page 26 The explanations in the text must be observed. Overview of operating system versions The following table provides an overview of the modifications to the operating system (firmware) of the SPC200: Version Identification What has been changed? See section up to 3.8...
  • Page 27 ENABLE signal has been modified. as from OS 4.63 A version check has been introduced. This See Service prevents programs with new perform Information/ ances/functions from being unintentionally Brief description modified by older versions. supplied with the SPC200. Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 28 New feature 4.93 this version. as from OS 4.93 Error messages via the fieldbus can be sup Description of pressed through paramaterization (no stop fieldbus module of the PLC). Stop behaviour can be configured. 4.3.3 XXVI Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 29: Guidelines

    PC and is ready for operation. Further information on commissioning the positioning system can be found in the manuals and descriptions for the SPC200 (see section Documentation on positioning"). Preparing the SPC200 Create the hardware configuration Mount the components as described in the SPC200 manual.
  • Page 30 If the axis assignment has been modified, a message will be displayed stating that a data reset is necessary for this. If there are no data in the SPC200 which must first be saved in a WinPISA project, you can carry out the data reset with Continue".
  • Page 31 1. Create project (command [File] [New project] ) or open project (command [File] [Open project] ). 2. Insert the SPC200 into the project. To do this, select the icon Hardware" in the project window and the command [Insert object] in the menu [Edit]. Then select the entry SPC200"...
  • Page 32 Commissioning a pneumatic axis Step 2 Set the axis−specific parameters and load the project into the SPC200 (pneumatic axis) (see also section 4.3) 1. Set the axis and application parameters. To do this mark the icon by the desired axis in the project window and select the command [Configure] in the menu [Edit].
  • Page 33 Step 4 Only with pneumatic drives with incremental measuring system (e.g. type DNCI−...): Carry out reference travel (see also section 4.5) Reference travel must be carried out for commissioning (Menu [Online] [Commissioning] [Reference travel] ). XXXI Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 34 With identification, an axis is set in motion with the highest acceleration and at the highest speed. Make sure that: the complete positioning range of the axis is free the correct axis and application parameters are set. 3. Start the identification with the button Start". XXXII Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 35 Enter program number (0), the title and, if applicable, a description of the program in the dialogue window New program". Confirm the entry. Or open the existing program. 2. Enter the program in the program window, e.g.: XXXIII Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 36 (see also section 4.10) 1. If necessary, activate the online mode (command [Online] [Online mode] ). 2. Mark the icon SPC200−.." in the project window and open the dialogue window SPC200 configuration" (command [Edit] [Configure] ). 3. Set the operating mode and the start programs in the tab card Operating mode/Start programs".
  • Page 37 Requirements: The program must be in the program memory. The axis and application parameters must be set and the project loaded into the SPC200. The operating mode Start/Stop and the start program must be set. There must be a 1−signal at ENABLE and STOP.
  • Page 38 (see also sections 5.1 and 5.7) 1. Target positions can be saved in a position register in the SPC200. These positions must first be entered in the posi tion list. Open the position list by selecting the icon in the project window and pressing the ENTER key.
  • Page 39 4. When optimizing, check the controller parameters gain factor" and damping factor". 5. Adaption takes a certain amount of time. Let your user program run through a few cycles before you modify the controller parameters again. XXXVII Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 40 Contents and general instructions XXXVIII Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 41: Installation And General User Information

    Installation and general user information Chapter 1 1−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 42 ........... 1−31 1−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 43 SPC200. Further information Please observe the current information in the file INFO.TXT on the installation data carrier as well as in the file README.TXT in the subdirectory \BIN of the installation directory of WinPISA.

  • Page 44: The Winpisa Software Package

    1. Installation and general user information The WinPISA software package The WinPISA software package offers support in commission ing and servicing pneumatic and electric axes with the SPC200. The following program components are included in delivery: WinPISA Help system Uninstall program Fig.
  • Page 45 Commissioning and diagnosis of positioning drives in Online mode Graphic representation of measurements for the optimization of positioning systems Help system Information on the operation of WinPISA. Uninstall program Remove individual modules from the hard disk of your computer. 1−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 46: Setting Up The Software

    3. Select the command [Run] in the menu [File] of the pro gram manager or in the start menu. 4. Enter the drive identification and the name of the installa tion program (e.g. D:\SETUP.EXE) in the dialogue window Run". 5. Start the installation program with OK". 1−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 47 In order to install the English version of WinPISA, select the option English" in the list box Select language". If desired, you can select one of the other languages available in this list. Confirm the language choice with }". Fig. 1/2: WinPISA installation language selection 1−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 48 Enter a different path in the Install to" field or select another directory using the button next to the field if you do not wish to accept the default C:\FESTO\WINPISA". Accept the installation directory with }". Fig. 1/3: WinPISA installation directory selection 1−8...
  • Page 49 Fig. 1/4: WinPISA installation program group selection Select a group from the list box, or enter the name of a new group, if you wish to install WinPISA in a different Program Group. Accept the program group with }". 1−9 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 50 Confirm the message The WinPISA Version installation is complete" with OK". When WinPISA has been successfully installed, you will find the individual program components of WinPISA in the start menu under [Festo Software]. Fig. 1/5: WinPISA program group 1−10 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 51: Deinstalling Winpisa

    Individual settings in the software, e.g. the interface and baud rate for the exchange of data with the SPC200, will be lost during deinstallation and must be recreated after a new installation.
  • Page 52 1. Installation and general user information Fig. 1/6: Uninstall program The course of deinstallation will be shown in a window. When deinstallation is finished, check to see which files or directories have not been deleted by the deinstallation pro gram. 1−12 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 53: Starting Winpisa

    2. Start WinPISA in the program group which you have specified during installation. Select the WinPISA symbol and press the ENTER key. After a few seconds, the WinPISA application window will appear on your screen: Fig. 1/7: The WinPISA desktop user interface 1−13 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 54: Setting Options For Winpisa

    (folders) as a presetting for storing projects (see chapter 2), Planned axis specifications (*.pta, see chapter 3) and measured data (see chapter 6). You can set the directory paths as follows: 1. Select the command [Directories] in the menu [Options]. 1−14 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 55 4. Repeat, where applicable, steps 2 and 3 for further directory paths. 5. Transfer the settings with OK". The directories set are offered as presettings in the appropri ate dialogue windows for selecting files. 1−15 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 56: General User Information

    Under Windows, each window has a title which is shown in the title bar. In the case of program windows, this is the pro gram name (e.g. WinPISA), in the case of dialogue windows, it is the designation of the relevant dialogue. 1−16 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 57 With the buttons Minimize", Maximize" and Restore" you can reduce the window to an icon or switch between full− screen and windowed representation. 1−17 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 58 The size of most windows can be altered. The position of the scroll box in the scroll bar shows the approximate position of the content displayed relative to the complete content of the window. The content of the window can be moved using the scroll bars. 1−18 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 59 Dialogue windows Dialogue windows are used for entering data, selecting options, selecting entries from list boxes, etc. When dialogue windows are open, no other element of the application window can be operated. 1−19 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 60 Display field Information will be shown in display fields. Display fields cannot be edited. List boxes You can select an entry from a list in a list box. This can be e.g. a program name. 1−20 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 61 (and therefore one possibility) can be selected. Option buttons are usually round or lozenge−shaped. Check boxes With check boxes you can select or reject any selection or setting. Control boxes are usually rectangular. 1−21 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 62 Move the mouse cursor onto an element. Then press the left− hand mouse button and keep it pressed down whilst moving the mouse cursor to another position. This is called drag ging". You can move icons, for example, or determine a zoom section by dragging. 1−22 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 63 Context menus differ according to the window content or the element selected, i.e. they contain a sensible subset of the main menu entries. 1−23 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 64 You can delete and remove characters or areas from the program text. To delete a character or area: 1. Mark the area or the character which you wish to delete. 2. Select the [Delete] command from the [Edit] menu. 1−24 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 65 [Search again]). With the command [Replace] you can also replace the text specified by a different text. With Replace" the first text position will be replaced; with Replace all" all the text positions will be replaced. 1−25 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 66: Working With Winpisa

    WinPISA elements In WinPISA windows you will find the following elements: Toolbar Minimized window (icon) Project window Online status display Program window Status line Working area Fig. 1/12: The WinPISA desktop user interface 1−26 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 67 Name of the active window Displays the position of the cursor in the active program window (line:column) or editor mode in the position list Displays Test mode active" or print progress display Fig. 1/13: Status line 1−27 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 68 Applies the [Close all], [All to icons] or [Graphic] [Restore all] command to the appropriate [Debug] windows. [Message] [Observe] [1 ...] All windows in WinPISA will be listed here [2 ...] and can be activated. etc. 1−28 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 69: Help System

    The content of the manual is a large component of the help system. Help system layout The components of the help system can be seen in an over view by using the [Contents] command in the [Help] menu. Fig. 1/14: WinPISA help system 1−29 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 70 You will also find a Help" button in many dialogue windows. Using the help system The WinPISA help system is compatible with the usual oper ation of Windows help files. Additional information can there fore be found in your Windows Manual. 1−30 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 71: Online Mode

    Online mode You will need to activate the Online mode to communicate between WinPISA and the SPC200. This opens a connection between the PC and the SPC200 over the RS232 serial inter face. PC SPC200 connection Connect your SPC200 to a free serial port on your PC.
  • Page 72 1. Installation and general user information Configuring data transmission Once you have connected the PC and the SPC200 you will have to configure communications through the serial inter face. Fig. 1/16: Configure data transmission 1. Select the command [Data transmission] from the [Online] menu.
  • Page 73 When switching to Online mode: the interface is reserved for communications with the SPC200, a check is made to see if an SPC200 responds to the data transmission settings. Modified hardware configuration In the switch−on phase the SPC200 checks the connected hardware.
  • Page 74 Fig. 1/18: Save actual as nominal configuration? 3. Check the actual and nominal configurations now displayed. The columns each contain the modules of the SPC200. The axes assigned to the relevant module (or axis interfa ces) and I/O modules are shown inset below the module.
  • Page 75 1. Installation and general user information Proceed as follows: If you wish to back−up the data saved in the SPC200 at first with a Project Upload, or if the nominal configuration displayed is correct (e.g. during operation): Select No" in order to retain the nominal configur ·...
  • Page 76 This may be because of the PC interface card or unfavourable environmental conditions. In this case, you should reduce the baud rate until Online mode can be activated. 1−36 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 77: Project Management

    Project management Chapter 2 2−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 78 ........2−28 2−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 79 Technical Planning" and Project planning". Further information How to simulate the hardware configuration of an SPC200 in order to commission it is explained in chapter 4. Instructions on creating programs can be found in chapter 5.

  • Page 80: Managing Projects

    The project file contains information on the composition of the project. The project sub−directory con tains all of the files belonging to the project. Fig. 2/1: Example of a project directory (Windows Explorer) 2−4 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 81 (comparable to the representation of directories in the Explorer). A double−click on the icon for a project component is sufficient to check or change settings. Fig. 2/2: Project window 2−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 82: Creating Projects

    4. Confirm these entries with OK". 5. Enter a project title (max. 20 characters) in the Title" field and a comment (max. 128 characters) for the new project in the Description" field of the Details on pro ject" dialogue window. 2−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 83 2. Project management Fig. 2/4: Entering the project title and comment 6. Confirm your input with OK". You can edit the project in the project window which now opens (see Fig. 2/2). 2−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 84: Opening And Closing Projects

    1. Select the command [Open project] from the [File] menu, or click on the Open project" button in the toolbar. 2. Select a project file from the Open project" dialogue window and confirm the selection with OK". Fig. 2/5: Open project 2−8 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 85 If you have modified a project and the modifications have not yet been saved, the modified components will be queried in succession in a dialogue window. Yes" will save the compo nent displayed, No" will mean the modifications will be lost. 2−9 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 86: Saving Projects

    3. Enter the name of the new project file and the new project directory in the Project save as" dialogue window. 4. Confirm your input with OK". The new project will be shown in the project window. 2−10 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 87: Changing The Project Title And Project Description

    You must enter the project title and description when you: create a new project upload a project from the SPC200 save a project under a new name wish to modify the name and description of an open project.

  • Page 88: Deleting Projects

    2. Select the project file for the project to be deleted from the Delete project" dialogue window. 3. Confirm your selection with OK". 4. Confirm the security question with Yes" to delete the project. You can stop the delete procedure with No". 2−12 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 89: Uploading Projects (Upload)

    SPC200. A project already open in WinPISA will first be closed. The SPC200 must be connected to the PC (see Online mode) if you wish to upload a project. To upload a project: 1.

  • Page 90: Loading Projects (Download)

    Confirm your input with OK". While the project is being uploaded from the SPC200, the progress of data transmission is shown in a window. The two bars show the progress of transmission as a percentage. The upper bar represents the whole project and the lower bar the project component currently being transmitted.
  • Page 91 When a project is downloaded, all the data will be restored as in the project in the SPC200. This means that any programs in the SPC200 will be deleted if they do not exist in the project. Please note Check the programs in the SPC200 before a project download.

  • Page 92: Editing Projects In The Project Window

    The Hardware" and Software" areas are located under the project icon. The system components are under Hardware". The position list and the positioning programs are in the Software" area. 2−16 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 93 All hardware elements of the project SPC200, axes, I/O modules are managed under Hardware". SPC200−CPU−4 or ...−CPU−6 ... stands for an SPC200 with 4 or 6 slots. 1. Axis interface string or 2. Axis interface string ... stands for an axis interface string Stepping motor interface X −...
  • Page 94 ARROW KEYS. Then select [Delete object] from the [Edit] menu. Context menu You can open a context menu for any icon using the right− hand mouse button. The most important commands for the appropriate element will be offered in this menu. 2−18 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 95: Editing Hardware

    Hardware upload). Individual components are always inserted in the appropriate point in the tree structure of the project window. The SPC200 is directly under the hardware. Positioning axes and I/O mod ules should be assigned to an axis interface string or step ping motor interface.
  • Page 96 1. Select the icon, to which the new hardware component is assigned, in the project window. This is the hardware icon for adding the SPC200 and the icon of an axis interface string or a stepping motor interface for adding an axis or an I/O module.
  • Page 97 2. Select the command [Delete object] from the [Edit] menu. Please note When you delete an SPC200, the relevant axes and I/O modules with all the settings will be deleted as well. 3. Confirm the hardware deletion prompt with Yes" to de lete the component.

  • Page 98: Editing Software

    Program no." field of the New program" dialogue window. Note that a program number must be unique within a project. You can enter a program description or an explanatory text for the program (max. 128 characters) in the Description" field. 2−22 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 99 ARROW KEYS. 2. Select the command [Delete object] from the [Edit] menu. 3. Confirm deletion of the program in the message window displayed with Yes" or cancel the deletion process with No". 2−23 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 100: Printing Projects And Project Components

    Detailed information on the installation and set−up of printers can be found in the Windows Manual or in the help texts for the various dialogue windows. 2−24 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 101 To print the current project or parts of a current project: 1. Select [Project] from the [File] [Print] menu. 2. Select the components to be printed from Selection" in the Print project" dialogue window. 2−25 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 102 5. Check the settings in the Print" dialogue window and start printing with OK". To print out project information: 1. Select [Project information] from the [File] [Print] menu. 2. Check the settings in the Print" dialogue window and start printing with OK". 2−26 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 103 2. Check the settings in the Print" dialogue window and start printing with OK". To print all open graphics: 1. Select [All graphics] from the [File] [Print] menu. 2. Check the settings in the Print" dialogue window and start printing with OK". 2−27 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 104: Importing Project Components

    Program no." field of the Import pro gram" dialogue window. Note that a program number must be unique within a project. 5. Confirm your input with OK" thereby creating a new program. 2−28 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 105 2. Select the file POSLIST.PST" from the project sub−direc tory of the original project in the Import position list" dialogue window. 3. Confirm overwriting of the position list in the current project with Continue". Fig. 2/12: Importing position list 2−29 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 106 3. The hardware of the current project will be overwritten by the selected project if you press Continue" in the Hard ware" message box; you can keep the existing hardware with Cancel". Fig. 2/13: Importing hardware 2−30 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 107: Project Planning

    Project planning Chapter 3 3−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 108 ......... . 3−5 Modifying the axis and application parameters ..... . . 3−8 3−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 109 Further information Further information on permitted axis systems for the SPC200 can be found in the system manual for the SPC200 or in the manual for the stepping motor indexer module. Further instructions on inserting an axis into a project can be found in chapters 2 and 4.

  • Page 110: Project Planning Of Axes

    SPC200. Providing you have the project planning tool (PtTool) from Festo, you can save the axis plannings created therein in your own PTA files and use them in WinPISA. Alternatively you can also transfer the planned axes in the PtTool via the clipboard in WinPISA (see section 4.2).

  • Page 111: Selecting Planned Axes

    The name of the PTA file for the relevant axis as well as other information will be displayed. Instructions on selecting the correct specification can be found on the following pages. You can change the directory with the button Search". 4. Confirm the selected specification with OK". 3−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 112 Example You have an 40 mm diameter axis which is 600 mm long. In this case select the axis DGP −40−250...850; ∅40; L250; MPYE−5−1/8HF−010B" under Projected axes" in the list. 3−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 113 Projected axes". Select the linear axis−motor combination used. Then enter the correct length of the axis in the dialogue window Parameter set for the ..−axis". 3−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 114: Modifying The Axis And Application Parameters

    The axis and application parameters are accepted in your project when you select the specification. Check the axis and application parameters transferred before you load them into the SPC200. Correct any values, if necess ary, according to your positioning system. Please note...

  • Page 115: Commissioning Positioning Systems

    Commissioning positioning systems Chapter 4 4−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 116 ........4−37 4.3.5 Loading the project into the SPC200 ......4−40 Movement test .
  • Page 117 1 and 2. Information on installing and fitting as well as on commissio ning with the control panel type SPC200−MMI−1 can be found in the system manual for the SPC200. Information on commis sioning on the field bus or of electric axes can be found in the manual for the relevant extension module.

  • Page 118: How To Proceed With Commissioning

    Mount the components as described in the system manual for the SPC200. Before you switch on the compressed air or the stepping mo tor controller for electric axes, you must inform the SPC200 of the conditions of use in your positioning system and the type of components used.
  • Page 119 WinPISA project. 1. Set axis−specific parameters (axis, application and con troller parameters) and load the project into the SPC200 (see section 4.3). 2. Check the tubing.
  • Page 120 Commission the electric axes · Commission the field bus module · Program the user−specific programs, or enter the position · register Set the operating mode and the starting programs · 4−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 121: Simulating The Hardware Configuration

    When a project is loaded into the SPC200, the hardware configuration set in the project is compared with the actual configuration. Differences between the ac−tual hardware and that defined in WinPISA are then shown by appropriate messages.

  • Page 122: Uploading The Hardware (Online)

    4. Commissioning positioning systems 4.2.1 Uploading the hardware (Online) You can upload the hardware detected by the SPC200 if you wish to accept the hardware components of a positioning system in WinPISA. The SPC200 automatically carries out a hardware detection test when it is switched on.
  • Page 123 Always set the correct hardware configuration first and transfer this as the nominal configuration. If the SPC200 does not contain any data which should previ ously have been saved in a WinPISA project, you can carry out the data reset with Continue".

  • Page 124: Setting The Hardware Configuration (Offline)

    4.2.2 Setting the hardware configuration (Offline) When you create a new project for a positioning system, mod ify an existing system or when the SPC200 is not available (no online connection), set the hardware configuration in the pro ject window in accordance with the components available in the positioning system.
  • Page 125 You can use the context menus in the project window. Insert an SPC200 First add an SPC200 to the current project. 1. Select the hardware icon in the project window by clicking it or by shifting the mark onto the icon with the ARROW KEYS.
  • Page 126 Base unit" the rack used (4 or 6 locations). 5. Then set the modules used in the SPC200. The first location on the left in the SPC200 is reserved for the power supply module and cannot therefore be used for other purposes.
  • Page 127 Fig. 4/3: SPC200 configuration 6. Select the locations one after the other in the diagram of the SPC200 by clicking them or by shifting the selection to the relevant location with the ARROW keys. Set the ap propriate module for the individual locations in the list box above the diagram.
  • Page 128 If a field bus module is used, the tab Field bus" and Field bus I/O" will also be displayed. Fig. 4/4: SPC200 configuration field bus configuration Carry out the field bus−specific settings (e.g. bus address etc.) in the tab Field bus", see manual for the field bus module used.
  • Page 129 Instructions on the operands (I/Os and flags) can be found in section 5.3. 7. When you have assigned all the locations according to the SPC200 used, insert the SPC200 into your project with OK". 4−15 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 130 Parameter set for the .. −axis" will be dis played. Please note that you must adapt the axis and application parameters of the new axis to the actual axis in your position ing system. 4−16 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 131 All the axes, which are available in the standard directory for planned axes, are shown under Projected axes" in the dialogue window Axis selection". You can use Search" to display axes from another directory. 4−17 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 132 3. Transfer the specification with OK". 4. Close the dialogue window Parameter set for the .. −axis" with OK" in order to insert further components. 4−18 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 133 Finally, you should check the complete hardware in the pro ject window. The hardware configuration set up in the project is com−pared to the actual configuration of the SPC200 as a project is downloaded to the SPC200. Any deviations will be displayed in a message.

  • Page 134: Setting Axis−Specific Parameters

    If the hardware configuration of the SPC200 corresponds to the project, you can load the configured values of the current tab card into the SPC200 in active Online mode in the dia logue window Parameter set for the .. −axis".
  • Page 135 To configure an axis (example X axis): 1. Open the range of the axis interface string under the SPC200 icon in the range Hardware" in the project win dow. Select the icon of the axis to be configured. 2. Select [Configure] from the [Edit] menu or click on the Configure"...
  • Page 136 Entering incorrect parameters will cause unforeseen move ments of the connected actuators. 4. If the Online mode is activated, you can load the para meters of the current tab card into the SPC200 with Download" (with Upload" you can up−load them from the SPC200).

  • Page 137: Axis Parameters

    *.PTA file. You can overwrite the individual entry. Cylinder type The type of the drive. Select here the type of cylinder from the list: without piston rod with piston rod rotary (rotary drive/swivel module). 4−23 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 138 This parameter is only displayed in the Encoder" setting of parameter the Measuring system design" field. The setting is reserved for later developments. Valve type Identification of the valve. Here select the type of valve used from the list: MPYE−5−M5−010B MPYE−5−1/8−LF−010B MPYE−5−1/8−HF−010B MPYE−5−1/4−010B MPYE−5−3/8−010B 4−24 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 139 The flow chain factor is a measurement of the pneumatic characteristics of the system. A flow value will be determined by the SPC200 from the axis components specified on the assumption that the connectors provided will be used and hose connections are normal. This will be standardized to a flow chain factor of 1.0".

  • Page 140: Application Parameters

    Modified application data do not become effective until after a program reset. During a download of application data, WinPISA automatically carries out a program reset (control signal required: 1−signal at ENABLE). Fig. 4/9: Configuring X axis, application parameters (example linear drive) 4−26 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 141 Instructions on determining the permitted total mass (mass load) to be moved can be found in the system ma nual for the SPC200. Moving mass without Mass or mass moment of inertia of all moveable parts of the workpiece (tool load) positioning axis without the mass of the work item.
  • Page 142 Permitted: 0.0 ... max. work item mass The work item mass in basic status is saved in the SPC200 as a percent value of the max. work mass. If the maximum work item mass is modified with the control panel, the work item mass in basic status will therefore also be modified.
  • Page 143 Note that the software end positions and the project zero point refer to the cylinder zero point. If you modify the mount ing offset or the reference position, the SPC200 will check to see if the resulting new reference points still lie within the range of the measuring system.
  • Page 144 4. Commissioning positioning systems Detailed instructions on the reference points and reference variables for various drives, can be found in the system man ual for the SPC200. Fig. 4/12 shows an example for pneumatic linear drives with absolute measuring system.
  • Page 145 It is always a positive variable. This offset value also influences the controller op timization of the SPC200, even small values (a few mm) must be specified as accurately as possible. Permitted: 0.00 ... 9999.99 [mm] or [°] 4−31...
  • Page 146 Defined end position on the side of the measuring system position zero point which is monitored by the SPC200 and which must not be overrun. The lower software end position refers to the cylinder zero point and represents the lower limit of the positioning range.
  • Page 147 Maximum acceleration for the process using the G01 and G02 commands. You can specify a reduced ac−celeration with reference to the maximum acceleration defined here in the movement program using the com−mands G08 and G09. Permitted: 0.1 ... 100.0 [m/s ] or [10 °/s 4−33 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 148: Controller Parameters

    When carrying out reference travel, make sure that the correct mode is used. 4.3.3 Controller parameters The SPC200 calculates various controller parameters from the basic parameters. These determine the dynamics (speed) as well as the transfer behaviour of the control. The aim is to guarantee fast no−overswing positioning and with few contour...
  • Page 149 4. Commissioning positioning systems The factors are standarized to 1.0 by the SPC200. By increas ing the factors (u1), you can correspondingly increase the parameters; by decreasing the factors (t1), you can corre spondingly decrease the parameters. Fig. 4/14: Configuring X axis, controller parameters (example linear drive) Set the controller parameters on the Controller parameters"...
  • Page 150 Permitted: 0.1 ... 10.0 Positioning timeout The Positioning timeout monitors whether the positioning procedures are completed quickly enough. The SPC200 will register a fault (MC error) if: the drive does not start moving within the specified posi tioning timeout after it has received the positioning com mand.

  • Page 151: Nominal Value Input

    Further instructions on the nominal value specification can be found in chapter 5 of the manual for the NC commands M10 to M14. 4−37 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 152 Please note Modified data for the nominal value specification do not become effective until after a program reset. When data are downloaded, WinPISA automatically carries out a pro gram reset (control signal required: 1−signal at ENABLE). 4−38 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 153 See here also NC command M14. Please note The digital setpoint value specification via fieldbus always generates an absolute position in mm in the SPC200. It refers to the project zero point (configured in the ap plication data of the respective axis).

  • Page 154: Loading The Project Into The Spc200

    4. Commissioning positioning systems 4.3.5 Loading the project into the SPC200 Download the whole project to the SPC200 to make all the settings selected in the project effective in the SPC200. The project must be compiled before it can be downloaded to the SPC200.
  • Page 155 Cancel". The progress of data transmission can be seen in a window as the project is downloaded to the SPC200. The two bars show the progress of transmission as a percentage. The upper bar represents the complete project, the lower one shows the project component currently being transmitted.
  • Page 156 Loading the axis parameters into the SPC200 If the hardware configuration of the SPC200 corresponds to the project, you can load individual data into the SPC200 in active Online mode. You can load individual data into the SPC200 as follows: 1.

  • Page 157: Movement Test

    4. Commissioning positioning systems Movement test Always check the tubing of the axes. Besides the visual check of the tubing (see system manual for the SPC200), you can check the functioning of the axis set−up with the aid of the movement test.
  • Page 158 0−signal at ENABLE. Please note The following control signals are required for carrying out the movement test with the SPC200 with operating system V3.8 (or earlier): 1−signal at ENABLE, STOP and READY. Carry out the movement test with all operating systems as follows: 1.
  • Page 159 5.0 Volt. The control slide of the valve then assumes the mid−position. Fig. 4/16: Movement test for rodless linear drives, piston−rod cylinders, swivel modules and standard cylinders with incremental measuring system 4−45 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 160 To do this you can refer to the display under Axis movement". Then set the valve vol tage to 5 V with one of the buttons near Reduce" and stop the axis. 4−46 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 161 With OK" in active test mode the 0−signal will be set at ENABLE by WinPISA. Please note The movement test with the SPC200 with operating system as from V4.6 is deactivated with a 0−signal at ENABLE. When the movement test is active, no further positioning tasks will be accepted by the SPC200 (fault message).

  • Page 162: Reference Travel (Only With Drives With Incremental Measuring System)

    (standard setting = 6 bar). 2. If necessary, activate the online mode (command [Online] [Online mode] or click on the button Online mode on" in the tool bar). 4−48 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 163 Stop". With Stop" you can interrupt the current refer ence travel. After successful reference travel a message will be displayed. You must confirm this with OK". Close the dialogue window Reference travel" with Exit" or carry out further reference travel. 4−49 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 164: Identification

    Before identification travel enter correct values for the axis data and the application data and load these into the SPC200. Please note Without identification travel the positioning behaviour will probably be worse.
  • Page 165 During identification an axis of the system will be set in motion. Pay attention therefore to the possible danger of injury in the range of the positioning system and inform other peo ple of this danger by means of suitable warning signs and/or protective screens. 4−51 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 166 (default setting = 6 bar). 2. Activate the Online mode (command [Online] [Online mode] or click the button Online mode" in the toolbar. 3. Select [Identification] from the [Online] [Commissioning] menu. Fig. 4/18: Static system identification (example linear drive) 4−52 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 167 OK". Click on Exit" to close the Identification" dialogue window or carry out another identification run. In the case of multi−axis systems, repeat the static identifica tion for further axes. Carry out steps 5 to 7 again. 4−53 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 168 SPC200. 4. Read the warning message displayed. Click Continue" to continue with the identification; click Cancel" to cancel the function.
  • Page 169 Exit" to close the Identification" dialogue window or carry out another identification run. If considerable modifications to the mass occur during operation: Repeat the dynamic identification without work item · (work load) with the selection Dynamic, without work piece mass" in step 6. 4−55 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 170 Follow here steps 5 to 7. If identification travel fails: Please check the structure, the installation as well as the · axis and application parameters of the relevant axis and carry out the identification again. 4−56 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 171: Calibrating The Measuring System (Optional)

    Carry out a calibration when you want to ensure or im−prove the absolute positioning accuracy. Determined position (measurement system) Before calibration After calibration Current position Fig. 4/20: Current and displayed positions (example linear drive) 4−57 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 172 3. Read the warning message displayed. Click Continue" to continue with calibration, click Cancel" to cancel the function. 4. Select the appropriate axis from the Calibrate" dialogue window. 4−58 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 173 6. Mark the position on the axis. Accept the position using Set position". The position value will be entered in the Position 1" field under Calibrating data". 7. Move the axis to the position you wish to use as the second calibration position. 4−59 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 174 The values measured and the values ascertained by the mea suring system may deviate max. 10 % from each other. 10. Accept the value entered with Calibrate". In order to calibrate further axes, carry out steps 4 to 10 again. 4−60 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 175: Move Axis Manually (Optional)

    Instructions on moving the axis can be found in the relevant sections. If you wish to test only the basic movement function of the axis, you can use the movement test for this purpose (see section 4.4). 4−61 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 176: Enter A Test Program

    In order to avoid unnecessary error messages in the switch−on phase, programs 0 and 1 have already been created in the SPC200 when it is supplied. These programs both contain the NC record N000 with the command M30. Your project will therefore already contain these programs after a project upload.
  • Page 177 (e.g. G04 100) so that you can observe the movement better. When commissioning multi−axis systems, we recommend that you check all the axes one after the other with your own program. Further information on programming can be found in chapter 5. 4−63 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 178 1. Make sure that the editor window of the program is the active window. 2. Select [Save] from the [File] menu or click on the Save active window" button in the toolbar. The contents of the window will then be saved. 4−64 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 179 Close the relevant editor window once the test program has been entered and checked for correct syntax. You can load a program into the SPC200 as follows: 1. Select [Programs] from the [Online] [Download] menu. 2. Select the desired program(s) in the window Download programs".
  • Page 180 4. Commissioning positioning systems Deleting programs in the SPC200 You can delete programs in the SPC200 which are no longer required, e.g. when you have created several test programs which you no longer require. You can delete programs in the SPC200 as follows: 1.

  • Page 181: Set The Operating Mode And Start Programs

    Programmed stop" (command M00). Record selection The record selection operating mode supports close coupling of the SPC200 with a controlling PLC. 32 NC records can be retrieved through 5 digital inputs. Positioning commands, positioning conditions and com−mands for setting the posi tioning quality class are permitted in this operating mode.
  • Page 182 [Online] menu or by clicking on the Online mode on" button in the toolbar. 2. Select the SPC200 icon in the project window and press the ENTER key (alternatively: select the SPC200 icon and the command [Edit] [Configure] or double−click the SPC200 icon).
  • Page 183 In the list boxes Start program task ..", all the program numbers from 0" to 99" will be offered. If a program number, which does not exist in the SPC200, is selected, an appropriate error message will be shown when the settings are loaded into the SPC200.
  • Page 184 SPC200. Read the warning message displayed. Select Continue" in order to load the settings into the SPC200. If the down load is successful, the settings for the operating mode and the start programs will become active in the SPC200.

  • Page 185: Testing Or Starting Programs

    There are various ways of testing the program. Start the program: in Debug mode in WinPISA (see chapter 6), via I/O signals (see system manual for the SPC200), with the control panel (see system manual for the SPC200). Recommendation: Create a test program for commissioning each axis.
  • Page 186 4. Commissioning positioning systems 4−72 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 187: Programming

    Programming Chapter 5 5−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 188 ..........5−113 Downloading programs to the SPC200 and starting up ....
  • Page 189 SPC200 load the programs and the position list into the SPC200 or read them out of the SPC200. WinPISA supports you in creating user programs for the SPC200 by means of logical program management and a user−friendly programming environment.

  • Page 190: Program Administration

    You can use up to 100 programs in programming for the SPC200, using program numbers 0 to 99. You can describe the task or function of a program using a name and a com ment for easier orientation.
  • Page 191 A pro gram number must be unique within a project. The name of the new program file will be shown in the File" field (PROG_00.DIN", PROG_01.DIN", etc.). 5−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 192 Modify the settings unter Save in" if necessary. 4. Click OK" to confirm your entry. You can later merge the exported file back into a project by selecting [Program] from the [File] [Import] menu. 5−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 193 Alternatively you can close windows by double−clicking on the system menu. When you close a window in which you have made modifica tions, a confirmation prompt will appear asking whether the modifications are to be saved. 5−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 194 ARROW KEYS. 2. Select [Delete object] from the [Edit] menu or press the DELETE key. 3. Confirm deletion of the program by replying with Yes" to the Delete" confirmation prompt. 5−8 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 195 The name of the relevant program file is automatically changed when you modify the program number. This guarantees that the program filename and program number are compatible (a program with the number 0" has the filename PROG_00.DIN", etc.). 5−9 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 196: The Program Editor

    5.1.1 The Program editor The WinPISA program editor is a tool for creating and editing user programs for the SPC200. When you open a program, its content appears in a program editor window within the WinPISA window. You can open any number of programs and display them simultaneously in the WinPISA window.
  • Page 197 Line:column" in the status bar of the WinPISA window. Edit functions A program must be open before you can edit it. The user programs for the SPC200 are created in text form. You there fore write your program as a normal text. Menu commands The editor has all the usual functions for editing pro−grams,...
  • Page 198 1. Select [Number] from the [Edit] menu in the active pro gram window. 2. Enter the numbering settings required under Settings" in the Number" dialogue window. 3. Click OK" to confirm your entry. Fig. 5/3: Numbering 5−12 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 199 Enter the increment for the sequential re cord numbers. With step size 10" numbering will be e.g.: N010, N020, N030, etc. starting with no. Enter here the record number at which numbering is to start. 5−13 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 200: Position List And Register

    You can use the name of the symbolic position in user pro grams instead of specifying position registers (e.g. the posi tions X@STORE_POS" and Y@STORE_POS" with index 3" stand for the position registers X@3 and Y@3). Fig. 5/4: Project window, software area 5−14 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 201 Axis X Value for the X−axis Axis Y Value for the Y−axis Axis Z Value for the Z−axis Axis U Value for the U−axis Comment Description of the position list entry 5−15 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 202 [File] menu or by clicking on the Save active win dow" button in the toolbar when the position list window is active. Use the decimal point as divider (e.g. 300.05) for entries in the position list. Enter maximum 2 decimal positions. 5−16 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 203 4. Select the position for which you wish to accept the axis position under Symbol name" from the Teach position" dialogue window. The current values for the individual axes in the position list are displayed to the right of the Symbol name" field. 5−17 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 204 Relative" check box under Symbol name". The position display under Procedure" will be reset to the value 0.00" and in further movements of the axis will show the position relative to the start position. 5−18 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 205 The command [Teach position] only changes the position list. Download the position list to the SPC200 or teach the position in the position register using [Optimize position] from the [Online] menu to modify the values in the position register.

  • Page 206: 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 207: 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 208 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 5.2.3) Fig. 5/1: Common and task−specific control signals and data 5−22 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 209 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. 5−23 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 210 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. 5/2: Coordinated operation (example two−axis system) 5−24 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 211 5. Programming 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). The two parallel−running programs both have the output READY and the inputs ENABLE, STOP and START/RESET.

  • Page 212: Program Organisation

    5.2.2 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 213: Presetting For Positioning

    Nominal value specification". Work item mass in basic status, see system manual for the SPC200 . Stroke limit value: = ± 10.00 mm or ± 10.00 ° Speed limit value = 0.1 m/s or 100 °/s This function is supported as from operating system version 4.82 only in conjunction with...

  • Page 214: New Nc Syntax And New Nc Commands

    5. Programming 5.2.4 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 215 5. Programming 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 216: 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. 5.3.1 Addressing The following operands are supported:...
  • Page 217 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 218: 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) 5−32 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 219 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) 5−33 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 220: Position Register X [Y Z U] @N

    5. Programming 5.3.3 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. Position registers are saved remanently, i.e. they are saved in the event of Power−off and loaded back into the work mem...

  • Page 221: Register Rn

    4.82 With rotary drives correspondingly °, °/s, °/s 5.3.4 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 222 % 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 5−36 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 223: Flag Fn

    5. Programming 5.3.5 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 224: 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 225 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 5−39 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 226: Command Syntax

    5. Programming 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 FX10 Y100.00...
  • Page 227 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). 5−41 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 228 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. 5−42 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 229 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 5−43 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 230 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 5−44 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 231 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 5−45 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 232: 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. 5−46 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 233 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 234 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. 5−48 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 235 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. 5−49 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 236 [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. 5/6: Nominal value specification with command G00 (stepping motor axis) 5−50 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 237 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..5−51 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 238 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. 5/7: Nominal value specification with command G01 5−52 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 239 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..5−53 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 240 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. 5/8: Nominal value specification with command G02 (pneumatic axis) 5−54 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 241 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..5−55 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 242 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 5−56 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 243 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..5−57 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 244 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..5−58 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 245 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..5−59 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 246 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 247 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. 5−61 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 248 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 249 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 250 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 251 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 252 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... 5−66 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 253 ;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. 5−67 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 254 (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. 5−68 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 255 = 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 5−69 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 256 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). 5−70 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 257 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). 5−71 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 258 Fig. 5/11: 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. 5/12: Fast stop with damping time 5−72 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 259 Fig. 5/13: 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. 5/14: Exact stop with damping time 5−73 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 260 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 261 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 system man ual for the SPC200).
  • Page 262 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. 5−76 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 263 Mode 0: position accepted as reference point Mode 5: Starting position Mode 6: Interim reference point: the restricted movement starts here Mode 7: Fig. 5/15: Reference travel modes for the pneumatic axis 5−77 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 264 (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 5−78 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 265 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. 5−79 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 266 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 5−80 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 267 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 5−81 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 268 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. 5/17: Programmed stop 5−82 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 269 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 5−83 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 270 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. 5−84 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 271 ;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. 5−85 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 272 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. 5−86 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 273 Scal. factor = 30, Offset = 100 Scal. factor = 30, Offset = 0 Scal. factor = 10, s [mm] Offset = 0 Fig. 5/18: Scaling factor and offset with bei analogue nominal value specification (example linear drive) 5−87 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 274 (see also chapter 5.2.1). 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. 5−88 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 275 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 5−89 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 276 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.). 5−90 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 277 = 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 278 Permitted value range: 0.0 ... max. work item mass Effect Sets the controller to the specified mass load (see system manual for the SPC200). The following applies with relative assessment of the work item mass: Mass load = work item mass * n [%] + total moveable mass without work item...
  • Page 279 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 5−93 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 280 = 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 281 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 [%] 5−95 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 282 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..5−96 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 283 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..5−97 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 284 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. 5/19: Palletizing 5−98 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 285 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. 5−99 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 286 ;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. 5−100 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 287 Permitted operands are all single−bit operands, but not inputs. See also chapter 5.3.1. 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. 5−101 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 288 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 5−102 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 289 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 5−103 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 290 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 5−104 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 291 = 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. 5−105 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 292 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. 5−106 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 293: Checking Programs

    2. Select [Syntax check] from the [Compile] menu or click on the Syntax check" button. 3. The progress of the syntax check will be displayed in the Compile" window. Wait until the checking procedure is complete. Fig. 5/20: Syntax checking 5−107 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 294 The line, in which the selected fault occurs, is marked with an arrow. Fig. 5/22: Program window 5−108 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 295 Analogue module is not for the analogue reference value. However, no analogue input module present has been configured in the SPC200 in your project. Non−permitted flag You have specified an invalid flag in one of the commands #S..", #R..", #T..", #TN.." (set one bit operand, reset, test to 1 or 0 signal).
  • Page 296 Non−permitted speed value You have specified an invalid speed in one of the commands G01", G02" (approach position with defined speed or approach smoothly). Valid range: FX0 ... FX99 [ FY, FZ, FU ] (0 = 100 % of defined maximum speed) 5−110 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 297 Check the record against the command overview or the record structures. Unknown character The NC record given contains an invalid character. Valid characters are all alphanumerics and the characters  + − . ; # @ ". 5−111 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 298 An NC word does not conform to the command syntax nor is it designator contained in the position list. Enter a valid command or a symbol from the position list. Userbreak You have cancelled the compilation. 5−112 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 299: Compiling Programs

    The programs, position list and system settings are compiled into the internal command syntax of the SPC200 during com pilation. This prepares the data for the SPC200 and the data can now be downloaded to the SPC200. A condition for compilation is that modifications to the pro grams are saved.
  • Page 300 2. Select one or more programs from Program list project" in the Program list" dialogue window. Check the All" check box to select all programs. 3. Click Compile" to start the compilation. Fig. 5/23: Compiling programs 5−114 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 301 Compiling a project You can prepare all the components of a project for down loading to the SPC200 using the [Compile] [Project] com mand. These are the position list and the system parameters of the configured axes in addition to the programs.

  • Page 302: Downloading Programs To The Spc200 And Starting Up

    WinPISA. Programs must have been compiled without error before they can be downloaded. The SPC200 must be connected to the PC (see Online mode) for programs to be downloaded to it. To download programs to the SPC200: 1.
  • Page 303 5. Programming 4. Download the selected programs to the SPC200 using Download". 5. The progress of the transmission will be displayed in a window. Wait until the process is complete. The two bars show the progress of the transmission as a per centage.
  • Page 304 5. Programming 5−118 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 305: Diagnostics And Optimization

    Diagnostics and optimization Chapter 6 6−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 306 ..........6−69 6−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 307 The control panel shows error messages coded in the form of a hexadecimal number. Information on the LED functions and fault messages can be found in the system manual for the SPC200 or in the manual for the relevant mo dule. 6−3...

  • Page 308: Online Status Display

    ENABLE signal absent green READY signal present grey READY signal absent green STOP signal present grey STOP signal absent ERROR message present green No error message present green Program is running grey Program has stopped 6−4 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 309 Warning: dynamic identification absent green Dynamic identification run grey No dynamic identification required (stepper motor) The display is refreshed at intervals of about 0.1 ... 0.2 s. The display is not refreshed during a download operation. 6−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 310: Status Display

    SPC200 connected (system) the status of the field bus connection (only if there is a field bus module; information on this can be found in the...
  • Page 311 Task A. Program B Program number of the active program of task B (representation as program A). Record B Current record number Task B. Display only with pneumatic axes Fig. 6/1: Axis status 6−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 312 When all axes of a positioning command send MC, the appropriate system output MC_A /B will be set. Static control Deviation remaining between the reference and error current positions in the last positioning process. Fig. 6/2: Controller status 6−8 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 313 6. Diagnostics and optimization Error status The errors occurring on the SPC200 are shown in the Error" tab. Fig. 6/3: Error status During operation the last 15 errors to occur (error stack) will be saved. The errors will be shown in a list: first the current error, then the errors in the error stack.
  • Page 314 The System" tab contains general information regarding the system on the connected SPC200. Field Meaning Operating mode Set operating mode of the SPC200 Software version Version number of the operating system Controller version Version number of the controller Start program A Program number of the start program of task A.
  • Page 315 (system overload). Modify the set values accordingly in this case. Fig. 6/6: Setpoint status (example G01 command when dy namic identification is complete) 6−11 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 316 Mode 2 / 3 / 4: As for G00, G01, G02. The start and end position are displayed under "from" and "to". Task/Pro Task, program number and record number of the traverse command to which the gram/Re displayed setpoint values refer. cord 6−12 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 317 6. Diagnostics and optimization Examples: Fig. 6/7: Setpoint values with G00 Fig. 6/8: Setpoint values without dynamic identification 6−13 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 318: Observe Operands

    You can acti vate the test mode in order to influence the inputs. The control signals valid for the SPC200 (inputs and outputs for controlling the SPC200), as well as the current specified record number in record selection mode, are also grouped together and shown in a special observation window.

  • Page 319: Test Mode

    Test mode active" in the status line the tick against the command [Test mode] in the menu [Online] [Observe]. The procedure for modifying the operands in the test mode can be found in the description of the individual observation windows. 6−15 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 320 6. Diagnostics and optimization Please note If assignments are activated for the SPC200 configuration in the "Fieldbus I/O", note that it is only practical to change the source operands in test mode. The assigned target operands always assume the status of the source operands and cannot, therefore, be changed in test mode.

  • Page 321: Observing Bit And Byte Operands

    2. The selected position register will be shown under the list. Enter the desired register contents in this field (@..:"). 3. Press ENTER to confirm your entry. The value entered will then be written into the position register of the relevant axis. 6−17 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 322 2. The selected register will be shown under the list. Enter the desired register contents in this field (R..:") as a decimal number. 3. Press ENTER to confirm your entry. The value entered will then be written into the register. 6−18 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 323 In order to modify an individual flag, click the relevant · check box or select this and press the SPACER key. In order to modify several flags, enter the (hexadecimal) · input or output word. Confirm this with the ENTER KEY. 6−19 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 324 (grey). To display the status of the inputs and outputs: Select the appropriate command, depending on the de · sired address range, in the menu [Online] [Observe]. The relevant observation window will be shown. 6−20 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 325 The status of the inputs can be modified in test mode. Proceed here as when modifying the outputs. 6−21 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 326: Control Signals/Record Numbers

    Select the command [Control signals/record numbers] in the menu [Online] [Observe] [Field bus module]. Control outputs used by the SPC200 cannot be influenced. In test mode, you can enter the current record number in record selection mode and transfer it by pressing the ENTER key.

  • Page 327: Position Setpoint Values

    In test mode, the position setpoint values can be entered and accepted using the INPUT KEY. Please note Position setpoint values changed in test mode are immedi ately valid. A direct axis movement may take place depending on the selected setpoint value mode (see M14). 6−23 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 328: Selecting The Available Observation Windows

    The test mode can also be activated. You can display the window Select observation window" as follows: Select the command [Select] in the menu [Online] · [Observe]. Fig. 6/14: Selecting the observation window 6−24 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 329: Optimizing Positions

    With the command [Optimize position] you can modify the position register in the SPC200. The values of the position list in the relevant project remain unchanged. If you wish to save modifications to the position registers in a WinPISA project, you must first upload the position register from the SPC200.
  • Page 330 ... by 2 x the specified positioning tolerance in a positive direction. >> ... continuously in a positive direction. You can move the axis to the desired position by hand if the system is depressurized. 6−26 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 331 9. Repeat steps 4 to 6 if you wish to optimize further posi tions. 10. Close the dialogue window Optimize position" with Exit". 6−27 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 332: Control Axes

    6.5.1 Debug mode A program is uploaded from the SPC200 and displayed in a Debug window where it can be tested. You can then execute the NC program one step at a time or in continuous operation and record measurement values for a defined range of the program.
  • Page 333 Start/Stop during Debug mode, WinPISA can no longer reset the sequence control transferred from the SPC200. If errors occur, make sure that the SPC200 reacts as expected when the Debug mode is exited. If necessary, restore the normal status with the [Program reset] command in the [Online] menu.
  • Page 334 4. Read the warning displayed. Click Continue" to confirm or cancel the process by clicking on Cancel". The pro gram will be uploaded from the SPC200 and displayed in the Debug window. Debug window The Debug window shows the NC program in the form in which it is stored in the SPC200.
  • Page 335 1. Select the desired NC record from the Debug window. 2. Start execution of the selected NC record step with [Execute step] from the [Online] [Control commands] menu or by clicking on the Execute step" button in the toolbar. 6−31 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 336 Load subprogram"... in the toolbar. The subprogram will be uploaded from the SPC200 and dis played in the Debug window. You can execute single steps or start a continuous run to test the subprogram, just as the main program.

  • Page 337: Recording Measurement Values

    Please note During the Debug mode WinPISA takes over the sequence control of the SPC200. This results in a different run time performance of the program sequence. Measurement values can only be recorded for the pneumatic axes.
  • Page 338 (the first 9 measured values). Activate the check box All identical" in order to de · fine the same settings for all the axes. The settings in the current tab will be used. 6−34 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 339 Current acceleration of the axis acceleration °/s Reference position Position value in Current reference position of the axis positioning range or [°] calculated by the SPC200 ± maximum speed Reference speed Reference speed calculated by the SPC200 °/s] ± maximum Reference acceleration...
  • Page 340 Measurement ends as soon as the first record with a stopping point is executed. Continuous operation is also stopped at this point. The measurement data will be uploaded from the SPC200 automatically once measurement is completed. Continuous operation To record measurement values in continuous operation: 1.
  • Page 341 Execute step" button in the toolbar. The measurement values for the selected NC record will be recorded. The measurement data will be uploaded from the SPC200 automatically once measurement is completed. Once the measurement values have been uploaded from the SPC200, these become available as Online measurement data"...
  • Page 342 6. Diagnostics and optimization Saving the measurement values You can save the measurement values once they have been uploaded from the SPC200. You can save the measurement values of the last recording as follows: 1. Select [Save data] from the [Online] [Measurement] menu.

  • Page 343: Graphic Functions

    Actual value (position) of the axis selected over time. v(t) Speed of the axis selected over time. a(t) Acceleration of the axis selected over time. v(s) Speed of the axis selected over the actual value. 6−39 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 344: Creating New Graphs

    3. Click OK" to confirm your selection. The graph will be displayed in a new graphic window. All graphs are put together using the same scheme. Informa tion on the elements of the graphic window can be found under Graphic elements". 6−40 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 345 Open" button. These will each be displayed on an additional tab ( [1], [2], etc). Measurement data is se lected in the Read measurement data" dialogue window. Select a measurement data file (*.MDA) and click on OK" to open. 6−41 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 346 X" and Y" option buttons where measurement values for more than one axis are dis played. Lay out the measurement variables in the Diagram layout" area in the way that they will be displayed in the graph. 6−42 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 347 To remove a measurement variable from the Diagram lay out" area, select this variable and click the Delete curve" button to remove it. Click on OK" to confirm the settings. The graph specified will be displayed in a new graphic window. 6−43 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 348: Graphic Elements

    Display area Curve 2 Graphic title Further curves Co−ordinate display X axis (abscissa axis) Legend y1 axis (first ordinate axis) Curve 1 y2 axis (second ordinate axis) Fig. 6/21: Graphic window 6−44 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 349 The second ordinate axis (or y2−axis) is scaled with the unit of the first measured row under 2. y−axis" in the dialogue window Data basis". Legend Names, colours, line attributes and the data point symbol for the relevant curve shown are represented in the legend.Legend 6−45 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 350: Modifying Graphs

    Or double−click the appropriate axis. There is one tab for each axis in the Axis attributes" dialogue window. Select the tab for the axis you wish to modify. 6−46 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 351 Title" and Unit" fields under Labelling". You can overwrite these entries. You can select a different colour for the axis display under Colour". Click OK" to accept the modifications made for the current graph. 6−47 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 352 A curve can be shown thicker to emphasize it. Use the arrow buttons under Line width" to modify the line thickness. The measurement values recorded can be displayed in the graph. Select a marker for the measurement value under Symbol". 6−48 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 353 Select [Zoom out] from the [Graphic] menu or click on Restore original scaling" button to display the original size of the graph. 6−49 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 354: Evaluating Graphs

    Select [Data cursor] from the [Graphic] menu or click on the Display data cursor in the current graph" or ... switch off ". buttons to show or conceal a data cursor. 6−50 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 355 The position of the data cursor moves when you move the mouse pointer. You must therefore set the reference cursor either by selecting the menu command from the keyboard or by using the context menu (right−hand mouse button). 6−51 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 356 Measure ment recording has been implemented for the positioning process. A graph has been created from the Current position", Reference position" and Motion Complete" variables. 6−52 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 357 Reference position" curve. Here, too, you can use the Motion Complete" curve as a guide. 5. Read the value for dx" from the co−ordinate display. This is the time required for the positioning process in seconds. 6−53 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 358: User−Defined Graphs

    3. Enter a name for the user−defined graph in the New menu entry" field of the User−defined graphic" dialogue window. 4. Click OK" to confirm your entry. The user−defined graph is now saved and will be shown in the [Graphic] [User defined] menu. 6−54 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 359 New menu entry" field and click Modify" to accept the change. 4. Click OK" to confirm your entry. The changes to the entries for user−defined graphs are now saved and are shown in the [Graphic] [User defined] menu. 6−55 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 360: Optimizing The Positioning Behaviour

    6.7.1 Basic information on control The basis for controlling the pneumatic axis is a model posi tioning path in the SPC200. This model assumes that there is a pneumatic axis set up according to specifications, e.g. in respect of: the supply of compressed air the valve−cylinder combination used...
  • Page 361 The SPC200 enables not only point to point positioning (G00), but also profile control (G01, G02) of the pneumatic axes.

  • Page 362: Description Of The Controller Factors

    Instructions on optimizing the positioning behaviour can be found in section 6.7.4. The factors are standarized to 1.0 by the SPC200. By increas ing the factors > 1), you can correspondingly increase the parameters; by decreasing the factors (< 1), you can corre spondingly decrease the parameters.
  • Page 363 The drive tends to instability (in spite of low gain and Decrease good damping). Noise" or loud valve sounds (observe if gain is Increase perhaps too strong). The positioning procedure is carried out quickly and Optimum accurately, low valve sounds. Permitted: 0.1 ... 10.0 6−59 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 364: Judging The Positioning Behaviour

    If necessary, you can add other measured variables. Final reference position By a jump in the final reference position you can recognize the point in time at which the axis receives a positioning order. 6−60 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 365 This will make it easier for you to identify standing times (speed = 0) as well as under swing or overswing (sign change in speed = change in direc tion of movement). 6−61 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 366: Optimizing The Positioning Behaviour

    Before trying to optimize the positioning behaviour of the axis, proceed as follows: Make sure that the pneumatic axis is set up according to · the specifications (see system manual for the SPC200). Make sure that all axis and application parameters are set · correctly.
  • Page 367 Adaption not completed Move a few positioning cycles · Cylinder/guide runs badly Carry out test or maintenance · (stick−slip) or replace components Incorrect mass Correct configuration · Incorrect valve type configured Correct configuration · 6−63 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 368 · gured or programmed (M37) program Cylinder completed a lomg Carry out system identifica · period in service (friction has tion again (static or dynamic) changed) Gain factor set too low Correct the parameter · 6−64 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 369 Or very noisy acceleration sig Increase signal filter factor · nal with high amplitude Minimum mass load exceeded Increase basic load (see sys · tem manual for the SPC200) Insufficient tolerance required Increase tolerance · 6−65 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 370 (automatic limiting) Signal filter factor set too high Correct the parameter · Gain factor set too high Correct the parameter · Damping factor set too low Correct the parameter · 6−66 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 371 Causes Remedy Mass load entered too high Reduce mass load (see sys · (under circumstances causes tem manual for the SPC200) over−cushioned controller) Demand too high (fast" Adapt reference values, if · reference values too high) necessary, carry out dynamic...

  • Page 372: Procedure In The Event Of An Instable Compressed Air Supply

    (tolerance of ± 1 bar in operation), although a com pressed air reservoir has already been installed (see system manual for the SPC200), the maximum values for acceleration and slowing down, which were calculated during identifica tion, may not be reached under certain circumstances.

  • Page 373: Error Treatment

    Program reset for a defined new start the SPC200 can be reset to the starting status using a system reset if it has entered an undefined status due to incorrect entries or program errors.
  • Page 374 M40 and M41 will be reset to the standard values all freely programmable outputs and the SYNC outputs will be reset the set starting programs are made available any errors are quitted. 6−70 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 375 1. Apply 0−signal to inputs STOP and START. 2. Execute a program reset by a rising edge to START input. Reset Start Stop Input START Input STOP Fig. 6/34: Program control using I/O signals 6−71 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 376 6. Diagnostics and optimization System reset By means of a menu command, the SPC200 can be reset to the status which existed after it was switched on (System reset). A program reset and a hardware recognition are carried out here. The axis interface string is then reinitialized. This pro cedure can take a certain amount of time depending on the configuration.
  • Page 377 6. Diagnostics and optimization Data reset The SPC200 can be reset to the status as at delivery by a menu command (data reset). A data reset is always necessary after a modification to the axis assignment. This is carried out automatically by WinPISA after interrogation.
  • Page 378 6. Diagnostics and optimization 6−74 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 379 Working with the keyboard Appendix A A−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 380: A. Working With The Keyboard

    ..........A−3 A−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 381: A.1 Key Assignment

    An ARROW key Moves a window when you have selected the [Move] command from the system menu. Or it changes the size of a window when you have selected the [Resize] command from the system menu. A−3 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 382 Deletes the selected text and places it on the clipboard. or CTRL + X SHIFT+INSERT Inserts the text from the clipboard into the active window. or CTRL + V CTRL+INSERT Copies the selected text and places it on the clipboard. or CTRL + C A−4 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 383 Expands or removes the selection in a text field up to the first character. SHIFT+END Expands or removes the selection in a text field up to the last character. ENTER key Carries out a command. A−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 384 Moves one screen down. CTRL+HOME To the start of the text. CTRL+END To the end of the text. Make sure that NUM LOCK is switched off if you wish to use the numeric keypad for orientation functions. A−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 385 The text up to the end of the line. CTRL+SHIFT The previous word. +LEFT ARROW CTRL+SHIFT The next word. +RIGHT ARROW CTRL+SHIFT+HOME The text up to the start of the document. CTRL+SHIFT+END The text up to the end of the document. A−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 386 To the start of the line ENDE To the end of the line BILD NACH−OBEN PAGE UP Screen page up BILD NACH−UNTEN PAGE DOWN Screen page down RÜCKTASTE BACKSPACE Delete character left of insert mark (cursor) A−8 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 387 Troubleshooting Appendix B B−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 388: B. Troubleshooting

    ..........B−4 B−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 389: B.1 Possible Problems In Positioning

    The slide moves into The control direction is Swap the See also system end position not the same as the connectingtubing on manual for the SPC200 direction of movement the proportional of the slide directional control valve Measuring system or...

  • Page 390: B.2 Error Messages

    B. Troubleshooting Error messages In Online mode the error messages by the SPC200 are dis played in a message window which you must quit with OK". You will then be asked if the error is to be deleted. With Yes" the errors displayed on the SPC200 will be deleted with a few exceptions.
  • Page 391 Index Appendix C C−1 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

  • Page 392: C. Index

    C. Index C−2 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 393 1−bit operands ....... . . 5−30 C−3 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 394 Error messages ....... . 6−69 C−4 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 395 ........6−49 C−5 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 396 ........A−4 Text selection keys ......A−7 C−6 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 397 Multi−axis operation....see Operating modes Multitasking−capable operating system ... . . 5−21 C−7 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 398 ........1−31 C−8 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 399 5−14 , 5−34 , 5−67 , 5−68 , 5−93 Optimize positions ......6−25 C−9 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 400 ........6−70 Programmed stop (NC command M00) ... . . 5−82 C−10 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 401 ....... 4−32 With analogue nominal value specification ..5−87 C−11 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 402 ..... . . 5−106 Relative dimension specification with positioning commands (NC command G91) ..5−81 Reset single−bit operand (NC command #R) ..5−101 C−12 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 403 ........6−72 C−13 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...
  • Page 404 ..... . 4−28 Workpiece mass in initial state ....4−28 C−14 Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d...

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