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Motor controller
SFC−LAC
Manual
Motor controller
Type SFC−LAC−...−CO
(CANopen)
Manual
540 656
en 0708NH
[687 401]

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Summary of Contents for Festo SFC-LAC CO Series

  • Page 1 Motor controller SFC−LAC Manual Motor controller Type SFC−LAC−...−CO (CANopen) Manual 540 656 en 0708NH [687 401]...
  • Page 2 ® ® Adobe and Reader are either a registered trademark or a trademark of Adobe Systems Incorporated in the United States and/or other countries.
  • Page 3 ....... . . 540 656 © Festo AG & Co. KG, D 73726 Esslingen, Germany, 2007 Internet: http://www.festo.com E−Mail:...
  • Page 4 Contents and general instructions Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 5: Table Of Contents

    Notes on mounting electric drives ........2−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 6 ........3−18 3.7.4 Connection with field bus plugs/adapters from Festo ..3−19 3.7.5...
  • Page 7 ......... . . 5−30 Festo profile for handling and positioning (FHPP) .....
  • Page 8 Converting the units of measurement ....... A−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 9 ......B−1 The Festo Parameter Channel (FPC) ....... .
  • Page 10 Contents and general instructions VIII Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 11: Designated Use

    Observe also the standards specified in the relevant · chapters, as well as national and local laws and technical regulations. Observe the maximum values of all additional compo · nents (e. g. sensors, actuators). Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 12: Safety Instructions

    Warning Faults in parametrizing can cause injury to human beings and damage to property. Only enable the controller if the axis system has been · installed and parametrized by technically qualified staff. Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 13: Target Group

    Service Please consult your local Festo Service or write to the following e−mail address if you have any technical problems: service_international@festo.com Scope of delivery The SFC−LAC is supplied with the following:...
  • Page 14: Important User Instructions

    This means that failure to observe this instruction may result in damage to property. The following pictogram marks passages in the text which describe activities with electrostatically sensitive compo nents. Electrostatically sensitive components may be damaged if they are not handled correctly. Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 15 Accessories: Information on necessary or sensible accessories for the Festo product. Environment: Information on environment−friendly use of Festo products. Text markings The bullet indicates activities which may be carried out in · any order. 1. Figures denote activities which must be carried out in the numerical order specified.
  • Page 16: Manuals For The Motor Controller Type Sfc−Lac

    SFC−LAC−...−CO. It also contains information on the functions of the CANopen inter face as well as information on commissioning with the Festo Configuration Tool (FCT) software package. Information on additional components can be found in the operating instructions supplied with the product.
  • Page 17: Information On The Version

    You can find the specifications on the version status as follows: Hardware version and firmware version under Device data" in the Festo Configuration Tool, when there is active linkage to the SFC−LAC. Firmware version on the control panel under [Diagnostic] [Software information].
  • Page 18: Product−Specific Terms And Abbreviations

    Load voltage, The load voltage supplies the power electronics of the controller and logic voltage thereby the motor. The logic voltage supplies the evaluation and control logic of the controller. Man Machine Interface". Corresponds to HMI. Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 19 HME (including fastening elements). The tool load applies to all position records. Compare work load. Work load The mass of a work item. Applies only to a single position record. Compare tool load. Tab. 0/1: Index of terms and abbreviations XVII Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 20: Canopen Specific Terms And Abbreviations

    A reply is always sent to an SDO: A pair of CAN telegrams per object are transmitted. Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be in stalled or switched in at the end of bus segment cables. Tab. 0/2: Index of CANopen terms and abbreviations XVIII Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 21: System Summary

    System summary Chapter 1 1−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 22 ......... . 1−20 1−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 23: Overview

    1. System summary Overview 1.1.1 Components Higher−order controller Software level: Festo Configuration Tool (FCT) Controller level: SFC−LAC Drive level: e.g. HME Fig. 1/1: Principle of a positioning system with the SFC−LAC−... 1−3 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 24 PC and the SFC−LAC (see section 3.5) Field bus cable for transmitting information between the higher−order controller and the SFC−LAC (see section 3.6). Permitted mounting position of the HME: horizontal (vertical only on request). 1−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 25: Operating Principle

    Makes sure that all three strings have the correct current values. Output stage The three strings are supplied with current via pulse width modulation. Current regulator Phase current regulation and electrical commutation. Observer Determines speed and external forces of interference (e.g. friction, gravity). 1−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 26 EEPROM with the CI command 20F1h / PNU 127 (see appendix B.2.4). User−specific settings will then be lost. Use CI commands only if you already have experience of · Service Data Objects. If necessary consult Festo. · 1−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 27: Operational Safety

    Detection of faults in the logic voltage supply Detection of undervoltages in the load voltage supply t−monitoring / overload protection Drag fault monitoring (e. g. in the event of sluggishness or overloading of the HME−...) Software end position recognition 1−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 28 If the parametrized holding ramp is not sufficient for bringing the the drive to a stand in front of a software end position, the deceleration (braking) will be increased, where possible, to the maximum possible value. 1−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 29 When doing so, take into account the diagrams in the · FCT (Measured data" page). If the desired deceleration cannot be achieved: Use stronger power units or reduce the dynamics. · 1−9 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 30: Communication

    Process Data Objects (PDO), which serve for the fast transfer of current process states. In addition, telegrams are defined for the network management and the fault messages. 1−10 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 31: Data Profiles Fhpp And Ds402

    The CANopen profile DS402 for control by the master can also be used as an alternative to the Festo profile. The DS402 profile is then also the internally implemented profile; the FHPP interface is mapped by an implementation of DS402.
  • Page 32 *Control/status bytes Record no. Nominal/actual value 1, 2.. TxPDO1 RxPDO1 TxPDO2 RxPDO2 TxSDO RxSDO 8 bytes I/O as per FHPP standard 8 bytes I/O as per FHPP FPC Fig. 1/3: Festo Handling and Positioning Profile (FHPP) 1−12 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 33: Operating Modes

    The position sets saved in the SFC−LAC are processed one after the other. (The Test cycle" in FCT processes only the position sets selected there, whereby the SFC−LAC is inter nally in the normal Profile position mode"). 1−13 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 34 Specifying changeable position values in millisecond intervals (typical 4 10 ms). Mode of the SFC−LAC: FHPP continuous mode" (FHPP profile) or Interpolated position mode" (profile DS402) Force control Specifying a nominal force. Mode of the SFC−LAC: Profile torque mode" 1−14 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 35: Measuring Reference System

    The project zero point is shifted by a defined distance from the axis zero point AZ (offset of the project zero point). The offset of the project zero point cannot be adjusted via the control panel. 1−15 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 36 Offset software end positions Project zero point Offset project zero point Lower software end position Effective stroke Upper software end position Nominal stroke Diagram using the example of referencing method: Reference switch Tab. 1/2: Measuring reference system 1−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 37 (mm, mm/s, mm/s ...). Various measuring units can be set in the FCT, e. g. metric units (mm, mm/s, mm/s ) or imperial units (inch, inch/s, inch/s The CI interface, on the other hand, works with increments. 1−17 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 38: Reference Travel Methods

    HME moves to the next index signal of the displace ment encoder. The reference point REF is there. 2 The HME then moves at speed v_zp from the reference point REF to the axis zero point AZ. Tab. 1/3: Homing to reference switch 1−18 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 39 (= reference point). 2 The HME moves at speed v_zp from the reference point to the axis zero point AZ. The offset must be 0. 3 Externally fitted fixed stop Tab. 1/4: Homing to fixed stop 1−19 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 40: Commissioning Options

    1. System summary Commissioning options You can parametrize and commission the SFC−LAC as follows: with the Festo Configuration Tool (FCT) via the parametrizing interface, } section 5.3 on the control panel (HMI, only type SFC−LAC−...−H2) } chapter 4, via CANopen (CO), } section 5.4.1.
  • Page 41: Fitting

    Fitting Chapter 2 2−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 42 ........2−6 2−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 43: General Instructions

    Screws must be fitted accurately (otherwise threads will be damaged). The specified torques must be observed. Connecting surfaces and contacts must be clean. Dimensions of the controller 178 mm 120 mm Fig. 2/1: Dimensions of the controller 2−3 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 44: Mounting The Controller

    2 sets of central supports, type MUP−18/25 (accessories), (the 4 brackets are clipped into the edge of the housing (see Fig. 2/2) 4 threaded holes for screw size M3 with suitable screws 120 mm Fig. 2/2: Screwing the SFC−LAC to the wall 2−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 45 SFC−LAC clicks · into place. Hat rail Tension springs Distance between housing web and hat rail: 3.3 mm (rail 35x7.5) Fig. 2/3: Hat rail mounting for the SFC−LAC 2−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 46: Notes On Mounting Electric Drives

    · will move is of sufficient size for operation with a load the effective load does not collide with any component of · the drive when the slide moves into the end position. 2−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 47: Installation

    Installation Chapter 3 3−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 48 ........3−18 3.7.4 Connection with field bus plugs/adapters from Festo ..3−19 3.7.5...
  • Page 49: Installation

    Lay all flexible cables free of kinks and mechanical · stress; if necessary use protective trunking. Caution Long lines reduce immunity to interference (EMC). Do not exceed the maximum permitted cable lengths. · 3−3 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 50 Motor connection Sub−D 24W7 Power supply for linear motor and CAN bus Socket interface for signal transmission Parametrizing M8, 4−pin RS232 interface for parameterizing, interface Socket commissioning and diagnosing with FCT Tab. 3/1: Overview of connections 3−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 51 ESD (electrostatic dis charge). Place protective caps on unused terminal connec tions in order to prevent such discharges. The plug connectors on the following Festo cables comply with protection class IP54 when properly fitted. Connection...
  • Page 52: Voltage Supply

    The use of power supply units with lower output levels is possible with restricted motion dynamics and loads. To do this, you must specify the power output of your power supply unit in the FCT (or via object 6510/50h). 3−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 53 Power" terminal (voltage supply) on the SFC−LAC Caution Damage to the device The power supply inputs on the SFC−LAC have no special protection against overvoltage. Make sure that the permitted voltage tolerance is never · exceeded; see Tab. 3/4. 3−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 54 Power supply specifications 1 2 3 4 Connect the earth terminals of both power units! External fuses (optional, for protection of the internal fuses) Earth connections (alternative; see section 3.3) Fig. 3/2: Power supply connection example 3−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 55: Earthing

    When using the earth terminal on the housing of the SFC−LAC: Use a suitable earthing cable with an M4 cable lug and · the supplied nut with toothed lock washer. Tighten the nut with max. 1.7 Nm. · 3−9 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 56: Motor Connection

    +24 V DC +24 V DC logic CAN−H CAN line H (position sensor) CAN−L CAN line L (position sensor) Reference potential 0 V Plug housing Cable screening (FE) Tab. 3/5: Motor" terminal on the SFC−LAC 3−10 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 57: Parametrizing Interface

    Receive cable of the PC, transmit cable of the SFC−LAC RS232 Transmit cable of the PC, receive cable of the SFC−LAC (not connected) The levels correspond to the RS232 standard. Tab. 3/6: Parametrizing interface (RS232) on the SFC−LAC 3−11 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 58 3. Installation Information on commissioning and parametrizing the SFC−LAC via the parametrizing interface can be found in section 5.3.2 and in the help system for the Festo Configuration Tool software package. Information on transmitting CI commands via the serial interface can be found in appendix B.
  • Page 59: Control Interface

    This connection serves for the incoming and con tinuing field bus cables. Note Only field bus plugs of type FBS−SUB−9−BU−2x5−POL−B and FBA−2−M12−5−POL from Festo ensure conformance to IP54. Note the instuctions in section 3.7.5 if other sub−D plugs are used. 3−13...
  • Page 60 Clamping housing strap 1) Pin assignment on field bus plug type FBS−SUB−9−BU−2x5POL−B from Festo 2) Depending on parameterization CAN Voltage Supply" (see section 5.2.1) or [CAN Volt.Supply] on control panel (see section 4.5.6, [CO parameters] ). 3) Internal supply of the field bus node (default): CAN bus (pins 2, 3, 7) related to logic voltage supply of the SFC−LAC.
  • Page 61 The screen connection at pin 5 of the field bus interface is capacitively connected internally to the housing. This prevents equalizing currents from flowing via the screening of the field bus cable (see Fig. 3/3). Capacitive connection Housing Fig. 3/3: Screen connection inside the SFC−LAC 3−15 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 62: Connecting The Field Bus

    Please observe also the relevant regula tions in EN 60204 part 1. Use a twisted−pair screened 4−wire cable as the field bus cable. If the field bus plug FBS−SUB−9−BU−2x5POL−B is used, a cable diameter of 5 10 mm is permitted. 3−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 63: Field Bus Baud Rate And Field Bus Length

    Take into account also the sum of the branch line lengths · when calculating the maximum permitted length of the field bus cable. 3−17 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 64: Bus Power Supply

    For the SFC−LAC the following tolerance applies to the bus interface supply (pin 9 on the Sub−D plug): = 30.0 V = 11.0 V Recommendation: Place the power unit approximately in the centre of the bus. 3−18 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 65: Connection With Field Bus Plugs/Adapters From Festo

    3. Installation 3.7.4 Connection with field bus plugs/adapters from Festo With Festo field bus plugs type FBS−SUB−9−BU−2x5POL−B or the field bus adapter FBA−2−M12−5POL you can connect the SFC−LAC to the field bus in a user−friendly manner. You can disconnect the plug from the SFC−LAC without interrupting the bus cable (T−Tap function).
  • Page 66 Tighten the two fastening screws at first by hand and then with max. 0.4 Nm. Note The clamp strap in the field bus plug from Festo is connected internally only capacitively with the metallic housing of the Sub−D plug. This is to prevent equalizing currents flowing through the screening of the field bus cable.
  • Page 67 Protective cap or plug with bus termination resistor if connection is not used. Tab. 3/8: Pin assignment of the field bus interface (adapter for M12 connection 5−pin) With the two M12 connections you can implement a T−adapter. 3−21 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 68 Screw terminal adapter Pin no. 1. 0 V bus 2. CAN_L 3. Screening/shield 4. CAN_H 5. 24 V DC bus 2x5−pin terminal strip Tab. 3/9: Pin assignment of the field bus interface (screw terminal adapter 5−pin) 3−22 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 69: Connection With Other Sub−D Plugs (Ip20)

    3. Installation 3.7.5 Connection with other Sub−D plugs (IP20) If you are using the Festo plug type FBS−SUB−9−WS−CO−K or Sub−D plugs from other manufacturers, you must replace the two flat screws by which the field bus plug is fitted in the SFC−LAC by bolts of type UNC 4−40/M3x5 (supplied).
  • Page 70: Bus Termination With Terminating Resistors

    · field bus. If you are using T−adapters, install the terminating resistor at the unused output of the T−adapter. Recommendation: Fit a terminating resistor in the Festo field bus plug for the bus termination. Protective cap Resistor for bus termination (120 , 0.25 W)
  • Page 71: The Control Panel (Only Type Sfc−Lac−...−H2−...)

    The control panel (only type SFC−LAC−...−H2−...) Chapter 4 4−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 72 ........4−20 4−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 73 5.2. With the SFC−LAC−...−H0 (without control panel) you can carry out commissioning via the parametrizing interface with the Festo Configuration Tool (FCT). Instructions on this can be found in section 5.3.2. Caution Simultaneous attempts to access the SFC−LAC via FCT, the control panel and control interface can cause unpredict able errors.
  • Page 74: Composition And Function Of The Control Panel

    With the 4 buttons on the control panel you can carry out settings by means of menus. The graphic LCD display shows all texts in English. The display can be rotated 180°; see [LCD adjustment] menu command. 4−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 75 (only in Demo mode). After stop: Display of current position; use <Menu> to return to the higher−order menu level. Scrolls within a menu level in order to select a menu command. EDIT Sets parameters. Tab. 4/1: Button functions (overview) 4−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 76: The Menu System

    Diagnostic <menu> Config <Enter> parametrized (see section 5.2.1). When the device is switched on again, the display will show briefly the Festo logo then change to the status display. The status display shows the following information: SFC–LAC... HME... Xa = 0.00 mm the type designation of the SFC−LAC...
  • Page 77 Set up a local password for the control panel (} section 4.5) HMI control Preset the device control via the control panel (} section 4.6) LCD adjustment Rotate the display 180° Tab. 4/2: Menu commands (overview) 4−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 78: Diagnostic] Menu

    (a) or relative (r) positioning, (e) = energy−optimized Target position Speed Acceleration Deceleration Work load Mass of the effective load Jerk when accelerating Jerk when braking t_MC Damping time After 5 s the lower part of the display changes. 4−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 79 Fixed stop in positive direction bl.neg Fixed stop in negative direction T_Motor Temperature of the linear motor of the HME−... [°C] T_LAC Temperature of the SFC−LAC [°C] T_If Temperature of the interface board in the HME−... [°C] 4−9 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 80 Profile Data profile with which communication between the CAN master and the SFC−LAC is handled. FHPP: The SFC−LAC is controlled as per the Festo Handling and Positioning Profile. DS402: The SFC−LAC is controlled as per DS402. CAN Node ID CAN address of the SFC−LAC (hexadecimal) Volt.supply int./ext.
  • Page 81: Positioning] Menu

    (at least 1 mm). Note Please note that position records with speed v = 0 or invalid target positions (−> error TARGET POSITION OUT OF LIMIT) cannot be executed. 4−11 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 82 With <Enter> you can interrupt the positioning STOP cycle [Demo posit tab]. The current positio Enter ning set will be executed before the axis stops. If you restart, the run will begin with position record 1. 4−12 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 83: Menu [Settings]

    OK <Enter>. Save the settings permanently in EEPROM with [SAVE...]. · Only then will the settings be retained even when the power supply is switched off or if there is a power failure. 4−13 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 84: Settings] [Axis Type]

    Teaching only possible after successful homing. Note A new reference run must always be carried out if the axis zero point is modified. The project zero point PZ can only be set via FCT or PNU 500/CI 21F4 4−14 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 85: Settings] [Homing Paramet.]

    [Velocity v_rp] v_rp Speed for searching for the reference point [Velocity v_zp] v_zp Speed for moving to the axis zero point [SAVE...] save parameters in EEPROM The maximum speed for homing is subject to built−in limits. 4−15 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 86: Settings] [Position Set]

    Jerk when braking in [m/s [Work load] Effective load in [g] Time MC t_MC Dampiing time (time between reaching the target window and setting Motion Complete") [SAVE...] Save parameters in EEPROM Teaching only possible after successful homing. 4−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 87: Settings] [Jog Mode]

    Profile with which communication between the CAN master and FHPP the SFC−LAC is handled: DS402: Control takes place as per DS402. FHPP: Control takes place as per Festo Handling and Positioning Profile. [CAN Volt.Supply] intern, Power supply to the field bus node can take place internally", extern i.e.
  • Page 88: Settings] [Password Edit]

    If, in spite of care being taken, the active password for the SFC−LAC is lost: If necessary, the password can be deleted with a master password. In this case please contact your Festo Service partner. Setting up a password Select [Password edit] in the menu [Settings]: Enter a password with 3 digits.
  • Page 89 4. Enter the new password with 3 digits. If you wish to New Password: [ ? x x ] = 0 deactivate the password, enter 000". ESC <Menu> 5. After entering the third digit, save your entry with SAVE EDIT <––> SAVE <Enter> <Enter>. 4−19 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 90: Menu Command Hmi Control

    (HMI: on), the drive cannot be stopped with the STOP input on the control interface. Access to the SFC−LAC via the control panel and FCT can be blocked by means of FHPP (HMIAccess locked"), compare section 5.5.5 (CCON.B5 LOCK). 4−20 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 91: Commissioning

    Commissioning Chapter 5 5−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 92 ......... . . 5−30 5−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 93 5. Commissioning Festo profile for handling and positioning (FHPP) ..... 5−33 5.5.1 FHPP operating modes ........
  • Page 94: Commissioning

    FCT, as described in the following chapters and in the FCT/PlugIn help. Check the presettings in the [Diagnostic] menu. · Upon completion of commissioning, note the instructions · for operation in the FCT/PlugIn help and in section 5.7. 5−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 95: Check The Drive

    Loss of the reference position if there is insufficient load voltage supply. Always carry out a reference run every time the logic · voltage supply is switched on, in order to anchor the dimensional reference system to the reference point. 5−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 96: Before Switching On

    Using the SFC−LAC in conjunction with CMXR: Switch the SFC−LAC into the CMXR compatible mode via · the CI or field bus interface (see PNU 150 / 2FF8h). Using the CI interface: see appendix C.4. 5−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 97: Simultaneous Attempts To Access The Controller

    If parametrization or operation is carried out on the SFC−LAC with the control panel. Please note: Control by the FCT must not be activated while the drive · is in motion or when control is being carried out via the field bus. 5−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 98: Commissioning With The Control Panel (Only Type Sfc−Lac

    10. Carry out a test run. Check motion behaviour, 5.2.10 reference points and working range. If necessary optimize. 11. Check the function of the controller interface and note the instructions on operation. Tab. 5/1: Commissioning steps 5−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 99: Set The Can Bus Parameters

    4. Accept the setting with OK <Enter>. The setting is saved against network failure. Note The set CAN bus parameters first become effctive after Power off/on" or after a software reset (object 20F1/03h / PNU 127). 5−9 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 100 CAN Profile Possible data profiles: FHPP: CAN Profile Control and parametrizing of the SFC−LAC is made as FHPP per the Festo Handling and Positioning Profile. ESC <Menu> EDIT <––> OK <Enter> DS402: Control and parametrizing of the SFC−LAC is made in accordance with DS402.
  • Page 101: Setting The Drive Type

    The reference point is determined as follows, depending on the referencing method: by means of the reference switch with subsequent index search (recommended) or by means of a fixed stop (to be fitted externally by the customer). 5−11 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 102 Operate the HME−... only with the permitted mass · (see operating instructions for HME−...). If necessary, limit the maximum current (motor force) · during the reference run using: FCT or CI object 6073h / PNU 1034 Max. current". 5−12 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 103: Activating Device Control

    When the controller is enabled for the first time with the PLEASE WAIT ENABLE signal or [HMI = on], the HME−... ascertains its COMMUT.–POINT EVALUATION IS commutation point (vibrations) for a few seconds. ACTIVE 5−13 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 104: Carrying Out A Reference Run

    Teach the offset of the axis zero point again if needed. · If the axis zero point is modified: Teach the software end positions and the target · positions again if needed. The reference travel sequence is described in section 1.4. 5−14 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 105 2. If necessary, check the functioning of the reference switch. 3. Check the settings of the parameters. 4. If required, use the arrow keys to move the HME into a different position (Menü [Settings] [Jog mode]). 5. Repeat the reference run. 5−15 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 106: Teaching The Axis Zero Point

    4. Save the parameter settings in EEPROM with the [SAVE] menu command. 5. In order to do this, carry out the movement test (see section 5.2.5). When homing is concluded, the drive stands on the new axis zero point. 5−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 107: Teaching Software End Positions

    Positive stop (AZ: −1 mm) SW−limit−neg = −nominal stroke SW−limit−pos = 0 If necessary, teach the software end positions: 1. Select [Settings] [Axis parameter] [SW−limit−neg] or [SW−limit−pos]. 2. Move the drive with the arrow keys. 5−17 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 108: Set Tool Load

    2. Set the tool load with the arrow keys. 3. Accept the setting with OK <Enter>. The setting will then take effect in the drive. 4. Save the parameter settings in EEPROM with the [SAVE] menu command. 5−18 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 109: Teach Position Records

    If necessary, insert an absolute position set or reference travel into the positioning cycle, in order to correct deviations. 5−19 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 110 Jerk Dec": Jerk when braking. Work load" (work item mass): see also section 5.2.8. Time MC" (damping time): see also Fig. 5/9. 6. Save this position record in EEPROM with [SAVE]. 7. Enter the next position record. 5−20 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 111: Test Run

    [Demo posit. tab]. However, the set currently being executed will be completed first. Check the positioning behaviour. · Check the displayed positions of the axis. · 5. If necessary, optimize the existing settings. 5−21 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 112: Commissioning With Fct

    5. Commissioning Commissioning with FCT The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different components and devices from Festo. The FCT consists of the following components: A framework as program start and entry point with...
  • Page 113: Installing The Fct

    The FCT is installed on your PC with an installation program. 1. Close all programs. 2. Place the Festo Configuration Tool CD in your CD ROM drive. If Auto Run is activated on your system, the installation will start automatically and you can omit steps 3 and 4.
  • Page 114: Procedure

    2. Start the FCT: double click on the FCT icon on the desktop switch to Windows and select the entry [Festo Software] [Festo Configuration Tool] in the menu [Start]. 3. Create a project in the FCT or open an existing project.
  • Page 115 ENABLE (controller interface), Enable" (FCT) or [HMI = on] (control panel). In order that the Festo Configuration Tool can control the con nected SFC−LAC, the control interface of the SFC−LAC must be deactivated and control must be enabled in the FCT.
  • Page 116: Commissioning On A Canopen Master

    The Draft Standard 301 is based on the CAL communication profile. DS402, V2.0 The Draft Standard 402 defines the activation of drives within CANopen. In order to understand this section, you should be familiar with CANopen and the specifications DS301 and DS402. 5−26 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 117: Overview Of Commissioning On The Field Bus

    May be restricted by the master used on the control panel (only with type SFC−LAC−...−H2, · see section 4.5.6 and 5.2.1 or with the Festo Configuration Tool (see help for the · Festo Configuration Tool). 2. Configure the CANopen master (see section 5.4.2): install EDS file or make settings manually.
  • Page 118: Configuration Of The Canopen Master (I/O Configuration")

    Obtainable from: The accompanying CD contains EDS files for the SFC−LAC in the CANopen" folder. You will find the latest EDS files on the Festo website at: www.festo.com/download EDS file: For the SFC−LAC you will require one of the following EDS files in English): SFC−LAC−H0−CO−FHPP.eds...
  • Page 119: Communication

    (NMT). In this status, communication via SDO and PDO is possible. With the aid of the NMT telegrams you can switch between the different states, if required. 5−29 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 120: Parametrizing Via Sdos

    If the data on the master side are not in the same form, but saved, i.e. as byte array: note that the representation of words and double words · appears in the little endian" representation when trans mitted via CAN (lower−value byte first). 5−30 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 121 PDO mapping in FHPP The first PDO (8 bytes I/O data) is intended for the operating modes Record select" and Direct mode", the second PDO (8 bytes I/O data) is used for FPC (Festo Parameter Channel) parameterization. Receive PDO1 (FHPP standard)
  • Page 122 T−PDO must be configured as a cyclically sent T−PDO. Transmit PDO2 (DS402) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved (this PDO is not supported). 5−32 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 123: Festo Profile For Handling And Positioning (Fhpp)

    5. Commissioning Festo profile for handling and positioning (FHPP) 5.5.1 FHPP operating modes The operating modes differ as regards their contents and the meaning of the cyclic I/O data and in the functions which can be accessed in the SFC−LAC.
  • Page 124 Alternatively, nominal values relative to the rated motor currennt can be specified as direct mode. A force therefore results with linear motors (force control). FHPP continuous mode Continuous nominal value adjustment Specifying changeable position values in millisecond intervals. 5−34 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 125: Structure Of The Cyclic I/O Data (Fhpp Standard)

    Further 8 bytes I/O as per FHPP−FPC In the cyclic data a further 8 bytes input data and 8 bytes output data are permitted for transferring parameters in accordance with the FPC protocol (Festo Parameter Channel), see appendix B.1. 5−35...
  • Page 126 Complete edge monitor Teach Start SDIR FUNC FAST XLIM VLIM CONT COM2 COM1 (only (only Stroke Velocity Reply message absolute Direct limit limit control mode / relative mode) reached reached (position, force, ...) : reserved 5−36 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 127: Description Of The I/O Data (Record Select)

    = 1: Record chain is processed up to the end. Position, ... Reply message of position in increments The first further switching condition is reached when after the first record with further switching Motion Complete = 1. 5−37 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 128: Description Of The I/O Data (Direct Mode)

    SCON Status bytes, see section 5.5.6. SPOS SDIR Velocity In % of basic speed (compare PNU 540 / CI 21F8h) Force In % of rated force (see section 5.5.7, item 7) Position Position in increments 5−38 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 129: Description Of The Control Bytes Ccon, Cpos, Cdir

    = 0: MMI or FCT may take over the device control (in order to modify parameters or to control inputs) Select = 00: Record select OPM1 Operating = 01: Direct mode Mode Mode = 10: Reserved Reserved = 11: Reserved OPM2 5−39 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 130 The Teach target is defined with PNU 520. Clear In the Halt" status, a signal edge causes the positioning task to be CLEAR remaining deleted and transfer to the Ready" status. position Reserved, must be at 0 5−40 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 131 Stroke (X−) limit not active With force control XLIM = 0: Stroke monitoring active = 1: Stroke monitoring not active Reserved, must be at 0 FAST Reserved, must be at 0 FUNC 5−41 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 132: Description Of The Status Bytes Scon, Spos, Sdir (Rsb)

    Drive control = 0: Device control by PLC/field bus = 1: Device control via FCT/MMI Operating Mode = 00: Record select (standard) OPM1 = 01: Direct mode = 10: Reserved 10 Reserved = 11: Reserved OPM2 5−42 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 133 = 0: After MC axis remains in tolerance window STILL = 1: After MC axis remains outside tolerance window Axis is referenced = 0: Halt is not referenced (reference travel must be carried out) = 1: Drive is referenced 5−43 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 134 = 1: Speed limit reached = 0: Speed limit not reached B5−XLIM Stroke (X−) limit reached With force control: = 1: Stroke limit value reached = 0: Stroke limit value not reached B6−FAST Reserved B7−FUNC Reserved 5−44 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 135: Examples Of Control And Status Bytes (Fhpp Standard)

    Control and status bytes Device control active" Description of 0. Ensure device control Device control via control panel or FCT is activated. For controlling the SFC−LAC via the control interface, this device control must first be deactivated (HMI = off ). 5−45 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 136 Enable drive in Record Select mode. } Reference travel: Example 4, Tab. 5/7. If there are faults after switching on or after setting CCON.B0 (ENABLE): } Error treatment: see example 3, Tab. 5/6 and section 6.3 Fault messages". 5−46 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 137 Enable drive in Direct mode. } Reference travel: Example 4, Tab. 5/7. If there are faults after switching on or after setting CCON.B0 (ENABLE): } Error treatment: see example 3, Tab. 5/6 and section 6.3 Fault messages". 5−47 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 138 HALT Byte 2 STILL MOV TEACH HALT (ENABLE) (ENABLE) CPOS x SPOS x 0: 0−signal 1: 1−signal x: not relevant (optional) F: Edge positive N: Edge negative Tab. 5/6: Control and status bytes Error treatment" 5−48 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 139 Quit fault with negative edge at CCON.B0 ENABLE. } Fault bit SCON.B3 FAULT or SCON.B2 WARN will be reset. } SPOS.B2 MC will be set. } Create readiness to operate again (see examples 1, Tab. 5/4 and 2, Tab. 5/5) 5−49 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 140 Movement of the axis is shown with SPOS.B4 (MOV, Axis moves). After successful reference travel SPOS.B2 (MC, Motion Complete) and SPOS.B7 (REF) will be set. If there are faults during reference travel: } Error treatment: see example 3, Tab. 5/6. 5−50 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 141 CPOS SPOS Byte 5...8 reserved Byte 5...8 Position Reserved Actual Actual position (increments) posi tion 0: 0−signal 1: 1−signal x: not relevant (optional) F: Edge positive Tab. 5/8: Control and status bytes Positioning record select" 5−51 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 142 Movement of the axis is shown with SPOS.B4 (MOV, Axis moves). At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set. If there are faults during positioning: } Error treatment: see example 3, Tab. 5/6. 5−52 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 143 STILL MOV TEACH HALT CPOS SPOS 0: 0−signal 1: 1−signal x: not relevant (optional) F: Edge positive S: Positioning condition: 0 = absolute 1 = relative Tab. 5/9: Control and status bytes Positioning direct mode" 5−53 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 144 Movement of the axis is shown with SPOS.B4 (MOV, Axis moves). At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set. If there are faults during positioning: } Error treatment: see example 3, Tab. 5/6. 5−54 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 145 Byte 2 CLEAR TEACH JOGN JOGP START HALT Byte 2 STILL MOV TEACH HALT CPOS x SPOS 1 Byte 3 FUNC FAST CONT COM2 COM1 Byte 3 FUNC FAST CONT COM2 COM1 CDIR SDIR 5−55 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 146 1: 1−signal x: not relevant (optional) F: Edge positive S: Path limitation (stroke limit): 0 = Stroke limit active 1 = Stroke limit not active Tab. 5/10: Control and status bytes Direct mode force control" 5−56 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 147 If there are faults during force control: see example 3, Tab. 5/6 Fault treatment". Note Modification of the nominal value with force control is only possible with a new starting edge when the last specified position (MC) has been reached. 5−57 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 148: Drive Functions

    1. Search for the reference point in accordance with the configured method. 2. Move from reference point to axis zero point (offset axis zero point). 3. Set at axis zero point: Current position = 0 Offset project zero point (i.e. −PZ). 5−58 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 149 As the axis must not stand still at the stop, the offset axis zero point must be Detailed description of the reference travel methods see section 1.4. Tab. 5/12: Overview of reference travel methods 5−59 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 150: Jog Mode

    4. If the drive reaches a software end position, it will stop automatically. The software end position is not exceeded, the path for stopping depends on the ramp set. The jog mode can be exited here with Jogging = 0. 5−60 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 151 CPOS.B4 = positive edge: Jog negative (backwards) Reply message (FHPP) SPOS.B4 = 1: Drive moves SPOS.B2 = 0: (Motion Complete) Requirements Device control by PLC/field bus Controller must be in status Operation enabled" Tab. 5/13: Parameters involved in jogging mode 5−61 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 152: Teaching Via The Field Bus

    Record Select: Positioning record after control byte 3 Direct mode: Positioning record after PNU = 400 Axis zero point Project zero point Lower software end position Upper software end position Tab. 5/14: Overview of teach targets 5−62 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 153 Reply message (FHPP) SPOS.B2 = 1: Value transferred Requirement Device control by PLC/field bus Controller must be in status Operation enabled" Teaching is made possible in the Festo Configuration Tool by means of special functions. Tab. 5/15: Teach parameters involved 5−63 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 154: Record Select: Carrying Out A Record

    Start (CPOS.B1) has been reset to zero or not. 4. When the record is concluded, MC (SPOS.B2) is set. Causes of faults Referencing has not been carried out. Required speed cannot be reached. Invalid record number. 5−64 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 155 As soon as Acknowledge Start" is recognized by the PLC, START" may A currently running positioning task be set to 0 again can be stopped with STOP" Fig. 5/4: Sequence diagram Start/Stop record 5−65 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 156 Record is stopped with HALT", actual Rising edge at START" starts record N record number N is retained, Motion again, Confirm HALT" is set Complete" remains reset Fig. 5/5: Stop sequence diagram with HALT and continue 5−66 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 157 Motion Complete SPOS.B2 (MC) The axis moves SPOS.B4 (MOV) Actual record N − 1 N +1 number Input data Interrupt record Delete remaining path Fig. 5/6: Sequence diagram: Stop record with HALT and delete remaining path 5−67 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 158 SPOS.B1 = positive edge: Acknowledge Start SPOS.B4 = 1: Drive moves Requirements Device control by PLC/field bus Controller must be in status Operation enabled" Record number must be valid Tab. 5/16: Parameters involved in Record Select mode 5−68 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 159: Record Select: Switch To Next Record

    Example: after record 6 there follows record 7, (but after record 31 there follows record 1). The remaining parameters and sequences correspond to the record selection (see section 5.6.4). 5−69 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 160: Direct Mode: Specify A Position Or Force

    3. After the start you must wait for MC before a new start can be made. 4. When the nominal position is reached, MC (SPOS.B2) is set. 5−70 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 161 If smaller values are specified, these will be raised to 30 %. Causes of faults No referencing carried out. Target position outside the software end positions (axis remains standing at the software end position). 5−71 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 162 Fig. 5/7: Start the task The sequence of the remaining control and status bits as well as the functions HALT and STOP react as with the function Record select, see Fig. 5/4, Fig. 5/5 and Fig. 5/6. 5−72 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 163 All specifications on forces/ torques refer to the rated motor torque (relative to the rated motor current). The actual force at the axis should be calculated/checked and then set with external measuring devices during commissioning. 5−73 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 164 CONTT (Toggle bit") must be switched over in order that new specification intervals can be recognized reliably. CONTT Specification interval (PNU 570) Position controller cycle (350 s) Fig. 5/8: Continuous nominal value specification (FHPP continuous mode) 5−74 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 165 With the negative edge of CPOS.B1 START the nominal value specification is also concluded. Reply message (FHPP) SDIR.B3 CONT = 1 Requirement Device control by PLC/field bus Controller must be in status Operation enabled" Tab. 5/19: Parameters involved in the continuous nominal value specification 5−75 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 166: Standstill Monitoring

    (SPOS.B2) Standstill position window Target position window Damping time (position window time) Standstill monitoring time Fig. 5/9: Standstill monitoring The standstill monitoring becomes inactive when the standstill position window is set to the value 0". 5−76 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 167 SPOS.B2 = positive edge: Motion Complete Reply message (FHPP) SPOS.B6 = 1: Drive has moved out of standstill position window Requirement Device control by PLC/field bus Controller must be in status Operation enabled" Tab. 5/20: Parameters involved in standstill monitoring 5−77 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 168: Notes On Operation

    Device connection Caution The parametrizing interface (RS232) is not electrically isolated. It is not intended for permanent connection to PC systems or as a controller interface. Use the connection only for parametrizing and · diagnosis. 5−78 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 169 If necessary, insert an absolute position set or reference travel into the positioning cycle, in order to correct deviations. 5−79 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 170 HMI password protection on the control panel of the SFC−LAC−...−H2−... (3 characters, see section 4.5) Care and maintenance The motor controllers of type SFC−LAC−... are maintenance− free within the service life specified. However, follow the maintenance instructions for the additional components. 5−80 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 171: Diagnosis And Fault Display

    Diagnosis and fault display Chapter 6 6−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 172 Diagnosis via parameter channel (FPC) ......6−17 6−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 173: Diagnosis And Fault Display

    6.4 diagnostic memory. Diagnosis via CANopen Emergency messages Section 6.5 Node guarding DS402 status word Parameterization Control panel: in the [Diagnosis] menu Section 4.3 Help for PlugIn Tab. 6/1: Diagnostic information according to type 6−3 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 174 Extended access to diagnostic data, Detailed diagnosis Section 6.4 e. g. diagnostic memory (via FPC) via the field bus and 6.6 Scanning the device status and communication status via SDO Tab. 6/2: Diagnostic information as per access 6−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 175: Led Status Displays

    Tab. 6/3: LED Power" Fault display ERROR Status Fault. The SFC−LAC is not ready for operation. Warning. Check cause and rectify if necessary; see section 6.3. flashes No internal fault reported. Tab. 6/4: LED Error" 6−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 176 (node ID, DS402/FHPP, baud rate) are parametrized. Two−colour LED as per DS303−3. If occurring simultaneously, the red LED has priority no mixed" display of red and green. Tab. 6/5: I/F" LED 6−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 177: Fault Messages

    Message before the start of a positioning Motor moves... movement. After confirmation with the <Enter>button the drive moves. Please wait. A search is made for the commutation point. Commut. point The HME vibrates for a few seconds. evaluation is active 6−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 178 The reference switch signal is too close to the index pulse. In some cases this can mean that no reproducible reference position can be determined. Please do not move the reference switch. · Contact the Festo Service. · WARNING Temperature HME < −10 °C, 0x0002 MOTOR COLD or increase the ambient temperature.
  • Page 179 <Enter> on the control panel, via the field bus with a falling edge of the ENABLE signal or with a rising edge of the RESET signal CCON.B3 (with FHPP), with the button Quit error" in the Festo Configuration Tool. Fault Possible cause and remedy...
  • Page 180 If several HMEs are fitted in a vibration−free system: Carry out commutation point search one after the other (see PNU 1072 / 2051h). Please consult the Festo Service if these measures are not successful. HARDWARE ERROR Device fault SFC−LAC, e. g. EEPROM defective PNU 205 SFC−LAC...
  • Page 181 Reduce the ambient temperature. · Improve heat dissipation. · ELGO SENSOR / Position sensor faulty PNU 205 COMMUNICATION Contact the Festo Service. 0x0004 · ERROR CAN COMMUNICATION CAN communication error PNU 205 ERROR Contact the Festo Service.
  • Page 182 0x0008 CAN_CONTROLLER_ CAN controller fault PNU 207 QUEUE_OVERRUN 0x0020 ERROR_ No node guarding signal came from the PNU 207 NODE_GUARDING higher−order controller. 0x0002 Fault number in diagnostic memory, see section 6.4. Tab. 6/6: Fault messages 6−12 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 183: Diagnostic Memory

    Deleting the diagnostic memory Writing with value = 1 deletes the diagnostic memory. Read will always reply with value = 1. Read out the number of entries in the diagnostic memory. Tab. 6/8: Diagnostic memory: Configuration 6−13 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 184 Run time of motor: Undervoltage, overtemperature, ... Reserved Field bus fault e.g. NodeGuardingError with CAN, baud rate fault, ... Tab. 6/9: Overview of fault numbers A detailed description of the faults can be found in section 6.3. 6−14 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 185: Diagnosis Via Canopen

    (Fault reaction option code object 605Eh, PNU 1021) is executed and the drive is stopped. Select the Guard time" with reference to the dynamics of the system. Refer to your master documentation for details on how to activate node guarding. 6−15 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 186: Emergency Messages

    Bit 5 7500 Motor fault Bit 5 8600 Error searching for the Bit 5 commutation point 8611 Drag error Bit 5 Communication emergency messages as per DS301 may also be signalled. Tab. 6/10: Emergency messages 6−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 187: Diagnosis Via Parameter Channel (Fpc)

    6. Diagnosis and fault display Diagnosis via parameter channel (FPC) The Festo parameter channel offers the following possibilities of access to diagnostic information: Diagnosis Section Diagnostic memory PNU 200 compare appendix B.2.5 and 6.4 Fault PNU 205 compare appendix PNU 207 B.2.5 and 6.3...
  • Page 188 6. Diagnosis and fault display 6−18 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 189 Technical appendix Appendix A A−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 190: A. Technical Appendix

    Converting the units of measurement ....... A−6 A−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 191: A.1 Technical Specifications

    > 80 °C Shutdown at temperature > 85 °C (restart only when temperature falls below 80 °C) 1) 2) Electromagnetic compatibility (EMC) see conformity declaration (www.festo.com) (interference immunity and interference emission) Vibration as per DIN/IEC 68/EN 60068 part 2−6:...
  • Page 192 CAN Voltage Supply": (see sections 3.6, 4.5.6 and 5.2.1) internal: no electrical isolation (default) external: electrical isolation Integrated bus termination Cable type depends on length of cable and field bus baud rate, see controller manual or DS102. A−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 193: A.2 Accessories

    Hat rail mounting is effected with a support rail EN 50022 35x7.5; width 35 mm, height 7.5 mm or 15 mm (recommended). User documentation in paper form German P.BE−SFC−LAC−CO−DE English P.BE−SFC−LAC−CO−EN French P.BE−SFC−LAC−CO−FR Italian P.BE−SFC−LAC−CO−IT Spanish P.BE−SFC−LAC−CO−ES Swedish P.BE−SFC−LAC−CO−SV A−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 194: A.3 Converting The Units Of Measurement

    This results in the following conversions (all figures are decimal): [Inc] > [mm] x Inc mm + 2 mm 2048 Inc [mm] > [Inc] Inc + x mm 2048 Inc 2 mm + 25.4 [mm] 1 [inch] + 0.0254 [mm] 1 [minch] A−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 195 Parametrizing in accordance with FHPP−FPC Appendix B B−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 196: B. Parametrizing In Accordance With Fhpp−Fpc

    ......B−1 The Festo Parameter Channel (FPC) ....... .
  • Page 197: Parametrizing In Accordance With Fhpp−Fpc

    B. Parametrizing in accordance with FHPP−FPC The Festo Parameter Channel (FPC) The Festo Parameter Channel" serves for transferring parameters in the PDO2 with the data profile FHPP (see section 5.4.5). Alternatively parametrizing can take place via SDOs (for converting the parameter numbers see section 5.4.4).
  • Page 198 B. Parametrizing in accordance with FHPP−FPC The Festo parameter channel FPC consists of 8 octets. FPC (PDO2) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output PKE (ParID) PWE (ParVal) data Input...
  • Page 199: Task Identifiers, Reply Identifiers, Fault Numbers

    0. This means that the first element of an array is always addressed. Tasks with non−supported task numbers (ReqID) will be answered with reply identifier 7 and fault number 22. Tab. B/4: Task identifiers B−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 200 Rely identifiers If the task cannot be carried out, a fault number will be trans mitted in the reply telegram (octets 7 and 8 of the FPC range). The following table shows the possible fault numbers: B−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 201 (reserved) (20) 0x14 (reserved) (21) 0x15 (reserved) 0x16 Non−permitted: attributes, number of elements, PNU or IND (23) 0x17 (reserved) 0x18 Write request: number of values not permitted (...99) 0x64 (reserved) 0x65 (reserved) (...255) 0xFF (reserved) B−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 202: Rules For Task−Reply Processing

    (PNU) and subindex (IND), the task identifier 0 (no task) must be sent and the reply identifier 0 (no reply) must be awaited. This is to ensure that an old" reply is not interpreted as a new" reply. Tab. B/6: Rules for task−reply processing B−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 203 Evaluating faults In the case of tasks which cannot be carried out, the slave replies as follows: Output reply identifier = 7 Output a fault number in bytes 7 and 8 of the parameter channel (FPC). B−9 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 204: B.1.4 Example Of Parametrizing Via Fpc (Pdo2)

    Byte 5 Byte 6 Byte 7 Byte 8 reserved Subindex ReqID/ResID + PNU Parameter value Output 0x00 0x02 0x01 0x91 Unused Unused Unused 0x00 data Input 0x00 0x02 0x01 0x91 0x00 0x00 0x00 0x00 data B−10 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 205 Byte 5 Byte 6 Byte 7 Byte 8 reserved Subindex ReqID/ResID + PNU Parameter value Output 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43 data Input 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43 data B−11 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 206: B.2 Parameters As Per Fhpp

    (reserved) Axis data 1000 1099 All axis−specific parameters for electric drives. Gear factor, Electric drives 1 feed constant, reference parameter ... Axis data 1200 1299 Extension for drives with compressed air support. Electric drives 2 B−12 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 207: B.2.2 Overview Of Parameter Numbers (Pnu)

    6504h HTTP Drive Catalog Address 123 (207Bh) 6505h Festo Order Number 124 (207Ch) 6503h 125 (207Dh) Device Control 207Dh HMI Parameter 126 (207Eh) 20FFh Data Memory Control 127 (207Fh) 20F1h CMXR Compatibility 150 (2096h) 2FF8h B−13 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 208 321 (2141h) 20A1h 330 (214Ah) Control Word (see appendix C.2) 6040h Status Word (see appendix C.2) 331 (214Bh) 6041h Operation Mode (see appendix C.2) 332 (214Ch) 6060h Operation Mode Display (see appendix C.2) 333 (214Dh) 6061h B−14 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 209 Project data ( } B.2.8) Project data General project data 500 (21F4h) Project Zero Point 21F4h Software End Positions 501 (21F5h) 607Bh Max. Velocity 502 (21F6h) 607Fh Max. Acceleration 503 (21F7h) 60C5h 506 (21FAh) Motion Profile Type 6086h B−15 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 210 Torque Slope 550 (2226h) 6087h Force Target Window 552 (2228h) 60F6/03h Force Damping Time 553 (2229h) 60F6/04h 554 (222Ah) Force Mode Speed Limit 60F6/02h Project data Direct mode FHPP continuous mode Interpolation Time 570 (223Ah) 20B6h B−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 211 1024 (2400h) Position Control Parameter Set 60FBh Motor Data 1025 (2401h) 1, 3 6410h Drive Data 1026 (2402h) 6510h t Value 1027 (2403h) 6410/04h 1028 (2404h) Max Phase Current 6410/05h Quick Stop Deceleration 1029 (2405h) 6085h B−17 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 212 1054 (241Eh) 6410/15h Offset Reference Point 1055 (241Fh) 6410/16h Commutation Status 1056 (2420h) 2050h Record Power Consumption 1057 (2421h) 6410/17h 1058 (2422h) Positioning Time 6410/18h 1059 (2423h) Actual Current 6410/19h Actual Coil Temperature 1060 (2424h) 6410/31h B−18 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 213 Output Stage Lower Threshold Temperature 1068 (242Ch) 6510/33h 1069 (242Dh) Output Stage Upper Threshold Temperature 6510/34h Power Supply 1070 (242Eh) 6510/50h Tool Load 1071 (242Fh) 6510/51h Start Delay Commutation 1072 (2430h) 2051h Tab. B/7: Overview of FHPP parameters B−19 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 214: Representing The Parameter Entries

    = read only w = write only rw = read and write Description of the parameter If applicable: Explanation of the subindices Relevant CI object (specify DS402": also available via DS402) Fig. B/1: Representing the parameter entries B−20 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 215: Device Data

    (xx = main version, yy = secondary version) 206Ah uint16 DS402: see object 100Ah Version FHPP uint16 Description Version number of FHPP, specification in BCD (binary coded decimals): xxyy (xx = main version, yy = secondary version) CI / DS402 2066h uint16 B−21 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 216 Bit 6: FHPP continuous mode / interpolated position mode Bit 7 31: (reserved) CI / DS402 6502h Controller Serial Number 1...13 char Description Code for identifying the controller, e.g.: K402P1212345" CI / DS402 2072h V−string B−22 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 217 Device name assigned by user Max. 24 characters (ASCII, 7−bit). Default: motor001" CI / DS402 20FDh V−string Drive Manufacturer char Description Festo AG & Co. KG CI / DS402 6504h V−string HTTP Drive Catalog Address char Description www.festo.com CI / DS402 6505h V−string...
  • Page 218 Determining the measuring unit system for the control panel (compare 20D0/01h) Fix = 1: millimetre, e.g. mm, mm/s, mm/s Scaling Factor 126 Number of decimal positions (compare 20D0/02h) Fix = 2: 2 post−decimal positions CI / DS402 20FFh uint8 B−24 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 219 When the EEPROM is deleted, the field bus address is · also reset. CMXR Compatibility uint8 Description 0 = SFC−LAC is not compatible with CMXR 1 = SFC−LAC is compatible with CMXR CI / DS402 2FF8h uint8 B−25 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 220: Diagnosis

    Error Number uint16 Description Error number saved in the diagnostic memory, serves for identifying the fault. Error numbers with descriptions: see section 6.3. Event ... 201 see PNU 200 CI / DS402 20C9h uint16 B−26 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 221 Clear Memory 204 Clear diagnostic memory by writing value = 1 Read will always reply with value = 1 Number of Entries 204 Number of entries in the diagnostic memory CI / DS402 20CCh uint8 rw/r B−27 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 222 Bit 11 (0x800) TARGET POSITION OUT OF LIMIT Bit 12 (0x1000) i t−ERROR Bit 13 (0x2000) MOTOR STOP ERROR Bit 14 (0x4000) POSITION PLAUSIBILITY ERROR Bit 15 (0x8000) COMMUTATION POINT ERROR CI / DS402 2FF1h uint16 B−28 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 223 8 Z 10, 20, 50, 100, 125, 250, 500, 800 and 1000 kbaud Values: 0 (reserved) CAN ID 206 Value range: 0 127 (0x00 0x7F). Default: 255 (0xFF) Profiles 206 0 = DS402; 1 = FHPP (reserved) CI / DS402 2FF4h uint8 B−29 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 224 Writing: Delete all device faults = <0> 0x0000 Read: Bit 0: ERROR INTERPOLATION CYCLE TIME (with FHPP continuous mode: missing position specification, missing toggle bit) CI / DS402 2FFBh uint16 Extended Device Errors uint16 Description (reserved) CI / DS402 2FFCh uint16 B−30 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 225 WARNING MOTOR COLD Bit 2 WARNING MOTOR HOT Bit 3 WARNING SFC−LAC COLD Bit 4 WARNING SFC−LAC HOT Bit 5 STANDSTILL WARNING Bit 6 ILLEGAL RECORD WARNING Bit 7 15 (reserved) CI / DS402 2FF2h uint16 B−31 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 226: B.2.6 Processing Data

    Demand Value Demand Value Nominal controller position in increments CI / DS402 2800h Torque Monitoring int16 Description Torque Actual Value Actual Value Actual force Torque Demand Value Demand Value Setpoint force CI / DS402 2801h B−32 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 227 Bit 18 EA_ACK Bit 19 ERROR Bit 20 reserved (reserved) CI / DS402 60FEh uint32 Cycle Number uint32 Description Number of positioning records executed, reference runs etc. Value range: 0 −1) CI / DS402 2FFFh uint32 B−33 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 228 Record Description FHPP output data (8 bytes control data), each 4 bytes consistent. uint32 FHPP control bytes 1 4 (CCON, CPOS, ...) int32 FHPP control bytes 5 8 (nominal position) CI / DS402 20A1h uint32 B−34 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 229: Position Set Table (Record List

    RCB1 RCB2 Target Delay record Sub− position time index Reference run (homing) Tab. B/8: Composition of position set table (record list) Record pointer: Via PNU 400 the active record for positioning or teaching is selected. B−35 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 230 The number of the active record. Interesting with record further switching. Record Status Byte 400 Contains the FHPP status byte 4 with information on further record switching (see section 5.5.2). 2033h uint8 r(w) Note: The object 2032h is intended for access via DS402. B−36 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 231 The energy−optimized path generator enables higher dynamics with less heat, the parametrized positioning curve (a trapeze as e. g. in Fig. 5/2) is not maintained exactly. The parametrized maximum values for speed and acceleration may be slightly exceeded. B−37 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 232 Record 1 402 Record control byte 2 positioning record 1 Record ... 402 Record control byte 2 positioning record 2 Record 31 402 Record control byte 2 positioning record 31 20EBh uint8 Note: Not used with DS402 B−38 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 233 Record 0 404 Do not use (reference travel) Record 1 404 Position record 1 Record ... 404 Position record 2 Record 31 404 Position record 31 20ECh int32 Note: Object 20E0h/01h is intended for access via DS402. B−39 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 234 Nominal speed value positioning record 1 Record 31 406 32 (20h) Nominal speed value positioning record 31 20EDh uint32 Subindex 20ED/21h: } PNU 531 (speed in jog mode) Note: Object 20E0h/03h is intended for access via DS402. B−40 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 235 Nominal acceleration value positioning record 31 20EEh uint32 Subindex 20EE/21h: } PNU 532 (acceleration in jog mode) Subindex 20EE/22h: } PNU 541 (acceleration in direct mode) Note: Object 20E0h/04h is intended for access via DS402. B−41 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 236 Nominal deceleration value positioning record 31 20EFh uint32 Subindex 20EF/21h: } PNU 533 (deceleration in jog mode) Subindex 20EF/22h: } PNU 542 (deceleration in direct mode) Note: Object 20E0h/0Ah is intended for access via DS402. B−42 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 237 32 (20h) Jerk with positioning record 31 20E7h uint32 Subindex 20E7/21h: } PNU 535 (jerk in jog mode) Subindex 20E7/22h: } PNU 543 (jerk in direct mode) Note: Object 20E0h/05h is intended for access via DS402. B−43 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 238 Work load with positioning record 1 Record 31 410 32 (20h) Work load with positioning record 31 20E8h uint32 Subindex 20E8/22h: } PNU 544 (work load in direct mode) Note: Object 20E0h/06h is intended for access via DS402. B−44 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 239 Do not use (reference travel) Record ... 410 The positioning record following positioning record 1 Record 31 410 32 (20h) The positioning record following positioning record 31 20E5h uint8 Note: Object 20E0h/09h is intended for access via DS402. B−45 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 240 Jerk when braking with positioning record 1 Record 31 417 32 (20h) Jerk when braking with positioning record 31 21E1h uint32 Subindex 21E1/22h: } PNU 547 (jerk when braking in direct mode) Note: Object 20E0h/08h is intended for access via DS402. B−46 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 241: B.2.8 Project Data

    Plausibility rule: Min. limit Max. limit Value range: −2 −1) Lower limit 501 Lower software end position: Offset from axis zero point Upper limit 501 Upper software end position: Offset from axis zero point CI / DS402 607Bh int32 B−47 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 242 Description Max. permitted acceleration/deceleration in [inc/s Fix = 0x03A98000 CI / DS402 60C5h uint32 Motion Profile Type int16 Description Movement profile of the drive. Fix = −1 (linear ramp) CI / DS402 6086h int16 B−48 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 243 Fix = 300 CI / DS402 60F6h uint16 Max Torque/Force uint16 Description The highest permitted torque of the motor in 1/1000 of the rated value (6076h / PNU 1036). Fix = 1000 CI / DS402 6072h uint16 B−49 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 244 Direct mode: Positioning record corresponding to PNU = 400 2 (0x02): Axis zero point 3 (0x03): Project zero point 4 (0x04): Lower software end position 5 (0x05): Upper software end position CI / DS402 21FCh uint8 B−50 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 245 Acceleration and deceleration in [inc/s ]. Values: see PNU 407 20EEh uint32 Jog Mode Time Phase 1 uint32 Description Duration of phase 1 (slow travel) in [ms]. Value range: 0 −1). Default: 2000 20E9h uint32 B−51 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 246 Direct Mode Deceleration uint32 Description Acceleration in direct mode in [inc/s Values: see PNU 407 20EFh uint32 Direct Mode Jerk Acceleration uint32 Description Jerk when accelerating in direct mode in [inc/s Values: see PNU 409 20E7h uint32 B−52 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 247 Direct Mode Jerk Deceleration uint32 Description Jerk when braking in direct mode in [inc/s Values: see PNU 409 21E1h uint32 The damping time when positioning in direct mode (direct order) is specified in PNU 1023. B−53 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 248 This parameter is taken into account in all control modes in which the position controller is not active in the status Operation enabled". Value range: 1 0x19000 Inc/s. Default: 0x2800 CI / DS402 60F6h uint32 B−54 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 249 Direct mode: FHPP continuous mode Interpolation Time uint16 Description Time gap between two position specifications in FHPP continuous mode" in [1/10 ms] Value range: 0 65535. Default: 80 Compare section 5.6.7 CI / DS402 20B6h uint16 B−55 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 250: Axis Parameters For Electric Drives

    Fix = 1 CI / DS402 608Fh uint32 Gear Ratio 1002 uint32 Description Gear ratio (with linear motors 1:1) Motor Revolutions 1002 Fix = 1 Shaft Revolutions 1002 Fix = 1 CI / DS402 6091h 01h...02h uint32 B−56 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 251 Position factor feed constant linear axis Numerator 1004 Position factor counter Fix = 1 024 000 Denominator 1004 Position factor denominator Fix = 1 000 000 CI / DS402 6093h uint32 B−57 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 252 0 = HME16−100; 1 = HME16−200; 2 = HME16−320; 3 = HME25−100; 4 = HME25−200; 5 = HME25−320; 6 = HME25−400 Axis Size 1005 uint32 Rated size of axis as per type plate. CI / DS402 20E2h uint32 B−58 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 253 Default: 0x00002800 Inc/s Search REF 1012 Speed when searching for the reference point REF in [inc/s] Search AZ 1012 Speed of travel to the axis zero point AZ in [inc/s] CI / DS402 6099h int32 B−59 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 254 Describes the reaction to a HALT command (CCON.B1 STOP) 0x01: Brake with the Halt ramp of the current positioning record 0x02: Brake with the fast Halt ramp (Quick stop ramp, compare PNU 1029) CI / DS402 605Dh int16 B−60 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 255 Complete) will be set in the status word. Value range: 1 60000 ms Default: 10 ms Compare PNU 415 (record−specific damping times with record selection) and 6068h (damping time of the active record). CI / DS402 20E6h uint16 B−61 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 256 1024 int32 Description Technical control parameters. Unfavourable settings can lead to uncontrollable behaviour of the entire system. Modification is only permitted for servicing purposes. If necessary consult Festo. Position Controller: 1024 (CI: 12h) closed loop closed loop natural frequency Position controller: circuit frequency. Value range: 1...
  • Page 257 B. Parametrizing in accordance with FHPP−FPC Motor Data (HME data) 1025 1, 3 uint32 Description Only for writing by Festo (at factory or by service technician) Serial Number 1025 Serial number of the motor t Factor 1025 t−factor. Compare PNU 1027 CI / DS402...
  • Page 258 20000 mA Default: 15000 mA. CI / DS402 6410h uint32 Quick Stop Deceleration 1029 uint32 Description Deceleration for the fast stop ramp in [inc/s Value range: 0x400 0x03A98000 Default: 0x1388000 CI / DS402 6085h uint32 B−64 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 259 Description Rated current of the motor in [mA], compare type plate. CI / DS402 6075h uint32 Motor Rated Torque 1036 uint32 Description Rated force of linear motor in [mN] CI / DS402 6076h uint32 B−65 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 260 Description Standstill monitoring time in [ms}: Time during which the drive must be outside the standstill position window before the standstill monitoring responds. Value range: 0 65535 (0xFFFF). Default: 80 CI / DS402 2041h uint16 B−66 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 261: Supplementary Objects

    1050 int32 Description Commutation point (is determined automatically) [increments] CI / DS402 6410h int32 Measurement System Resolution 1051 uint32 Description Number of increments between two index pulses (Fix = 2048) CI / DS402 6410h uint32 B−67 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 262 Offset Reference Point 1055 int32 Description Distance from the reference point to the retracted end position in increments. Must be specified when referencing to fixed stop. See Tab. 1/4. CI / DS402 6410h int32 B−68 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 263 CI / DS402 6410h uint32 Positioning Time 1058 uint32 Description Time taken by last positioning procedure in [ms] CI / DS402 6410h uint32 Actual Current 1059 int32 Description Actual current in [mA] CI / DS402 6410h int32 B−69 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 264 Upper temperature threshold of the coils (= motor): 75 °C An error message is triggered when this temperature is reached. Restart only after the temperature has dropped below the lower threshold (see PNU 1062). CI / DS402 6410h uint16 B−70 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 265 CI / DS402 6510h int16 Output Stage Lower Threshold Temperature 1068 uint16 Description Lower temperature threshold for SFC−LAC: 80 °C A warning message is triggered when this temperature is reached. CI / DS402 6510h uint16 B−71 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 266 In this case start the search for the commutation point at staggered intervals: · by enabling the HMEs at staggered intervals via the PLC/IPC or via this object. CI / DS402 2051h uint32 B−72 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 267: Status Machine Fhpp

    T7 (Fault recognized") has the highest priority (and receives the asterisk *"). T7 is then derived from S5+S6 when a fault with higher prior ity occurs. This means that a serious fault can suppress a simple fault. B−73 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 268 TA transitions. Drive blocked Fault Drive enabled TA9** Jog left TA10 Operation Reference run enabled (homing) TA7* TA11* is running Jog right TA12 Positioning task active Intermediate stop Fig. B/2: Status machine FHPP B−74 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 269 CCON = xxxx.Pxxx Quit fault" = 0 → 1 There is no longer a fault. It was a simple fault. CCON = xxxx.Pxx1 Quit fault" = 0 → 1 Fault still exists. CCON = xxxx.Pxx1 B−75 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 270 CCON = 000x.xx11 CPOS = 00x0.0Px1 Start reference travel = 0→1 Stop = 1 CCON = 000x.xx11 CPOS = 00x0.0Px1 Referencing finished or stopped. Only for stop: Stop = 1→0 CCON = 000x.xx11 CPOS = xxxx.xxxN B−76 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 271 Operating Notes on specific features mode Record select No restrictions. Direct mode TA2: The condition that no new record may be processed no longer applies. TA5: A new record can be started at any time. B−77 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 272 B. Parametrizing in accordance with FHPP−FPC B−78 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 273 Object directory DS204 and CI Appendix C C−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 274: C. Object Directory Ds204 And Ci

    ......... . . C−43 C−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 275: C.1 Object Directory Ds402 And Ci

    Manufacturer Hardware Version 1009h Manufacturer Firmware Version 100Ah Guard Time 100Ch Life Time Factor 100Dh COB−ID Emergency Message 1014h Emergency Inhibit Time 1015h Identity 1018h Receive PDO1/2 Communication 1400h Parameters 1401h Receive PDO1/2 Mapping 1600h 1601h C−3 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 276 Controller Serial Number 2072h B.2.4 Device Control 207Dh B.2.4 FHPP Status Data 20A0h B.2.6 FHPP Control Data 20A1h B.2.6 Interpolation Time 20B6h B.2.8 Diagnostic Event 20C8h B.2.5 Error Number 20C9h B.2.5 Time Stamp 20CAh 1 B.2.5 C−4 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 277 Record Target Position 20ECh B.2.7 Record Velocity 20EDh 1 B.2.7 Jog Mode Velocity Phase 2 B.2.8 Record Acceleration 20EEh B.2.7 Jog Mode Acceleration B.2.8 Direct Mode Acceleration B.2.8 Record Deceleration 20EFh B.2.7 Direct Mode Deceleration B.2.8 C−5 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 278 Torque Monitoring 2801h B.2.6 Velocity Monitoring 2802h B.2.6 Communication Error 2FF0h C.4.2 Device Errors 2FF1h B.2.5 Device Warnings 2FF2h B.2.5 CANbus Address 2FF3h CANopen Diagnosis 2FF4h B.2.5 CANbus Data Rate 2FF5h Profiles (DS402 / FHPP) 2FF6h C−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 279 Following Error Window 6065h 1044 B.2.10 Following Error Timeout 6066h 1045 B.2.10 Target Position Window 6067h 1022 B.2.9 Position Wndow Time 6068h Velocity Demand Value 606Bh Velocity Actual Value 606Ch Target Torque 6071h Max Torque 6072h B.2.8 C−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 280 1001 B.2.9 Gear Ratio 6091h 1002 B.2.9 Feed Constant Linear Axis 6092h 1003 B.2.9 Position Factor 6093h 1004 B.2.9 Homing Method 6098h 1011 B.2.9 Homing Velocities 6099h 1012 B.2.9 Interpolation Type 60C0h Interpolation Data 60C1h C−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 281 Commutation Point 1050 B.2.10 Measurement System Resolution 1051 B.2.10 Measurement System Pitch 1052 B.2.10 Nominal Power 1053 B.2.10 Actual Power 1054 B.2.10 Offset Reference Point 1055 B.2.10 Record Power Consumption 1057 B.2.10 Positioning Time 1058 B.2.10 C−9 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 282 1067 B.2.10 Output Stage Lower Threshold Temperature 1068 B.2.10 Output Stage Upper Threshold Temperature 1069 B.2.10 Drive Data 41, 43, Power Supply 1070 B.2.10 Tool Load 1071 B.2.10 Tab. C/1: CANopen and CI object directory C−10 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 283: C.2 Object Descriptions

    Super Password 20FAh V−string Entering the super password Resets all passwords (FCT password and HMI password, object 20FB). Contact Festo Service if you require the super password. Name of the parameter Description of the parameter Object number If applicable: description of the...
  • Page 284: C.2.1 Communication Profile Area

    Missing homing, error in homing, non−permitted target position, drag error, general hardware error, error in search for commutation point Reserved, fix = 0 Reserved, fix = 0 Values: 0 = no error 1 = error C−12 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 285 PDOs are modified. For this an entry to this object by the master is essential; see DS301 specification. Default: 128 (0x80) Manufacturer Hardware Version DS402 / CI 1009h V−string Description Hardware version in format = V.xx.yy" (xx = main version, yy = secondary version) Compare object 2069h C−13 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 286 The emergency protocol is supported. Default: 128 + Node ID (0x80 + Node ID) Emergency Inhibit Time DS402 1015h uint16 Description Inhibit time for the emergency message. The value is multiplied by 100 s. Default: 0 C−14 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 287 Description Device identification Vendor ID Manufacturer identifier for Festo Fix: 29 (0x1D) Product Code Product code for the Festo Configurator Revision Number Firmware version, e. g. 0x 0001 000A for version 1.10 Serial Number See object 6510/07h or 6510/A0h C−15...
  • Page 288 Value range: 0 255 (0x00 0xFF) Inhibit Time 1400h, uint16 1401h Inhibit time, not used for RPDO. Fix: 0 (0x0000) (reserved) 1400h, 1401h reserved Event Timer 1400h, uint16 1401h Event counter in [ms] Default: 0 (0x0000) C−16 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 289 The specified mapping depends on the selected device profile. PDO Mapping 1601h uint32 PDO mapping for the n−th mapped application object, depending on the selected data/device profile: Subindex FHPP DS402 Fix: 0x30100008 Fix: 0x60810020 Fix: 0x30110008 Fix: 0x20E00620 Fix: 0x30120010 Fix: 0x30130020 C−17 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 290 Inhibit Time 1800h, uint16 1801h Inhibit time. Default: 0 (reserved) 1800h, 1801h Reserved, must not be implemented (access attempts are answered with abort code). Event Timer 1800h, uint16 1801h Event counter in [ms]. Default: 0 (0x0000) C−18 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 291 PDO mapping for the n−th mapped application object, depending on the selected data/device profile: Subindex FHPP DS402 (not used) Fix: 0x30300008 Fix: 0x60410010 Fix: 0x30310008 Fix: 0x20320108 Fix: 0x30320010 Fix: 0x60610008 Fix: 0x30330020 Fix: 0x60640020 C−19 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 292: C.2.2 Manufacturer Specific Profile Area

    1 (0x01): reserved, do not use (FCT position record) 2 (0x02): Homing (position record 0) 3 (0x03): Position record 1 (default) 4 (0x04): Position record 2 Position record ... 33 (0x21): Position record 31 Pseudo−array due to compatibility C−20 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 293 Note: The SFC−LAC operates internally with metric units; the CI interface with increments. Values: Fix = 1 (0x01): millimetre, e.g. mm, mm/s, mm/s Scaling Size Number of places after the decimal point. Fix = 2. C−21 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 294 3072000 (0x002EE000) inc/s Z 0 Value range: 0 3000 mm/s. Default: 0. Acceleration 20E0h int32 Acceleration in increments/s (compare 6083h). Value range: 1024 61440000 (0x400 0x3A98000) inc/s 60000 Default: 7168000 (0x6D6000) Z 7000 mm/s mm/s C−22 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 295 Values: see 04h Jerk Deceleration 20E0h uint32 Jerk when braking in [increments/s Values: see 05h Jog Mode Slow Motion Time DS402 / CI 20E9h uint32 Description Values: 0 0xFFFFFFFF Default: 2000 [ms] C−23 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 296 Trace Buffer Control DS402 / CI 20F2h Record Various Description Settings for recording the positioning procedures with the Festo Configuration Tool (FCT) CI_ReceiveChecksumActive (CI checksum required) 20F3h uint8 Description With activated checksum check the CI commands to the SFC−LAC must have a checksum (see Tab.
  • Page 297 8 Z 10, 20, 50, 100, 125, 250, 500, 800 and 1000 kbaud Values: 0 Profiles (device profile DS402 or FHPP) 2FF6h uint8 Description 0 = DS402. 1 = FHPP CANbus Voltage Supply DS402 / CI 2FF7h uint8 Description 0 = internal supply; 1 = external supply C−25 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 298: C.2.3 Standardized Device Profile Area

    Operation enable" command (all states) −> OPERATION ENABLE". Voltage disable" and Quick stop" commands −> READY TO SWITCH ON" Bit assignment: see Tab. C/2. Typical values for access via the CI interface: see Tab. C/3. C−26 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 299 VOLTAGE DISABLE, end stage off 0x001F Start ABSOLUTE movement 0x005F Start RELATIVE movement 0x010F Stop movement 0x008F Reset fault + ENABLE OPERATION 0x004F Set target position as RELATIVE Tab. C/3: Typical values control word (only for access via CI) C−27 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 300 Bit 4 in CI reversed polarity relative to DS402. In the FAULT state, when power is applied to the axis, the state is indicated not as xxx8, but as xxxA, i. e. Switched on" is set. C−28 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 301 Positioning mode: Drag error Homing mode: Homing_error" Profile torque mode: Stroke limit reached Interpolated position mode: reserved 0x4000 Teach acknowledge (confirmation of a teach procedure) 0x8000 Drive is referenced Tab. C/4: Bit assignment status word 6041h C−29 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 302 Current nominal velocity value for speed regulator. Value range: −2 −1) [increments/s] Velocity Actual Value (current velocity value) DS402 / CI 606Ch int32 Description Current actual velocity value for speed regulator. Value range: −2 −1) [increments/s] C−30 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 303 This position will be saved in the position table in the column intended in the line addressed by object 2032. No movement is yet made. Values see 20E0/03 Profile Acceleration DS402 / CI 6083h uint32 Description Acceleration for a positioning movement (compare 6081h) in increments/s Values see 20E0/04 C−31 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 304 Always = 0 for absolute interpolation Interpolation Cycle Time DS402 / CI 60C2h 01h, 02h Record Description Interpolation time Cycle Time uint8 Time units 4 10 or 40 Time Base int8 Time basis 1 ms (−3) or 1/10 ms (−4) C−32 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 305 Size of Data uint8 Record Record Size of data records in bytes. Fix = 4 Buffer Clear uint8 Write 0": Do not permit access to 60C1h (no nominal values are transferred). Write 1": Permit access to 60C1h. C−33 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 306 Number Number Serial number of the controller in format 0xTTMYYSSS: TT (day): 8 bits: 0x01 0x1F M (month): 4 bits: 0x1 YY (year): 8 bits: 0x00 0x63 SSS (serial no.): 12 bits: 0x001 0xFFF C−34 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 307: C.3 Status Machine Ds402

    Fig. C/2: Status machine 402 with deviations C−35 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 308 In this status the motor remains switched on, provided the error which has occurred permits. Otherwise the output stage is disabled and the mechanical brake is actuated. No more positioning movements are executed. Tab. C/5: Description of the states C−36 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 309 Fault reset = 0, Quick stop = 1, Enable voltage = 1, Switch on = 0. −> Ready to switch on" No serious error. Operation enable" Fault reset = 0, Enable voltage = 0. −> Switch on disabled" No serious error. C−37 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 310 This transition is not included in the DS402 profile. However, it is required for drives with non−self−locking shut−off characteristics, so as to avoid uncontrolled movement under load when the drive is switched off. Tab. C/6: Description of the transfer conditions C−38 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 311: C.4 The Ci Interface

    The trans mitted value (1, 2 or 4 data bytes) depends on the data type of the object to be read or written. C−39 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 312: C.4.1 Procedure For Data Transmission

    Only use the CI commands if you already have · experience of Service Data Objects. Familiarize yourself with the CiA Draft Standard 402 · regarding use of the objects before you execute CI commands on the Command Interpreter of the SFC−LAC. C−40 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 313 C. Object directory DS204 and CI For data transmission you will require a commercially−avail able terminal program or the integrated CI terminal of the SFC−LAC PlugIn in the Festo Configuration Tool. 1. Connect the SFC−LAC to your PC via the parametrizing interface (compare section 3.5).
  • Page 314 If there are faults in transmission (e. g. syntax faults, transmission faults), the value <0xFF> will be transmitted instead of the usual reply. Possible causes: incorrect initial character, separating character or empty character incorrect hex digit incorrect value type. C−42 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 315: C.4.2 Ci Commands

    Command Reply =IIIISS:<Value><CR> =IIIISS:<Value> <PS> <CR> ?IIIISS<CR> =IIIISS:<Value> <PS> <CR> Access: W = write, R = read With activated checksum check (Objekt 20F3h): W: =IIIISS:<Value><PS><CR> R: ?IIIISS<PS><CR> Tab. C/8: Syntax of a CI command/reply C−43 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 316 16 bits without sign: 0 65535 INT16 16 bits with sign: −32768 32767 UINT32 32 bits without sign: 0 −1) INT32 32 bits with sign: −2 −1) V−string Sorresponds to the preset string Tab. C/10: Data types C−44 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 317 4 bits; it is known as a tetrad <Tn>. The first tetrad transferred contains the higher−value bits of the value. Gen erally: Tetrad <Tn> contains the bits b ... b Example: UINT8 Tetrad T Tetrad T C−45 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 318 Name Class IIII Type communication_error 2FF0 UINT16 Value Comment 0xFF In the case of a transmission error, the value <0xFF> will be transferred instead of the usual response. 0xFFFF Missing checksum (see CI object 20F3h). C−46 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 319 Index Appendix D D−1 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 320: D. Index

    ............D−1 D−2 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 321 CMXR Compatible mode ....... 5−6 C−3 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 322 ......5−8 With the Festo Configuration Tool (FCT) ...
  • Page 323 Festo Configuration Tool ......Festo Configuration Tool (FCT) Installing ........
  • Page 324 ......... . XVIII C−6 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 325 5−14 Operating modes ....... 5−33 C−7 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 326 ........3−5 C−8 Festo P.BE−SFC−LAC−CO−EN en 0708NH...
  • Page 327 Festo Configuration Tool, installing ....5−23 Starting the Festo Configuration Tool ... . . 5−24 Software end position .
  • Page 328 ........XVII C−10 Festo P.BE−SFC−LAC−CO−EN en 0708NH...

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