Festo Кабели и принадлежности Uživatelský manuál

Electronics/pneumatics manualSystem manualSmart PositioningControllertype SPC200Manual170 246en 0901d[713 873]SPC200 Smart Positioning Contr

Contents and general instructionsVIIIFesto P.BE−SPC200−EN en 0901dC. Technical appendix C−1 . . . . . . . . . . . . . . . .

3. Installation3−22Festo P.BE−SPC200−EN en 0901dC) Drive type DNCI−...1 Piston rod drive  in this case DNCIwith integrated in

3. Installation3−23Festo P.BE−SPC200−EN en 0901dDimensional reference system for drive type DNCI−...Reference points(1) Reference po

3. Installation3−24Festo P.BE−SPC200−EN en 0901dD) Drive type DSMI−...1 Rotary drive type − in this case DSMIwith integrated a

3. Installation3−25Festo P.BE−SPC200−EN en 0901dDimensional reference system for drive type DSMI−...Reference points(1) Measuring sy

3. Installation3−26Festo P.BE−S PC200−EN en 0901d3.5 Installing the SPC200WarningBefore carrying out installation and/or maintenanc

3. Installation3−27Festo P.BE−SPC200−EN en 0901d3.5.1 Selecting the power unitWarning· In order to provide the electric supply, us

3. Installation3−28Festo P.BE−S PC200−EN en 0901dCurrent consumption at pin 1 of module SPC200−PWR−AIFSum of the load current

3. Installation3−29Festo P.BE−SPC200−EN en 0901d3.5.2 Connections on the supply moduleThe following connecting and display elements

3. Installation3−30Festo P.BE−S PC200−EN en 0901dOperating voltage connection (X2)The following are supplied with + 24 V DC vi

3. Installation3−31Festo P.BE−SPC200−EN en 0901dThe following diagram shows the pin assignment of theoperating voltage connection

Contents and general instructionsIXFesto P.BE−SPC200−EN en 0901d

3. Installation3−32Festo P.BE−S PC200−EN en 0901dConnection exampleThe following diagram shows the connection of a common24V su

3. Installation3−33Festo P.BE−SPC200−EN en 0901dPlug for axis interface string (X1)CautionUse the special cables from Festo (type

3. Installation3−34Festo P.BE−S PC200−EN en 0901dConnecting cable type KSPC−AIF−... is supplied already fittedwith a 5−pin screw

3. Installation3−35Festo P.BE−SPC200−EN en 0901d3.5.3 Connections of the diagnostic moduleFor commissioning, programming and diagnos

3. Installation3−36Festo P.BE−S PC200−EN en 0901dPlease noteIf you wish to use a different connecting cable, note thefollowing

3. Installation3−37Festo P.BE−SPC200−EN en 0901dControl panel type SPC200−MMI−1 can be placed directly onthe upper interface when

3. Installation3−38Festo P.BE−S PC200−EN en 0901d3.5.4 Connections of the I/O module type SPC200−DIO−...For controlling the SPC20

3. Installation3−39Festo P.BE−SPC200−EN en 0901dInputs24V0V0911 Pin assignment:24 V: Internal 24 V sensor supply (not with separat

3. Installation3−40Festo P.BE−S PC200−EN en 0901dOutputs24V0V0711 Pin assignment:0: Output 0...7: Output 724 V: 24 V external sup

3. Installation3−41Festo P.BE−SPC200−EN en 0901dAddressingThe assignment of the I/O address range depends on theconfiguration of

Contents and general instructionsXFesto P.BE−SPC200−EN en 0901dDesignated useThe SPC200 Smart Positioning Controller is designed for

3. Installation3−42Festo P.BE−S PC200−EN en 0901dBasic rules If several I/O modules are installed in a rack, observe thefollowi

3. Installation3−43Festo P.BE−SPC200−EN en 0901dConnection assignment of front plug X5 for the firstI/O module when operated wit

3. Installation3−44Festo P.BE−S PC200−EN en 0901dConnection assignment of front plug X6 for the firstI/O module when operated

3. Installation3−45Festo P.BE−SPC200−EN en 0901dGeneral connection assignment for I/O moduleswithout special control functionsThe w

3. Installation3−46Festo P.BE−S PC200−EN en 0901dGeneral connection assignment for I/O moduleswithout special control functionsThe

3. Installation3−47Festo P.BE−SPC200−EN en 0901d3.5.5 Connections of the analogue input module type SPC200−2AI−UTwo such modules c

3. Installation3−48Festo P.BE−S PC200−EN en 0901dThe voltage range is 0...10 V. Within the possible positioningrange of the ax

3. Installation3−49Festo P.BE−SPC200−EN en 0901dCircuitry for connecting a differential signal1 Screening/shield2 Earth/groundconnectio

3. Installation3−50Festo P.BE−S PC200−EN en 0901d3.5.6 Connections of the sub−controller module type SPC200−SCU−AIFIn its basic d

3. Installation3−51Festo P.BE−SPC200−EN en 0901d1 Earth/groundconnection2 Pin assignment:1: CAN−LOW (brown)2: CAN−HIGH (white)3: 24 V (ye

Contents and general instructionsXIFesto P.BE−SPC200−EN en 0901dSafety regulationsWhen commissioning and programming positioning systems

3. Installation3−52Festo P.BE−S PC200−EN en 0901d3.6 Installing the modules on the axis interface stringWarningCables with high

3. Installation3−53Festo P.BE−SPC200−EN en 0901dBasic rules When the modules are installed on the axis interface stringthe follo

3. Installation3−54Festo P.BE−S PC200−EN en 0901dSpecial accessories are available here for CP input modules.A terminating resis

3. Installation3−55Festo P.BE−SPC200−EN en 0901dSPC200SPC−AIF−...SPC200SPC−AIF−...CP−E16−M−...max. 8 m 1)max. 8 mmax. 5 m 1)max. 8 m

3. Installation3−56Festo P.BE−S PC200−EN en 0901d3.6.1 Installing the axis interface SPC−AIF−...WarningFaults due to electromagneti

3. Installation3−57Festo P.BE−SPC200−EN en 0901dThe axis interface provides the connection between the components on the axis a

3. Installation3−58Festo P.BE−S PC200−EN en 0901dConnecting the axis interface to the SPC200WarningNote the maximum permitted c

3. Installation3−59Festo P.BE−SPC200−EN en 0901dConnecting the measuring systemThe axis interface has been designed for one of t

3. Installation3−60Festo P.BE−S PC200−EN en 0901dConnecting the proportional directional controlvalveThe valve connection provides

3. Installation3−61Festo P.BE−SPC200−EN en 0901d3.6.2 Installation I/O function module type SPC−FIO−2E/2A−M8WarningFaults due to ele

Contents and general instructionsXIIFesto P.BE−SPC200−EN en 0901dWarningIf the tubing of your axis system is incorrectly connecteda

3. Installation3−62Festo P.BE−S PC200−EN en 0901dThe I/O function module can be connected as the last moduleon the axis inter

3. Installation3−63Festo P.BE−SPC200−EN en 0901dPin assignmentThe following diagrams show the pin assignment of thesensor and act

3. Installation3−64Festo P.BE−S PC200−EN en 0901d1 Pin assignment:1: 24 V3: 0 V4: Input IPOWERDIAGOUTPUTPNP01INPUT/OUTPUTINPUT013 1314

3. Installation3−65Festo P.BE−SPC200−EN en 0901d3.6.3 Installing control panel SPC200−MMI−1FConnect the power supply as shown in t

3. Installation3−66Festo P.BE−S PC200−EN en 0901d

Commissioning4−1Festo P.BE−SPC200−EN en 0901dChapter 4

4. Commissioning4−2Festo P.BE−SPC200−EN en 0901dContents4.1 Procedure for commissioning 4−5 . . . . . . . . . . . . . . .

4. Commissioning4−3Festo P.BE−SPC200−EN en 0901dContents of this chapter This chapter describes the commissioning of a pneumaticax

4. Commissioning4−4Festo P.BE−S PC200−EN en 0901dWarningBefore carrying out installation and/or maintenance work,switch off the f

4. Commissioning4−5Festo P.BE−SPC200−EN en 0901d4.1 Procedure for commissioningFit the components as described in chapter 2. Obser

Contents and general instructionsXIIIFesto P.BE−SPC200−EN en 0901dImportant user instructionsDanger categoriesThis manual contains instr

4. Commissioning4−6Festo P.BE−S PC200−EN en 0901dSteps for commissioningIn order to commission axes, you must first create and

4. Commissioning4−7Festo P.BE−SPC200−EN en 0901d4. System identification  carry out static and, if necessary,dynamic identificatio

4. Commissioning4−8Festo P.BE−S PC200−EN en 0901d4.2 Connecting a single−axis system for the first commissioningCaution· Leave the

4. Commissioning4−9Festo P.BE−SPC200−EN en 0901dPlease noteWhen a field bus module is used, all control signals arecontrolled vi

4. Commissioning4−10Festo P.BE−S PC200−EN en 0901d1 Designation onplug X52 Input address3 Function4 Load voltage (can be switchedoff

4. Commissioning4−11Festo P.BE−SPC200−EN en 0901dWire the components as shown in Fig. 4.1. For reasons ofclarity not all the e

4. Commissioning4−12Festo P.BE−S PC200−EN en 0901d101012341= 1−signal = 24 V0= 0−signal = 0 V1 ENABLE input on the SPC2002 R E

4. Commissioning4−13Festo P.BE−SPC200−EN en 0901dInstructions on controller enableNote that in the following cases a rising signa

4. Commissioning4−14Festo P.BE−S PC200−EN en 0901dSTOP input You can stop the processing of the current NC record via theSTOP

4. Commissioning4−15Festo P.BE−SPC200−EN en 0901dSwitch on the power supplyWarningLeave the compressed air supply switched off. I

Contents and general instructionsXIVFesto P.BE−SPC200−EN en 0901dMarking special informationThe following pictograms mark passages in

4. Commissioning4−16Festo P.BE−S PC200−EN en 0901dIn this case the actual configuration of the SPC200, as well asthe configura

4. Commissioning4−17Festo P.BE−SPC200−EN en 0901d4.3 Overview of the parameters of a positioning axisA positioning axis is descri

4. Commissioning4−18Festo P.BE−S PC200−EN en 0901d4.3.1 Pneumatic axis dataThe axis data describe all characteristics of the sel

4. Commissioning4−19Festo P.BE−SPC200−EN en 0901d4.3.2 Application data for pneumatic axesThe application data describe the general

4. Commissioning4−20Festo P.BE−S PC200−EN en 0901d4.3.3 Axis data of an electric stepping motor axisThe axis data describe all

4. Commissioning4−21Festo P.BE−SPC200−EN en 0901d4.3.4 Application data of an electric stepping motor axisThe application data des

4. Commissioning4−22Festo P.BE−S PC200−EN en 0901d4.3.5 Controller dataThe controller data are optional parameters, and are valid

4. Commissioning4−23Festo P.BE−SPC200−EN en 0901d4.4 Commissioning with the control panelIf you wish to use the control panel fo

4. Commissioning4−24Festo P.BE−S PC200−EN en 0901d4.4.1 Saving the hardware configurationIn the switch−on phase the S PC200 assig

4. Commissioning4−25Festo P.BE−SPC200−EN en 0901dIn the switch−on phase, the SPC200 checks whether the current hardware configur

Contents and general instructionsXVFesto P.BE−SPC200−EN en 0901dProduct−specific terms and abbreviationsThe following product−specific t

4. Commissioning4−26Festo P.BE−S PC200−EN en 0901dIf necessary, you can ascertain the actual configuration recognised in the s

4. Commissioning4−27Festo P.BE−SPC200−EN en 0901d4.4.2 Commissioning pneumatic axesIf you have created and saved the desired hardw

4. Commissioning4−28Festo P.BE−S PC200−EN en 0901dWarningThe controller is switched off with this function. The pneumatic axes

4. Commissioning4−29Festo P.BE−SPC200−EN en 0901dIn order to carry out the movement test with the supplypressure switched on, p

4. Commissioning4−30Festo P.BE−S PC200−EN en 0901d8. Now apply a 1−signal to the ENABLE input in order thatthe valve voltage

4. Commissioning4−31Festo P.BE−SPC200−EN en 0901dThe movement test can be interrupted by a 0−signal at theENABLE input. The val

4. Commissioning4−32Festo P.BE−S PC200−EN en 0901dStep 3: Carry out identification travelPlease noteIf system identification is n

4. Commissioning4−33Festo P.BE−SPC200−EN en 0901dIn order to obtain good positioning behaviour, be sure tocarry out the system

4. Commissioning4−34Festo P.BE−S PC200−EN en 0901dCarry out identification travel as follows:1. Make sure that the tubing of th

4. Commissioning4−35Festo P.BE−SPC200−EN en 0901dIdentification MeaningSTATIC Static identificationDYNAMIC1 Dynamic identification with

Contents and general instructionsXVIFesto P.BE−S PC200−EN en 0901dDocumentation for the SPC200 Smart Positioning ControllerThis manua

4. Commissioning4−36Festo P.BE−S PC200−EN en 0901dStep 5: Move the axis by means of the control panel (optional)Necessary contro

4. Commissioning4−37Festo P.BE−SPC200−EN en 0901dJOG AXISX: STEP5. Press the Enter button in order to activate the positioningmode,

4. Commissioning4−38Festo P.BE−S PC200−EN en 0901dPossible problems Cause Remedy RemarksThe slide moves intoan end position.The con

4. Commissioning4−39Festo P.BE−SPC200−EN en 0901dStep 6: Enter test programIn order to avoid unnecessary fault messages during th

4. Commissioning4−40Festo P.BE−S PC200−EN en 0901d2. Press the Enter button in order to select the command.The current operatin

4. Commissioning4−41Festo P.BE−SPC200−EN en 0901d3. Use the cursor buttons to set the program number of thetest program and pre

4. Commissioning4−42Festo P.BE−S PC200−EN en 0901d4.4.3 Notes on commissioning multi−axis systemsCommission at first each axis in

Controlling the SPC2005−1Festo P.BE−SPC200−EN en 0901dChapter 5

5. Controlling the SPC2005−2Festo P.BE−SPC200−EN en 0901dContents5.1 General notes on operation 5−4 . . . . . . . . . . .

5. Controlling the SPC2005−3Festo P.BE−SPC200−EN en 0901dContents of this chapter The SPC200 offers the following two operating

Contents and general instructionsXVI IFesto P.BE−SPC200−EN en 0901dInformation on operating system versions of the SPC200 and software

5. Controlling the SPC2005−4Festo P.BE−S PC200−EN en 0901d5.1 General notes on operationOperating modes of the SPC200Start/Stop I

5. Controlling the SPC2005−5Festo P.BE−SPC200−EN en 0901dSwitch−on behaviour of the SPC2001Depends on fault(see chapterDiagnosis)Fa

5. Controlling the SPC2005−6Festo P.BE−S PC200−EN en 0901dWhen the power supply is switched on, the SPC200 carriesout an init

5. Controlling the SPC2005−7Festo P.BE−SPC200−EN en 0901d0V24V01010101ENABLEREADYSTOPSTART/CLK1233Loadvoltage1 The load voltage shoul

5. Controlling the SPC2005−8Festo P.BE−S PC200−EN en 0901dQuitting a faultIf a fault occurs during the program processing, the

5. Controlling the SPC2005−9Festo P.BE−SPC200−EN en 0901d5.2 Start/Stop modeStart/Stop mode In Start/Stop mode the SPC200 can con

5. Controlling the SPC2005−10Festo P.BE−S PC200−EN en 0901d9 8 7 24VI0.9 I0.8 I0.7ENABLE STOPSTART/RESET 1)24V123−3 7 24V 0VQ0.4 Q0.

5. Controlling the SPC2005−11Festo P.BE−SPC200−EN en 0901d5.2.1 Explanation of all I/O signals in Start/Stop modeThe connection a

5. Controlling the SPC2005−12Festo P.BE−S PC200−EN en 0901dFunction DescriptionSTART/RESETStart/continue programs or quit faultsThe

5. Controlling the SPC2005−13Festo P.BE−SPC200−EN en 0901dOutputsFunction DescriptionMC_B(motion complete)MC output for program B(lik

Contents and general instructionsXVI IIFesto P.BE−S PC200−EN en 0901dIdentification of version−specific informationPassages in the tex

5. Controlling the SPC2005−14Festo P.BE−S PC200−EN en 0901dWorking method of the MC signals (MC_A and MC_B)For each program

5. Controlling the SPC2005−15Festo P.BE−SPC200−EN en 0901dProgrammed StopSynchronization of the SPC200 with externally controlledpr

5. Controlling the SPC2005−16Festo P.BE−S PC200−EN en 0901dThe MC signal (MC_A/B) is not affected by Programmed StopM00, but

5. Controlling the SPC2005−17Festo P.BE−SPC200−EN en 0901d5.3 Record Select modeRecord Select mode In the Record Select mode the

5. Controlling the SPC2005−18Festo P.BE−S PC200−EN en 0901dThe following diagram shows an example of an I/O circuit forRecord

5. Controlling the SPC2005−19Festo P.BE−SPC200−EN en 0901dIn the operating mode Record Select positioning tasks aresent in the

5. Controlling the SPC2005−20Festo P.BE−S PC200−EN en 0901dNC record numbersThe desired NC record number, in which the positio

5. Controlling the SPC2005−21Festo P.BE−SPC200−EN en 0901dThe inputs RECBIT... have the following meaning:RECBIT5RECBIT4 RECBIT3 REC

5. Controlling the SPC2005−22Festo P.BE−S PC200−EN en 0901d5.3.1 Explanation of all I/O signals in Record Select modeThe connec

5. Controlling the SPC2005−23Festo P.BE−SPC200−EN en 0901dFunctionInputsDescriptionRESET Reset programIf there is a 0−signal at the

Contents and general instructionsXIXFesto P.BE−SPC200−EN en 0901dVersion See sectionWhat has been changedIdentificationas from4.63New fe

5. Controlling the SPC2005−24Festo P.BE−S PC200−EN en 0901dFunctionOutputsDescriptionRC_B(record complete)NC record of program B c

5. Controlling the SPC2005−25Festo P.BE−SPC200−EN en 0901dSummary of Record Select modeThe Record Select operating mode supports

5. Controlling the SPC2005−26Festo P.BE−S PC200−EN en 0901dExample of program in Record Select modeInputsI0.4 ... I0.0 1)I11.9

Operating the SPC200 with the control panel6−1Festo P.BE−SPC200−EN en 0901dChapter 6

6. Operating the SPC200 with the control panel6−2Festo P.BE−SPC200−EN en 0901dContents6.1 Structure and functions of the contro

6. Operating the SPC200 with the control panel6−3Festo P.BE−SPC200−EN en 0901dContents of this chapter This chapter describes th

6. Operating the SPC200 with the control panel6−4Festo P.BE−S PC200−EN en 0901d6.1 Structure and functions of the control pane

6. Operating the SPC200 with the control panel6−5Festo P.BE−SPC200−EN en 0901dButton DescriptionEsc  Switches back to the next−hi

6. Operating the SPC200 with the control panel6−6Festo P.BE−S PC200−EN en 0901dIn the basic setting the control panel shows

6. Operating the SPC200 with the control panel6−7Festo P.BE−SPC200−EN en 0901d6.1.1 Moving in the menu systemSPC200 Vnnn XSELECT W

Contents and general instructionsXXFesto P.BE−S PC200−EN en 0901dVersion See sectionWhat has been changedIdentificationas from4.82New

6. Operating the SPC200 with the control panel6−8Festo P.BE−S PC200−EN en 0901dAXISPARAM.CYL.TYPE2)CYL.LENGTHCYL.DIAMETER2)SENSORMEA

6. Operating the SPC200 with the control panel6−9Festo P.BE−SPC200−EN en 0901dThe menus on the control panelMenu DescriptionSPC20

6. Operating the SPC200 with the control panel6−10Festo P.BE−S PC200−EN en 0901dBy pressing the button{ or }you can access

6. Operating the SPC200 with the control panel6−11Festo P.BE−SPC200−EN en 0901dThe top line then shows the selection made as

6. Operating the SPC200 with the control panel6−12Festo P.BE−S PC200−EN en 0901dProceed as follows when selecting a menu comm

6. Operating the SPC200 with the control panel6−13Festo P.BE−SPC200−EN en 0901d6.2 Setting project−specific parametersWarningIncorre

6. Operating the SPC200 with the control panel6−14Festo P.BE−S PC200−EN en 0901dAXIS PARAM.X:Enter12345EnterAXIS PARAM.CYL. TYPE &

6. Operating the SPC200 with the control panel6−15Festo P.BE−SPC200−EN en 0901dWith the buttons vV you can now select the axi

6. Operating the SPC200 with the control panel6−16Festo P.BE−S PC200−EN en 0901dThe character ? indicates that the setting is

6. Operating the SPC200 with the control panel6−17Festo P.BE−SPC200−EN en 0901dMenu AXIS PARAM (axis data)Pneumatic axisCYL. TYPE

Contents and general instructionsXXIFesto P.BE−SPC200−EN en 0901dVersion See sectionWhat has been changedIdentificationas from4.93New fe

6. Operating the SPC200 with the control panel6−18Festo P.BE−S PC200−EN en 0901dApplication dataMenu APPLIC. PARAM The applicat

6. Operating the SPC200 with the control panel6−19Festo P.BE−SPC200−EN en 0901dMenu APPLIC. PARAM (application data)Pneumatic axi

6. Operating the SPC200 with the control panel6−20Festo P.BE−S PC200−EN en 0901dReference points With the following four parame

6. Operating the SPC200 with the control panel6−21Festo P.BE−SPC200−EN en 0901dMenu APPLIC. PARAM (application data)Pneumatic axi

6. Operating the SPC200 with the control panel6−22Festo P.BE−S PC200−EN en 0901dMenu APPLIC. PARAM (application data)Pneumatic

6. Operating the SPC200 with the control panel6−23Festo P.BE−SPC200−EN en 0901dApplication data for electric axesMenu APPLIC. PA

6. Operating the SPC200 with the control panel6−24Festo P.BE−S PC200−EN en 0901dSystem configurationMenu CONFIG. SYSTEM In the

6. Operating the SPC200 with the control panel6−25Festo P.BE−SPC200−EN en 0901dMenu CONFIG. SYSTEM (Configure system)OPERATING MOD

6. Operating the SPC200 with the control panel6−26Festo P.BE−S PC200−EN en 0901dProceed as follows:1. Select the parameter whic

6. Operating the SPC200 with the control panel6−27Festo P.BE−SPC200−EN en 0901d6.3 Edit programThe control panel provides you wi

Contents and general instructionsXXIIFesto P.BE−S PC200−EN en 0901d

6. Operating the SPC200 with the control panel6−28Festo P.BE−S PC200−EN en 0901d6.3.1 Create new program1. Press the button {

6. Operating the SPC200 with the control panel6−29Festo P.BE−SPC200−EN en 0901dThe procedure for editing an NC record is expla

6. Operating the SPC200 with the control panel6−30Festo P.BE−S PC200−EN en 0901d5. The cursor is positioned on the axis ident

6. Operating the SPC200 with the control panel6−31Festo P.BE−SPC200−EN en 0901dIn order to display the NC record on the contr

6. Operating the SPC200 with the control panel6−32Festo P.BE−S PC200−EN en 0901dExit program editor1. First make sure that the

6. Operating the SPC200 with the control panel6−33Festo P.BE−SPC200−EN en 0901d6.3.2 Instructions on editingFailure of the operat

6. Operating the SPC200 with the control panel6−34Festo P.BE−S PC200−EN en 0901d· If the cursor is positioned on an NC word,

6. Operating the SPC200 with the control panel6−35Festo P.BE−SPC200−EN en 0901d6.3.3 Store of commands on the control panelThe

6. Operating the SPC200 with the control panel6−36Festo P.BE−S PC200−EN en 0901dFirst NC wordNCcommandDescription Supportedoperati

6. Operating the SPC200 with the control panel6−37Festo P.BE−SPC200−EN en 0901dFirst NC word (continued)NCcommandDescription Suppor

Summary of components1−1Festo P.BE−SPC200−EN en 0901dChapter 1

6. Operating the SPC200 with the control panel6−38Festo P.BE−S PC200−EN en 0901dFirst NC word (continued)NCcommandDescription Sup

6. Operating the SPC200 with the control panel6−39Festo P.BE−SPC200−EN en 0901d6.3.4 Edit existing program1. Press the button {

6. Operating the SPC200 with the control panel6−40Festo P.BE−S PC200−EN en 0901dWhen a program has been selected, the program

6. Operating the SPC200 with the control panel6−41Festo P.BE−SPC200−EN en 0901d6.3.5 Delete program1. Press the button { or }a

6. Operating the SPC200 with the control panel6−42Festo P.BE−S PC200−EN en 0901d6.4 Edit position registerAs an alternative to

6. Operating the SPC200 with the control panel6−43Festo P.BE−SPC200−EN en 0901d4. Use the cursor buttons to set the desired ax

6. Operating the SPC200 with the control panel6−44Festo P.BE−S PC200−EN en 0901d2. Press the Enter button in order to open t

6. Operating the SPC200 with the control panel6−45Festo P.BE−SPC200−EN en 0901d6. With the buttonsvV you can now set the posi

6. Operating the SPC200 with the control panel6−46Festo P.BE−S PC200−EN en 0901d6.5 Controlling the program sequenceWarningMake

6. Operating the SPC200 with the control panel6−47Festo P.BE−SPC200−EN en 0901dMenu SYSTEM CONTROLSYSTEM CONTROLRESET SYSTEM ?Reset

1. Summary of components1−2Festo P.BE−SPC200−EN en 0901dContents1.1 The SPC200 positioning controller 1−4 . . . . . . . . .

6. Operating the SPC200 with the control panel6−48Festo P.BE−S PC200−EN en 0901d6.6 Displaying operands and system statesIn ord

6. Operating the SPC200 with the control panel6−49Festo P.BE−SPC200−EN en 0901dMenu DISPLAYMEMORY FLAGF00:0Status display for flag

6. Operating the SPC200 with the control panel6−50Festo P.BE−S PC200−EN en 0901d6.7 Set controller factorsMenu REGUL. PARAM The

6. Operating the SPC200 with the control panel6−51Festo P.BE−SPC200−EN en 0901dController factors for pneumatic axes:Menu CONTROL

6. Operating the SPC200 with the control panel6−52Festo P.BE−S PC200−EN en 0901d6.8 Test and diagnostic functions of the contr

6. Operating the SPC200 with the control panel6−53Festo P.BE−SPC200−EN en 0901dMenu TEST/DIAG. (test and diagnosis)Sub−menu SYSTE

6. Operating the SPC200 with the control panel6−54Festo P.BE−S PC200−EN en 0901dMenu TEST/DIAG. (test and diagnosis)Sub−menu AX

Description of the commands7−1Festo P.BE−SPC200−EN en 0901dChapter 7

7. Description of the commands7−2Festo P.BE−SPC200−EN en 0901dContents7.1 General instructions on programming 7−4 . . . . . .

7. Description of the commands7−3Festo P.BE−SPC200−EN en 0901dContents of this chapter This chapter contains basic information on

1. Summary of components1−3Festo P.BE−SPC200−EN en 0901dContents of this chapter This chapter provides an overview of the extens

7. Description of the commands7−4Festo P.BE−S PC200−EN en 0901d7.1 General instructions on programmingYou must take the followin

7. Description of the commands7−5Festo P.BE−SPC200−EN en 0901d7.1.1 Parallel program processingThe SPC200 possesses amultitasking−ca

7. Description of the commands7−6Festo P.BE−S PC200−EN en 0901dOperands: F0 ... F63 (flag), R0 ... R99 (register), @0 ... @9

7. Description of the commands7−7Festo P.BE−SPC200−EN en 0901dPlease notePlease obser ve the following instructions when using th

7. Description of the commands7−8Festo P.BE−S PC200−EN en 0901dMulti−axis operationCoordinated operation In coordinated operation

7. Description of the commands7−9Festo P.BE−SPC200−EN en 0901dAutonomous operation In autonomous operation two independent work st

7. Description of the commands7−10Festo P.BE−S PC200−EN en 0901dIn autonomous operation the program is processed independently

7. Description of the commands7−11Festo P.BE−SPC200−EN en 0901d7.1.3 Presetting for positioning The following settings are effectiv

7. Description of the commands7−12Festo P.BE−S PC200−EN en 0901d7.1.4 New NC syntax and new NC commandsThe operating system ve

7. Description of the commands7−13Festo P.BE−SPC200−EN en 0901dThe operating system version 4.82 of the SPC200 offers, inconjunc

1. Summary of components1−4Festo P.BE−S PC200−EN en 0901d1.1 The SPC200 positioning controllerFesto assists you with your positi

7. Description of the commands7−14Festo P.BE−S PC200−EN en 0901d7.2 Addressing, registers and axis status flagsThe SPC200 knows

7. Description of the commands7−15Festo P.BE−SPC200−EN en 0901dI/O address range The assignment of the I/O address range depends

7. Description of the commands7−16Festo P.BE−S PC200−EN en 0901d7.2.2 Addressing the control signalsRecord Select modeControl sig

7. Description of the commands7−17Festo P.BE−SPC200−EN en 0901dStart−stop modeControl signalI/O moduleaddressesAddress withfieldbusD

7. Description of the commands7−18Festo P.BE−S PC200−EN en 0901d7.2.3 Position register X [Y Z U] @nThe SPC200 provides 100 p

7. Description of the commands7−19Festo P.BE−SPC200−EN en 0901dNCcommandFunction The registercontents may beUnit 1)As from operating

7. Description of the commands7−20Festo P.BE−S PC200−EN en 0901dThese registers can be modified within a program or via thefi

7. Description of the commands7−21Festo P.BE−SPC200−EN en 0901d7.2.5 Flag FnIn the SPC200 64 flags can be used for controlling

7. Description of the commands7−22Festo P.BE−S PC200−EN en 0901d7.2.6 Axis status flag FnThe SPC200 generates various status fl

7. Description of the commands7−23Festo P.BE−SPC200−EN en 0901dDescription of the axis status flagREF  Reference set The flag

1. Summary of components1−5Festo P.BE−SPC200−EN en 0901d1.1.1 The range of devices for the SPC200The range of devices for the

7. Description of the commands7−24Festo P.BE−S PC200−EN en 0901d7.3 Command syntaxThe programs for the SPC200 are based on the

7. Description of the commands7−25Festo P.BE−SPC200−EN en 0901dIdentifiers The following identifiers are used during the NC progr

7. Description of the commands7−26Festo P.BE−S PC200−EN en 0901dOverview of commandsThe following characters are used in the o

7. Description of the commands7−27Festo P.BE−SPC200−EN en 0901dCommandDescription and syntaxPositioning commands (permitted in Sta

7. Description of the commands7−28Festo P.BE−S PC200−EN en 0901dCommandDescription and syntaxSequence control (permitted in Star

7. Description of the commands7−29Festo P.BE−SPC200−EN en 0901dCommandDescription and syntaxValve positioning value (permitted in

7. Description of the commands7−30Festo P.BE−S PC200−EN en 0901d7.4 Explanation of the NC commandsIdentifying supported NC comma

7. Description of the commands7−31Festo P.BE−SPC200−EN en 0901dG00Move to position at highest possible speed (point to point)

7. Description of the commands7−32Festo P.BE−S PC200−EN en 0901dFig.7/5 shows as an example the time sequence of thenominal

7. Description of the commands7−33Festo P.BE−SPC200−EN en 0901dG00Move to position at highest possible speed (point to point)

Contents and general instructionsIFesto P.BE−SPC200−EN en 0901dOriginal de. . . . . . . . . . . . . . . . . . . . . . .

1. Summary of components1−6Festo P.BE−S PC200−EN en 0901dIf required, the following CP I/O modules and CPV valveterminals can

7. Description of the commands7−34Festo P.BE−S PC200−EN en 0901dt [s]v[m/s]t [s]s[m]t [s]a[m/s2]312451Nominal speed value2 Configu

7. Description of the commands7−35Festo P.BE−SPC200−EN en 0901dG01Move to position at defined speed (nominal value ramp) permit

7. Description of the commands7−36Festo P.BE−S PC200−EN en 0901dWith command G01 the nominal speed value rises at first inram

7. Description of the commands7−37Festo P.BE−SPC200−EN en 0901dG02Move smoothly to position at defined speed pneumatic axis; 

7. Description of the commands7−38Festo P.BE−S PC200−EN en 0901dWith command G02 the nominal acceleration value has asin2−shape

7. Description of the commands7−39Festo P.BE−SPC200−EN en 0901dG02Move to position at Start/Stop frequency stepping motor axis;

7. Description of the commands7−40Festo P.BE−S PC200−EN en 0901dG04Dwell time permitted in operating modes: Start/StopNn G04 <

7. Description of the commands7−41Festo P.BE−SPC200−EN en 0901dG08Acceleration for approach ramp pneumatic axis;  permitted in

7. Description of the commands7−42Festo P.BE−S PC200−EN en 0901dG08Acceleration for approach ramp and braking ramp stepping mo

7. Description of the commands7−43Festo P.BE−SPC200−EN en 0901dG09Acceleration for braking ramp pneumatic axis;  permitted in

1. Summary of components1−7Festo P.BE−SPC200−EN en 0901dSupported drivesThe SPC200 supports the pneumatic drives listed in thefo

7. Description of the commands7−44Festo P.BE−S PC200−EN en 0901dG25Position−dependent switch to next record permitted in operat

7. Description of the commands7−45Festo P.BE−SPC200−EN en 0901dG25 Position−dependent switch to next recordG25 permitted in opera

7. Description of the commands7−46Festo P.BE−S PC200−EN en 0901dExample 1 Modify speed; only permitted with pneumatic drivesN010

7. Description of the commands7−47Festo P.BE−SPC200−EN en 0901dExample 2 Time−optimized bypassingN010 G00 X100 Y100N011 G25 X50N012 G00

7. Description of the commands7−48Festo P.BE−S PC200−EN en 0901dExample 3 Event−dependent further switching to next recordN010 G0

7. Description of the commands7−49Festo P.BE−SPC200−EN en 0901dExample 5 Linked further switching conditionN010 G01 X0 FX0 Y0 FY0 Z0

7. Description of the commands7−50Festo P.BE−S PC200−EN en 0901dExample 6 Linked further switching condition with correctly used

7. Description of the commands7−51Festo P.BE−SPC200−EN en 0901dG28Load position value into the position register permitted in o

7. Description of the commands7−52Festo P.BE−S PC200−EN en 0901dG29Add position value and position register permitted in opera

7. Description of the commands7−53Festo P.BE−SPC200−EN en 0901dG60Exact stop without damping time  pneumatic axis;  permitted

1. Summary of components1−8Festo P.BE−S PC200−EN en 0901dNotes on planning pneumatic axesNote that in conjunction with the SP

7. Description of the commands7−54Festo P.BE−S PC200−EN en 0901dG61Set positioning quality class  pneumatic axis;  permitted

7. Description of the commands7−55Festo P.BE−SPC200−EN en 0901dType Positioningquality classDescriptionPresetting 0 Switches to the p

7. Description of the commands7−56Festo P.BE−S PC200−EN en 0901d1 Nominal positionvalue2 Range of thepositioningtolerance3 Reaching

7. Description of the commands7−57Festo P.BE−SPC200−EN en 0901d1 Nominal positionvalue2 Range of thepositioningtolerance3 Monitoringpe

7. Description of the commands7−58Festo P.BE−S PC200−EN en 0901dG62Fast stop without damping time  pneumatic axis;  permitted

7. Description of the commands7−59Festo P.BE−SPC200−EN en 0901dG74Start reference travel 1) pneumatic axis;  permitted in opera

7. Description of the commands7−60Festo P.BE−S PC200−EN en 0901dMode Description0 The reference point is set at the current pos

7. Description of the commands7−61Festo P.BE−SPC200−EN en 0901dMode Description7 This mode serves exclusively for moving the pneum

7. Description of the commands7−62Festo P.BE−S PC200−EN en 0901dG74Starting reference travel stepping motor axis;  permitted

7. Description of the commands7−63Festo P.BE−SPC200−EN en 0901d1 Starting position2 Position acceptedas reference point3 Switching r

1. Summary of components1−9Festo P.BE−SPC200−EN en 0901d1.1.2 Structure of the S PC200The SPC200 is built up on a modular basis

7. Description of the commands7−64Festo P.BE−S PC200−EN en 0901dG90Absolute dimension specification permitted in operating modes

7. Description of the commands7−65Festo P.BE−SPC200−EN en 0901dG91Relative dimension specification permitted in operating modes:

7. Description of the commands7−66Festo P.BE−S PC200−EN en 0901dM00Programmed stop permitted in operating modes: Start/StopNn M0

7. Description of the commands7−67Festo P.BE−SPC200−EN en 0901dM02Sub−program end permitted in operating modes: Start/StopNn M02Ef

7. Description of the commands7−68Festo P.BE−S PC200−EN en 0901dM10Activate the nominal value input permitted in operating mod

7. Description of the commands7−69Festo P.BE−SPC200−EN en 0901dThe selected nominal value input is deactivated again withcommand

7. Description of the commands7−70Festo P.BE−S PC200−EN en 0901dExample mode 3 Analogue nominal value specification without adju

7. Description of the commands7−71Festo P.BE−SPC200−EN en 0901dM11Offset for analogue nominal value specification permitted in o

7. Description of the commands7−72Festo P.BE−S PC200−EN en 0901dM12Axis stop 1) permitted in operating modes: Start/StopNn M12 X

7. Description of the commands7−73Festo P.BE−SPC200−EN en 0901dDuring an axis stop with the M12 command the actual position w

1. Summary of components1−10Festo P.BE−S PC200−EN en 0901dBasic modules With the following modules the SPC200 provides a funct

7. Description of the commands7−74Festo P.BE−S PC200−EN en 0901dType Mode DescriptionPositionadjustment0 1)This mode is only suppor

7. Description of the commands7−75Festo P.BE−SPC200−EN en 0901dM14Assign nominal value inputs permitted in operating modes: Star

7. Description of the commands7−76Festo P.BE−S PC200−EN en 0901dM37Set mass assessment pneumatic axis;  permitted in operatin

7. Description of the commands7−77Festo P.BE−SPC200−EN en 0901dM38Load actual value permitted in operating modes: Start/StopNn M3

7. Description of the commands7−78Festo P.BE−S PC200−EN en 0901dM39Output valve positioning value 1) pneumatic axis;  permitte

7. Description of the commands7−79Festo P.BE−SPC200−EN en 0901dValve positioning value [%]Positioningsignal 1)Valve voltage[V]Effect

7. Description of the commands7−80Festo P.BE−S PC200−EN en 0901dM40Set stroke limit value 1) pneumatic axis;  permitted in o

7. Description of the commands7−81Festo P.BE−SPC200−EN en 0901dM41Set speed limit value 1) pneumatic axis;  permitted in opera

7. Description of the commands7−82Festo P.BE−S PC200−EN en 0901dLAccess sub−program (load subroutine) permitted in operating mo

7. Description of the commands7−83Festo P.BE−SPC200−EN en 0901dProgram 0...N003 G28 @1 X200 ;Load top row of palletsN004 G28 @2 X50 ;Lo

1. Summary of components1−11Festo P.BE−SPC200−EN en 0901dA system with the modules mentioned above offers thefollowing scope of

7. Description of the commands7−84Festo P.BE−S PC200−EN en 0901dE05Unconditional jump permitted in operating modes: Start/StopNn

7. Description of the commands7−85Festo P.BE−SPC200−EN en 0901d#SSet single−bit operand permitted in operating modes: Start/StopN

7. Description of the commands7−86Festo P.BE−S PC200−EN en 0901d#TTest single−bit operand for 1−signal permitted in operating

7. Description of the commands7−87Festo P.BE−SPC200−EN en 0901dExample The following applies for this example: Operating mode: Sta

7. Description of the commands7−88Festo P.BE−S PC200−EN en 0901d#TNTest single−bit operand for 0−signal permitted in operating

7. Description of the commands7−89Festo P.BE−SPC200−EN en 0901d#LRLoad register permitted in operating modes: Start/StopNn #LR<

7. Description of the commands7−90Festo P.BE−S PC200−EN en 0901d#TRTest register permitted in operating modes: Start/StopNn #TR&

Diagnosis and error treatment8−1Festo P.BE−SPC200−EN en 0901dChapter 8

8. Diagnosis and error treatment8−2Festo P.BE−SPC200−EN en 0901dContents8.1 On−the−spot diagnosis 8−4 . . . . . . . . . . .

8. Diagnosis and error treatment8−3Festo P.BE−SPC200−EN en 0901dContents of this chapter The SPC200 offers extensive and user−fri

1. Summary of components1−12Festo P.BE−S PC200−EN en 0901dModule DescriptionStepping motorindexer moduleEnables a stepping motor c

8. Diagnosis and error treatment8−4Festo P.BE−S PC200−EN en 0901d8.1 On−the−spot diagnosisThe LEDs on the power supply module,

8. Diagnosis and error treatment8−5Festo P.BE−SPC200−EN en 0901dReaction Sequence Operating status Eliminating faultsERROR LEDONOFF S

8. Diagnosis and error treatment8−6Festo P.BE−S PC200−EN en 0901dLED on the axis interfaceReactionSequence Operating status Elimin

8. Diagnosis and error treatment8−7Festo P.BE−SPC200−EN en 0901dTip:Use the movement test to check the function of the measuri

8. Diagnosis and error treatment8−8Festo P.BE−S PC200−EN en 0901dShort circuit sensor supplyIf there is a short circuit, the i

8. Diagnosis and error treatment8−9Festo P.BE−SPC200−EN en 0901d8.2 Fault messages on the control panelIf faults occur, the cont

8. Diagnosis and error treatment8−10Festo P.BE−S PC200−EN en 0901dFault class The fault class reflects the type of fault which

8. Diagnosis and error treatment8−11Festo P.BE−SPC200−EN en 0901dAxis identifier With axis−related faults the axis identifer indic

8. Diagnosis and error treatment8−12Festo P.BE−S PC200−EN en 0901d8.2.1 Fault stagesAll faults are assigned to a certain fault

8. Diagnosis and error treatment8−13Festo P.BE−SPC200−EN en 0901d8.2.2 Fault classesFault class 0: No faultFaultstageFaultmessageOper

1. Summary of components1−13Festo P.BE−SPC200−EN en 0901d1.2 Positioning systems with the SPC2001.2.1 Components of a pneumatic po

8. Diagnosis and error treatment8−14Festo P.BE−S PC200−EN en 0901dFault class 1: Initialization phase Fault in the initializatio

8. Diagnosis and error treatment8−15Festo P.BE−SPC200−EN en 0901dFault class 2: Reser vedFaultstageFaultmessageOperating status / fa

8. Diagnosis and error treatment8−16Festo P.BE−S PC200−EN en 0901dFault class 4: Hardware fault in the operating phaseFaultstage

8. Diagnosis and error treatment8−17Festo P.BE−SPC200−EN en 0901dFault class 4: Hardware fault in the operating phaseFaultstageEli

8. Diagnosis and error treatment8−18Festo P.BE−S PC200−EN en 0901dFault class 4: Hardware fault in the operating phaseFaultstage

8. Diagnosis and error treatment8−19Festo P.BE−SPC200−EN en 0901dFault class 4: Hardware fault in the operating phaseFaultstageEli

8. Diagnosis and error treatment8−20Festo P.BE−S PC200−EN en 0901dFault class 4: Hardware fault in the operating phaseFaultstage

8. Diagnosis and error treatment8−21Festo P.BE−SPC200−EN en 0901dFault class 5: Sequence control faultFaultstageFaultmessageOperating

8. Diagnosis and error treatment8−22Festo P.BE−S PC200−EN en 0901dFault class 5: Sequence control faultFaultstageEliminating fault

8. Diagnosis and error treatment8−23Festo P.BE−SPC200−EN en 0901dFault class 6: Fault in positioning task or identification trave

1. Summary of components1−14Festo P.BE−S PC200−EN en 0901dComponents You will require the following components for setting up a

8. Diagnosis and error treatment8−24Festo P.BE−S PC200−EN en 0901dFault class 6: Fault in positioning task or identification tr

8. Diagnosis and error treatment8−25Festo P.BE−SPC200−EN en 0901dFault class 6: Fault in positioning task or identification trave

8. Diagnosis and error treatment8−26Festo P.BE−S PC200−EN en 0901dFault class 6: Fault in positioning task or identification tr

8. Diagnosis and error treatment8−27Festo P.BE−SPC200−EN en 0901dFault class 6: Fault in positioning task or identification trave

8. Diagnosis and error treatment8−28Festo P.BE−S PC200−EN en 0901dFault class 7: Fault in the pre−parametrizingFaultstageFaultmess

8. Diagnosis and error treatment8−29Festo P.BE−SPC200−EN en 0901dFault class 7: Fault in the pre−parametrizingFaultstageEliminating

8. Diagnosis and error treatment8−30Festo P.BE−S PC200−EN en 0901dFault class 8: NC Editor, Upload/download or operation executi

8. Diagnosis and error treatment8−31Festo P.BE−SPC200−EN en 0901dFault class 8: NC Editor, Upload/download or operation execution

8. Diagnosis and error treatment8−32Festo P.BE−S PC200−EN en 0901dFault class 8: NC Editor, Upload/download or operation executi

8. Diagnosis and error treatment8−33Festo P.BE−SPC200−EN en 0901d8.3 Eliminating faults in the system8.3.1 Faults when switching o

1. Summary of components1−15Festo P.BE−SPC200−EN en 0901dMethod of operationThe following diagram shows the basic layout of a p

8. Diagnosis and error treatment8−34Festo P.BE−S PC200−EN en 0901d3) Axis moves against end positionsCause Remedy RemarksCables no

8. Diagnosis and error treatment8−35Festo P.BE−SPC200−EN en 0901d8.3.2 Faults when positioning1) Drive does not moveCause Remedy Rem

8. Diagnosis and error treatment8−36Festo P.BE−S PC200−EN en 0901d3) Axis has bad positioning behaviourCause Remedy RemarksSystem

Notes on installing the pneumatic componentsA−1Festo P.BE−SPC200−EN en 0901dAppendix A

A. Notes on installing the pneumatic componentsA−2Festo P.BE−SPC200−EN en 0901dContentsA.1 Axis structure with drive type DGP(L)

A. Notes on installing the pneumatic componentsA−3Festo P.BE−SPC200−EN en 0901dA.1 Axis structure with drive type DGP(L)−... and

A. Notes on installing the pneumatic componentsA−4Festo P.BE−SPC200−EN en 0901dValve−drive combination with DGP(L)−... andDG PI(L

A. Notes on installing the pneumatic componentsA−5Festo P.BE−SPC200−EN en 0901dInstallation instructions for drives DGP(L)−... and

A. Notes on installing the pneumatic componentsA−6Festo P.BE−SPC200−EN en 0901d· In order to use the end position cushioning

A. Notes on installing the pneumatic componentsA−7Festo P.BE−SPC200−EN en 0901dCautionIf the positioning range of the drive is

Contents and general instructionsIIFesto P.BE−SPC200−EN en 0901dInterbus®, DeviceNet® and PROFIBUS® are registered trademarks of th

1. Summary of components1−16Festo P.BE−S PC200−EN en 0901dThe measured values are passed on from the axis interface tothe SPC

A. Notes on installing the pneumatic componentsA−8Festo P.BE−SPC200−EN en 0901dTubing with slide and yoke operation with theDG

A. Notes on installing the pneumatic componentsA−9Festo P.BE−SPC200−EN en 0901dDrives with unilateral air supply121Electrical conn

A. Notes on installing the pneumatic componentsA−10Festo P.BE−SPC200−EN en 0901dA.2 Axis structure with standard cylinder type

A. Notes on installing the pneumatic componentsA−11Festo P.BE−SPC200−EN en 0901dAn operating system as from version 4.6 is requ

A. Notes on installing the pneumatic componentsA−12Festo P.BE−SPC200−EN en 0901dValve−drive combinations with DNC−...Recommendatio

A. Notes on installing the pneumatic componentsA−13Festo P.BE−SPC200−EN en 0901dInstallation instructions for standard cylinder DN

A. Notes on installing the pneumatic componentsA−14Festo P.BE−SPC200−EN en 0901d· Arrange the tubing between the valve (MPYE−5−

A. Notes on installing the pneumatic componentsA−15Festo P.BE−SPC200−EN en 0901dPlease noteIf there is too much coupling play t

A. Notes on installing the pneumatic componentsA−16Festo P.BE−SPC200−EN en 0901d· In order to earth the device, connect the e

A. Notes on installing the pneumatic componentsA−17Festo P.BE−SPC200−EN en 0901dA.3 Axis structure with standard cylinder type DN

1. Summary of components1−17Festo P.BE−SPC200−EN en 0901d1.2.2 Examples of multiple−axis systemsThe SPC200 can be operated indepen

A. Notes on installing the pneumatic componentsA−18Festo P.BE−SPC200−EN en 0901dAn operating system as from version 4.6 is re

A. Notes on installing the pneumatic componentsA−19Festo P.BE−SPC200−EN en 0901dValve−drive combinations with DNCM−...Recommendation

A. Notes on installing the pneumatic componentsA−20Festo P.BE−SPC200−EN en 0901dInstallation instructions for standard cylinder

A. Notes on installing the pneumatic componentsA−21Festo P.BE−SPC200−EN en 0901d· Lubricate the external guide at suitable mainte

A. Notes on installing the pneumatic componentsA−22Festo P.BE−SPC200−EN en 0901dPlease noteIf there is too much coupling play

A. Notes on installing the pneumatic componentsA−23Festo P.BE−SPC200−EN en 0901d11241 Electrical connectionFig.A/15: Tubing of the

A. Notes on installing the pneumatic componentsA−24Festo P.BE−SPC200−EN en 0901dA.4 Axis structure with rotary module type DSMI

A. Notes on installing the pneumatic componentsA−25Festo P.BE−SPC200−EN en 0901dFor this drive an operating system as from vers

A. Notes on installing the pneumatic componentsA−26Festo P.BE−SPC200−EN en 0901dCase A:The centre of gravity of the mass load

A. Notes on installing the pneumatic componentsA−27Festo P.BE−SPC200−EN en 0901dInstallation instructions for rotary moduletypeDSM

1. Summary of components1−18Festo P.BE−S PC200−EN en 0901dPOWERDIAGOUTPUTPNP01INPUT/OUTPUTINPUT01123433121First axis interface string

A. Notes on installing the pneumatic componentsA−28Festo P.BE−SPC200−EN en 0901dPlease noteObserve the operating instructions fo

A. Notes on installing the pneumatic componentsA−29Festo P.BE−SPC200−EN en 0901dPlease noteInternal vibrations of the mass load

A. Notes on installing the pneumatic componentsA−30Festo P.BE−SPC200−EN en 0901d1 Shock absorberfor end position 12 Stop lever3

A. Notes on installing the pneumatic componentsA−31Festo P.BE−SPC200−EN en 0901dA.5 Axis structure with standard cylinder type DN

A. Notes on installing the pneumatic componentsA−32Festo P.BE−SPC200−EN en 0901dAn operating system as from version 4.82 is r

A. Notes on installing the pneumatic componentsA−33Festo P.BE−SPC200−EN en 0901dPlease noteThe piston rod of the DNCI is flat

A. Notes on installing the pneumatic componentsA−34Festo P.BE−SPC200−EN en 0901dValve−drive combinations with DNCI−...Recommendati

A. Notes on installing the pneumatic componentsA−35Festo P.BE−SPC200−EN en 0901dInstallation instructions for standard cylindertype

A. Notes on installing the pneumatic componentsA−36Festo P.BE−SPC200−EN en 0901dRecommendation: Use the following fastening elem

A. Notes on installing the pneumatic componentsA−37Festo P.BE−SPC200−EN en 0901dPlease noteIf there is too much play in the co

1. Summary of components1−19Festo P.BE−SPC200−EN en 0901d123456781 Field bus connection (optional)2 SPC200 Smart Positioning Control

A. Notes on installing the pneumatic componentsA−38Festo P.BE−SPC200−EN en 0901dTubing of the DNCI−...When compressed air is a

Optimizing the positioning behaviourB−1Festo P.BE−SPC200−EN en 0901dAppendix B

B. Optimizing the positioning behaviourB−2Festo P.BE−SPC200−EN en 0901dContentsB.1 Basic information on control B−3 . . . . . .

B. Optimizing the positioning behaviourB−3Festo P.BE−SPC200−EN en 0901dB.1 Basic information on controlThe basis for control of t

B. Optimizing the positioning behaviourB−4Festo P.BE−S PC200−EN en 0901dIn addition to point−to−point positioning (G00), the SPC

B. Optimizing the positioning behaviourB−5Festo P.BE−SPC200−EN en 0901d123456789aJ1Programmed speed2 Identified maximum speed3 Configu

B. Optimizing the positioning behaviourB−6Festo P.BE−S PC200−EN en 0901dPlease noteWith dynamic identification, the maximum speed

B. Optimizing the positioning behaviourB−7Festo P.BE−SPC200−EN en 0901dB.2 Description of the controller factorsFrom the basic par

B. Optimizing the positioning behaviourB−8Festo P.BE−S PC200−EN en 0901dBehaviour of the axis FactorThe drive tends towards inst

B. Optimizing the positioning behaviourB−9Festo P.BE−SPC200−EN en 0901dSignal filter factor Speed and acceleration are derived fro

1. Summary of components1−20Festo P.BE−S PC200−EN en 0901d1.3 Structure of the axis interface stringThe SPC200 is intended for

B. Optimizing the positioning behaviourB−10Festo P.BE−S PC200−EN en 0901dB.3 Optimize positioning behaviourThe following problems

B. Optimizing the positioning behaviourB−11Festo P.BE−SPC200−EN en 0901dIf problems still occur, proceed as follows:1. Observe the

B. Optimizing the positioning behaviourB−12Festo P.BE−S PC200−EN en 0901dEffect Cause RemedyPremature stop several times12 System

B. Optimizing the positioning behaviourB−13Festo P.BE−SPC200−EN en 0901dEffect Cause RemedyStability problem, very frequent swinging

B. Optimizing the positioning behaviourB−14Festo P.BE−S PC200−EN en 0901dEffect Cause RemedyOverswing (no or minimum standstill ti

B. Optimizing the positioning behaviourB−15Festo P.BE−SPC200−EN en 0901dEffect Cause RemedyOverswing (no or minimum standstill time

B. Optimizing the positioning behaviourB−16Festo P.BE−S PC200−EN en 0901dB.3.1 Proceed as follows if the compressed air supply

Technical appendixC−1Festo P.BE−SPC200−EN en 0901dAppendix C

C. Technical appendixC−2Festo P.BE−SPC200−EN en 0901dContentsC.1 Sequence plans for the programmer C−3 . . . . . . . . . .

C. Technical appendixC−3Festo P.BE−SPC200−EN en 0901dC.1 Sequence plans for the programmerThe following sequence plans will suppor

1. Summary of components1−21Festo P.BE−SPC200−EN en 0901dMaximum two axis interface strings and therefore up to fourpneumatic ax

C. Technical appendixC−4Festo P.BE−SPC200−EN en 0901dThe following signal states must exist at the control inputsbefore the re

C. Technical appendixC−5Festo P.BE−SPC200−EN en 0901dWait ţ 10 sInitialization phaseSwitch on the operatingvoltage and load volta

C. Technical appendixC−6Festo P.BE−SPC200−EN en 0901d1Start timer ţ 2 sNoTimerexpired?YesNoREADY =1?YesWait ţ 100 msREADY =1?End

C. Technical appendixC−7Festo P.BE−SPC200−EN en 0901dC.1.2 Start NC record in Record Select modeACK_A/B=0?Create NC record numberR

C. Technical appendixC−8Festo P.BE−SPC200−EN en 0901dNo Timerexpired?YesFaultNoYesStart timer ţ 2 sRC_A/B=1?EndNoTimerexpired?YesFaul

C. Technical appendixC−9Festo P.BE−SPC200−EN en 0901dC.1.3 Start program or NC recordPrerequisites The program must already be sa

C. Technical appendixC−10Festo P.BE−SPC200−EN en 0901dC.1.4 Carry out fault acknowledgementWhen serious faults have been quitted,

C. Technical appendixC−11Festo P.BE−SPC200−EN en 0901dThe following signal states must exist at the control inputsbefore the rea

C. Technical appendixC−12Festo P.BE−SPC200−EN en 0901dAcknowledgem. counter = 0NoREADY =1?YesFault treatmentCarry out fault ackno

C. Technical appendixC−13Festo P.BE−SPC200−EN en 0901dSet START or CLKStart timer ţ 10 sNoTimerexpired?YesNoREADY =1?YesFault ackno

1. Summary of components1−22Festo P.BE−S PC200−EN en 0901dFurther modules with inputs and outputs can be connectedto the axis

C. Technical appendixC−14Festo P.BE−SPC200−EN en 0901dC.2 Cable length and cross−sectional areaPlease noteIn the following sectio

C. Technical appendixC−15Festo P.BE−SPC200−EN en 0901dAscertain by formulaProceed as follows:1. Calculate the maximum current consu

C. Technical appendixC−16Festo P.BE−SPC200−EN en 0901dPin 1Pin 2Pin 3ACDCRL1VL1RL2VL2RI1RI2RL0VL2+VL10VVOUT/VALI1I2I0Switch onSPC200Equ

C. Technical appendixC−17Festo P.BE−SPC200−EN en 0901dFormula for maximum cable length:L vNJǒVBmin* VOUTńVALminǓ@ A @ ËCUNj{2 @ I2) I1}Me

C. Technical appendixC−18Festo P.BE−S PC200−EN en 0901dC.3 Internal layout of the inputs/outputsInternal layout of type SPC200−DI

C. Technical appendixC−19Festo P.BE−SPC200−EN en 0901dInternal layout of type SPC200−DIO (PNP outputs)10...7 *)0 V24V +10/−15 %0

C. Technical appendixC−20Festo P.BE−S PC200−EN en 0901dInternal layout of type SPC−F IO−2E/2A (PNP inputs)Pin 10VPin 4Pin 3+24

C. Technical appendixC−21Festo P.BE−SPC200−EN en 0901dInternal layout of type SPC−F IO−2E/2A (PNP outputs)1234Pin 4 (n.c.)0VPin 1

C. Technical appendixC−22Festo P.BE−S PC200−EN en 0901dC.4 Technical specificationsC.4.1 Technical specifications for the SPC200Type

C. Technical appendixC−23Festo P.BE−SPC200−EN en 0901dType SPC200−PWR−AIFTemperature range Operation Storage/transport− 5 ... + 50

1. Summary of components1−23Festo P.BE−SPC200−EN en 0901dIf required, the I/O function module 6 or the module withoutputs 4 is

C. Technical appendixC−24Festo P.BE−S PC200−EN en 0901dType SPC200−MMI−DIAG Temperature range Operation Storage/transport− 5 ... +

C. Technical appendixC−25Festo P.BE−SPC200−EN en 0901dType SPC200−DIO (PNP)Temperature range Operation Storage/transport− 5 ... + 5

C. Technical appendixC−26Festo P.BE−S PC200−EN en 0901dType SPC200−2AI−U Temperature range Operation Storage/transport− 5 ... + 5

C. Technical appendixC−27Festo P.BE−SPC200−EN en 0901dType SPC200−SCU−AIF Temperature range Operation Storage/transport− 5 ... + 50

C. Technical appendixC−28Festo P.BE−S PC200−EN en 0901dC.4.2 Technical specifications of axis interface type SPC−AIF−...Type SPC−AI

C. Technical appendixC−29Festo P.BE−SPC200−EN en 0901dContinued type SPC−AIF−...CE symbol (declaration of conformity)è www.festo.comI

C. Technical appendixC−30Festo P.BE−S PC200−EN en 0901dC.4.3 Technical specifications of the I/O function module type SPC−FIO−...

C. Technical appendixC−31Festo P.BE−SPC200−EN en 0901dC.4.4 Technical specifications of control panel type SPC200−MMI−1Type SPC200−MM

C. Technical appendixC−32Festo P.BE−S PC200−EN en 0901dC.4.5 Technical specifications of control panel type SPC200−MMI−1FType SPC20

IndexD−1Festo P.BE−SPC200−EN en 0901dAppendix D

1. Summary of components1−24Festo P.BE−S PC200−EN en 0901d1.4 Operating modes of the SPC200The SPC200 offers suitable operating

D. IndexD−2Festo P.BE−SPC200−EN en 0901d

D. IndexD−3Festo P.BE−SPC200−EN en 0901dAAbsolute dimension specification with positioning commands (NC command G90) 7−64 . . .

D. IndexD−4Festo P.BE−SPC200−EN en 0901dAngle measuring system 3−24 . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−5Festo P.BE−SPC200−EN en 0901dAxis structure of the pneumatic drivesDGP(I)(L)−... (drive without piston rod) A−3 . .

D. IndexD−6Festo P.BE−SPC200−EN en 0901dCommissioningCalibrating (WinPISA) 4−35 . . . . . . . . . . . . . . . . . . .

D. IndexD−7Festo P.BE−SPC200−EN en 0901dConnecting a differential signal 3−49 . . . . . . . . . . . . . . . . . . .

D. IndexD−8Festo P.BE−SPC200−EN en 0901dController data 4−22 . . . . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−9Festo P.BE−SPC200−EN en 0901dDigitalI/O module 3−38 . . . . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−10Festo P.BE−SPC200−EN en 0901dENABLE input 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−11Festo P.BE−SPC200−EN en 0901dFault number 8−9 , 8−11 . . . . . . . . . . . . . . . . . . . . . . . .

1. Summary of components1−25Festo P.BE−SPC200−EN en 0901d1.5 Multi−axis applications with the SPC200The SPC200 axis controller off

D. IndexD−12Festo P.BE−SPC200−EN en 0901dGGain factorDefinition B−7 . . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−13Festo P.BE−SPC200−EN en 0901dInputs (I/O module) 3−39 , 3−40 . . . . . . . . . . . . . . . . . . . . .

D. IndexD−14Festo P.BE−SPC200−EN en 0901dInstructions on editing with the control panel 6−33 . . . . . . . . Integer opera

D. IndexD−15Festo P.BE−SPC200−EN en 0901dMaximum acceleration, Setting with the control panel 6−22 . Maximum speedConfiguring 4−1

D. IndexD−16Festo P.BE−SPC200−EN en 0901dMounting position (of the axis) 3−15 , 4−19 . . . . . . . . . . . . . . . D

D. IndexD−17Festo P.BE−SPC200−EN en 0901dNominal value inputActivate (NC command M10) 7−68 . . . . . . . . . . . . . .

D. IndexD−18Festo P.BE−SPC200−EN en 0901dOperating modesMulti−axis modeAutonomous mode 1−25 . . . . . . . . . . . . . .

D. IndexD−19Festo P.BE−SPC200−EN en 0901dPParameters of a positioning axis 4−17 . . . . . . . . . . . . . . . . . .

D. IndexD−20Festo P.BE−SPC200−EN en 0901dPositioning accuracy, Notes 2−21 . . . . . . . . . . . . . . . . . . . .

D. IndexD−21Festo P.BE−SPC200−EN en 0901dProgramming with the control panelCreate new program 6−28 . . . . . . . . . . .

Contents and general instructionsIIIFesto P.BE−SPC200−EN en 0901dContentsDesignated use IX . . . . . . . . . . . . . . . . .

1. Summary of components1−26Festo P.BE−S PC200−EN en 0901d1.6 Commissioning and programming possibilitiesYou can carry out the c

D. IndexD−22Festo P.BE−SPC200−EN en 0901dREF (axis status flag reference set) 7−22 . . . . . . . . . . . . . . . .

D. IndexD−23Festo P.BE−SPC200−EN en 0901dSSafety instructions XI . . . . . . . . . . . . . . . . . . . . . . . .

D. IndexD−24Festo P.BE−SPC200−EN en 0901dSoftware end positionDefinition 3−19 , 3−21 , 3−23 , 3−25 . . . . . . . . . .

D. IndexD−25Festo P.BE−SPC200−EN en 0901dStepping motor, project−specific parametersGears 4−20 . . . . . . . . . . . . . .

D. IndexD−26Festo P.BE−SPC200−EN en 0901dSwivel angleSetting with the control panel 6−17 . . . . . . . . . . . . . .

D. IndexD−27Festo P.BE−SPC200−EN en 0901dTest single−bit operand for 1−signal (NC command #T) 7−86 . Text markings XIV . . .

D. IndexD−28Festo P.BE−SPC200−EN en 0901dWWinPISA 1−29 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Summary of components1−27Festo P.BE−SPC200−EN en 0901dTheme Functions ControlpanelWinPISAConfiguration  Entering axis data Entering

1. Summary of components1−28Festo P.BE−S PC200−EN en 0901dControl panel Control panel type SPC200−MMI−1... has a two−line LCD d

1. Summary of components1−29Festo P.BE−SPC200−EN en 0901dWinPISA The WinPISA software package runs on the Windows® operating sys

1. Summary of components1−30Festo P.BE−S PC200−EN en 0901dWinPISA provides the following functions: graphically supported configu

1. Summary of components1−31Festo P.BE−SPC200−EN en 0901d1.7 I/O address range of the SPC200A complete word (16 bit) for inputs

1. Summary of components1−32Festo P.BE−S PC200−EN en 0901dThe following diagram shows an example.I0.0...I0.9Q0.0...Q0.7I2.0..

Fitting2−1Festo P.BE−SPC200−EN en 0901dChapter 2

2. Fitting2−2Festo P.BE−SPC200−EN en 0901dContents2.1 Fitting and removing components 2−5 . . . . . . . . . . . . . . .

2. Fitting2−3Festo P.BE−SPC200−EN en 0901dContents of this chapter This chapter explains how to fit and remove SPC200modules as

Contents and general instructionsIVFesto P.BE−SPC200−EN en 0901d3. Installation 3−1 . . . . . . . . . . . . . . . . . . .

2. Fitting2−4Festo P.BE−S PC200−EN en 0901dWarningBefore carrying out installation and/or maintenance work,switch off the followi

2. Fitting2−5Festo P.BE−SPC200−EN en 0901d2.1 Fitting and removing componentsCautionComponents may be damaged if they are not han

2. Fitting2−6Festo P.BE−S PC200−EN en 0901dModule Type designation Max. numberPower supply module SPC200−PWR−AIF 1Diagnostic module S

2. Fitting2−7Festo P.BE−SPC200−EN en 0901dWarningActuators can be activated unintentionally and the SPC200can be damaged if modul

2. Fitting2−8Festo P.BE−S PC200−EN en 0901d1 Locksautomatically2 Direction forunlocking3 Guide rail4 Contact strip5 Front plate of t

2. Fitting2−9Festo P.BE−SPC200−EN en 0901d2.2 Fitting the basic unitYou can fit the SPC200 into a control cabinet in one of t

2. Fitting2−10Festo P.BE−S PC200−EN en 0901dFitting with a hat railIn order to fit the rack onto a hat rail, you will requ

2. Fitting2−11Festo P.BE−SPC200−EN en 0901d1 M4*10 screw2 Clip3 Hat rail4 Clampingelement5 Fixing bolts12345Fig.2/3: Fitting the rack

2. Fitting2−12Festo P.BE−S PC200−EN en 0901d2.3 Fit the control panel into positionControl panel type SPC200−MMI−1Control panel

2. Fitting2−13Festo P.BE−SPC200−EN en 0901d1 Control panel(side view)2 Locking pin3 Locking pins onthe control panel4 Diagnosticmodul

Contents and general instructionsVFesto P.BE−SPC200−EN en 0901d4. Commissioning 4−1 . . . . . . . . . . . . . . . . . . . .

2. Fitting2−14Festo P.BE−S PC200−EN en 0901dControl panel type SPC200−MMI−1FControl panel type SPC200−MMI−1F is intended for mou

2. Fitting2−15Festo P.BE−SPC200−EN en 0901dProceed with fitting as follows:1. Push the control panel into the cut−out in the fr

2. Fitting2−16Festo P.BE−S PC200−EN en 0901d2.4 Fitting the axis interface and the I/O function moduleThis section explains how

2. Fitting2−17Festo P.BE−SPC200−EN en 0901d1231 Fastening holes for horizontal mounting2 Angled plug3 Additional support bracket (ac

2. Fitting2−18Festo P.BE−S PC200−EN en 0901dFitting the I/O function moduleI/O function modules are intended for fitting onto

2. Fitting2−19Festo P.BE−SPC200−EN en 0901d5. Tighten the screws. The fastening and the housing willthen be clamped firmly on t

2. Fitting2−20Festo P.BE−S PC200−EN en 0901d2.5 Notes on fitting the pneumatic axisPlease noteFit the drive, the measuring syst

2. Fitting2−21Festo P.BE−SPC200−EN en 0901dDrivesCautionMount shock absorbers on the drive, also on drives withadjustable cushioni

2. Fitting2−22Festo P.BE−S PC200−EN en 0901d

Installation3−1Festo P.BE−SPC200−EN en 0901dChapter 3

Contents and general instructionsVIFesto P.BE−SPC200−EN en 0901d6. Operating the SPC200 with the control panel 6−1 . . . . . .

3. Installation3−2Festo P.BE−SPC200−EN en 0901dContents3.1 General instructions on installation 3−4 . . . . . . . . . . . .

3. Installation3−3Festo P.BE−SPC200−EN en 0901dContents of this chapter This chapter contains general instructions on installing t

3. Installation3−4Festo P.BE−SPC200−EN en 0901d3.1 General instructions on installationCautionUse only the special matching compon

3. Installation3−5Festo P.BE−SPC200−EN en 0901d3.2 General instructions on fitting the pneumatic componentsPlease noteFaults in the

3. Installation3−6Festo P.BE−SPC200−EN en 0901d3.2.2 Service unit · Use a service unit consisting of a compressed air filterand

3. Installation3−7Festo P.BE−SPC200−EN en 0901d3.2.3 Compressed air reservoir (optional)For good positioning behaviour during operat

3. Installation3−8Festo P.BE−SPC200−EN en 0901d3.2.4 Proportional directional control valve type MPYE−...· Fit the proportional di

3. Installation3−9Festo P.BE−SPC200−EN en 0901d1 Ducted exhaust2 Compressed airreser voir3 Silencer123Fig.3/2: Ducted exhaust

3. Installation3−10Festo P.BE−SPC200−EN en 0901d3.2.5 Compressed air tubing and screw connectors· If possible, use screw connecto

3. Installation3−11Festo P.BE−SPC200−EN en 0901d3.2.6 DrivesUse only the permitted drives with suitable guide listed inappendix A.

Contents and general instructionsVIIFesto P.BE−SPC200−EN en 0901d8. Diagnosis and error treatment 8−1 . . . . . . . . . . . . .

3. Installation3−12Festo P.BE−SPC200−EN en 0901dMeasuring systems with actuator slidesIf you wish to use a measuring system w

3. Installation3−13Festo P.BE−SPC200−EN en 0901dThere is a maximum and a minimum permissible mass load.The mass load depends on

3. Installation3−14Festo P.BE−SPC200−EN en 0901dIn order to configure a positioning axis, the user must definenot only the Ma

3. Installation3−15Festo P.BE−SPC200−EN en 0901dMass load for linear drives and piston rod cylindersDetermine the permitted mass

3. Installation3−16Festo P.BE−SPC200−EN en 0901d3.3 Additional pneumatic circuitsYou may require additional pneumatic circuits in

3. Installation3−17Festo P.BE−SPC200−EN en 0901d3.4 Dimensional reference system  terms and definitionsIn this section you will

3. Installation3−18Festo P.BE−SPC200−EN en 0901dA) Drive type DGP(I)(L)−...1 Linear drive  in this case DGPL with measuring s

3. Installation3−19Festo P.BE−SPC200−EN en 0901dDimensional reference system for drive type DGP(I)(L)−...Reference points(1) Measurin

3. Installation3−20Festo P.BE−SPC200−EN en 0901dB) Drive type DNC(M)−...1 Piston rod drive  in this case DNC with measuring s

3. Installation3−21Festo P.BE−SPC200−EN en 0901dDimensional reference system for drive type DNC(M)−...Reference points(1) Measuring