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Electronics ManualField bus modulefor DeviceNet typeSPC200−COM−DN2Manual196 608en 0511a[688 393]SPC200 Smart Positioning Controller

Contents and general instructionsVIIIFesto P.BE−SPC200−COM−CANDN−EN en 0511aMarking special informationThe following pictograms mark p

A. Technical appendixA−12Festo P.BE−SPC200−COM−CANDN−EN en 0511aWrite number in order to select a NC programCommand Message, WR

A. Technical appendixA−13Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead Position RegisterCommand Message, WRC = 16d / 17dByte Function

A. Technical appendixA−14Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead digital nominal value M10Command Message, WRC = 18d / 19dB

A. Technical appendixA−15Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead registerCommand Message, WRC = 20dByte Function ContentsByte 0 C

A. Technical appendixA−16Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead flags and axis status flagsCommand Message, WRC = 21dByte F

A. Technical appendixA−17Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead number of the selected NC programCommand Message, WRC = 22dB

A. Technical appendixA−18Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead number of the created NC recordCommand Message, WRC = 23dB

A. Technical appendixA−19Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead status of task A/BCommand Message, WRC = 24dByte Function Cont

A. Technical appendixA−20Festo P.BE−SPC200−COM−CANDN−EN en 0511aMeaning of the status valuesRecord status 0 = record is not pro

A. Technical appendixA−21Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead fault messageCommand Message, WRC = 25dByte Function ContentsByt

Contents and general instructionsIXFesto P.BE−SPC200−COM−CANDN−EN en 0511aProduct−specific terms and abbreviationsAbbreviation MeaningDevic

A. Technical appendixA−22Festo P.BE−SPC200−COM−CANDN−EN en 0511aA.4 Sequence plans for the programmerThe following sequence plans

A. Technical appendixA−23Festo P.BE−SPC200−COM−CANDN−EN en 0511aCreate readiness to operateWhen you switch on the operating and l

A. Technical appendixA−24Festo P.BE−SPC200−COM−CANDN−EN en 0511aREADY=1?Start timer ţ 2 sNoTimerexpired?YesYesFaultSet STOPWait 10

A. Technical appendixA−25Festo P.BE−SPC200−COM−CANDN−EN en 0511aStart NC record in Record Select modeACK_A/B=0?Create NC record nu

A. Technical appendixA−26Festo P.BE−SPC200−COM−CANDN−EN en 0511aNoTimerexpired?YesFaultNoYesStart timer ţ 2 sRC_A/B=1?EndNoTimerexpir

A. Technical appendixA−27Festo P.BE−SPC200−COM−CANDN−EN en 0511aStart program or NC recordPrerequisitesThe program must already be

A. Technical appendixA−28Festo P.BE−SPC200−COM−CANDN−EN en 0511aQuit faultsIf several faults occur simultaneously, quitting must

A. Technical appendixA−29Festo P.BE−SPC200−COM−CANDN−EN en 0511aWrite parameter procedure (DeviceNet profiles)STARTLoadCommandData Valu

A. Technical appendixA−30Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead parameter procedure (DeviceNet profiles)STARTLoadCommand Axi s N

IndexB−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aAppendix B

Contents and general instructionsXFesto P.BE−SPC200−COM−CANDN−EN en 0511aManuals for the SPC200 Smart Positioning ControllerThe follo

B. IndexB−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContentsB. Index B−1 . . . . . . . . . . . . . . . . . . . . . . .

B. IndexB−3Festo P.BE−SPC200−COM−CANDN−EN en 0511aAAccessories A−4 . . . . . . . . . . . . . . . . . . . . . . . . .

B. IndexB−4Festo P.BE−SPC200−COM−CANDN−EN en 0511aDDesignated use V . . . . . . . . . . . . . . . . . . . . . . .

B. IndexB−5Festo P.BE−SPC200−COM−CANDN−EN en 0511aHHardware configuration 4−4 . . . . . . . . . . . . . . . . . . . . .

B. IndexB−6Festo P.BE−SPC200−COM−CANDN−EN en 0511aPParameter commandsDefinition 5−6 . . . . . . . . . . . . . . . . . .

B. IndexB−7Festo P.BE−SPC200−COM−CANDN−EN en 0511aSoftware versions VI . . . . . . . . . . . . . . . . . . . . . . .

B. IndexB−8Festo P.BE−SPC200−COM−CANDN−EN en 0511a

System summary1−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aChapter 1

1. System summary1−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContents1. System summary 1−1 . . . . . . . . . . . . . . . .

1. System summary1−3Festo P.BE−SPC200−COM−CANDN−EN en 0511a1.1 Composition of the systemThe field bus module type SPC200−COM−DN2 e

1. System summary1−4Festo P.BE−SPC200−COM−CANDN−EN en 0511a1.2 Display and connecting elements of the field bus module1MOD/NET L

1. System summary1−5Festo P.BE−SPC200−COM−CANDN−EN en 0511a1.3 Basic equipment required for operation on the DeviceNetWith the fol

1. System summary1−6Festo P.BE−SPC200−COM−CANDN−EN en 0511a1.4 Protocol variants and operating modes (definition)Protocol variants

1. System summary1−7Festo P.BE−SPC200−COM−CANDN−EN en 0511a1.5 I/O address ranges and assignments (mapping)The following table show

1. System summary1−8Festo P.BE−SPC200−COM−CANDN−EN en 0511aI10.0...I13.152...8bytesoutput2...8bytesinputQ10.0...Q13.15PLC/IPC Sca

1. System summary1−9Festo P.BE−SPC200−COM−CANDN−EN en 0511aI/O assignment (mapping)The I/O mapping enables direct reading and writ

1. System summary1−10Festo P.BE−SPC200−COM−CANDN−EN en 0511a

Fitting2−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aChapter 2

2. Fitting2−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContents2. Fitting 2−1 . . . . . . . . . . . . . . . . . . . . .

2. Fitting2−3Festo P.BE−SPC200−COM−CANDN−EN en 0511a2.1 Fitting and removing the field bus moduleWarningSudden unexpected movement

2. Fitting2−4Festo P.BE−SPC200−COM−CANDN−EN en 0511aFitting the modulesFit the modules into the rack as follows:1.Switch off fi

2. Fitting2−5Festo P.BE−SPC200−COM−CANDN−EN en 0511aRemoving the modulesProceed as follows when removing a module:1.Switch off the

2. Fitting2−6Festo P.BE−SPC200−COM−CANDN−EN en 0511a

Installation3−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aChapter 3

Contents and general instructionsIFesto P.BE−SPC200−COM−CANDN−EN en 0511aOriginal de. . . . . . . . . . . . . . . . . . . .

3. Installation3−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContents3. Installation 3−1 . . . . . . . . . . . . . . . . . .

3. Installation3−3Festo P.BE−SPC200−COM−CANDN−EN en 0511aWarningUndesired movement of the connected actuators and non−defined switch

3. Installation3−4Festo P.BE−SPC200−COM−CANDN−EN en 0511a3.1 Connecting to the field busThe following overview shows the field b

3. Installation3−5Festo P.BE−SPC200−COM−CANDN−EN en 0511aField bus cable, cable lengths and baud ratesPlease note· Ascertain from

3. Installation3−6Festo P.BE−SPC200−COM−CANDN−EN en 0511aBus power supplyThe hardware basis of DeviceNet is the CAN bus. It is

3. Installation3−7Festo P.BE−SPC200−COM−CANDN−EN en 0511aPin assignment of the field bus connectionThere is a 5−pin plug on the

3. Installation3−8Festo P.BE−SPC200−COM−CANDN−EN en 0511aConnection instructions for the scannerPlease noteYou must check the pin

3. Installation3−9Festo P.BE−SPC200−COM−CANDN−EN en 0511aFitting a terminating resistorIf the SPC200 is at the end of the field

3. Installation3−10Festo P.BE−SPC200−COM−CANDN−EN en 0511a

Commissioning4−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aChapter 4

Contents and general instructionsIIFesto P.BE−SPC200−COM−CANDN−EN en 0511a

4. Commissioning4−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContents4. Commissioning 4−1 . . . . . . . . . . . . . . . . .

4. Commissioning4−3Festo P.BE−SPC200−COM−CANDN−EN en 0511aOverview of commissioningWarningInjury to people and damage to propertyMak

4. Commissioning4−4Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.1 Configuring the SPC2004.1.1Configuring the hardware of the SPC200 wi

4. Commissioning4−5Festo P.BE−SPC200−COM−CANDN−EN en 0511aSupplementary instructions on commissioning withWinPISAActivate the test mo

4. Commissioning4−6Festo P.BE−SPC200−COM−CANDN−EN en 0511aIn order to generate control signals in the test mode:1.Activate the

4. Commissioning4−7Festo P.BE−SPC200−COM−CANDN−EN en 0511aI/O control signals (overview)A detailed explanation of the I/O control

4. Commissioning4−8Festo P.BE−SPC200−COM−CANDN−EN en 0511aExample of function test in Record Select modeIn Record Select mode t

4. Commissioning4−9Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.1.2Configuring the field bus of the SPC200 with WinPISAWhen all axes

4. Commissioning4−10Festo P.BE−SPC200−COM−CANDN−EN en 0511a2. Click on a location (here 1) and select the module type 2.Wit

4. Commissioning4−11Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.Set also the following in this register card:SettingNotesBus address 0.

Contents and general instructionsIIIFesto P.BE−SPC200−COM−CANDN−EN en 0511aContentsDesignated use V . . . . . . . . . . . . . .

4. Commissioning4−12Festo P.BE−SPC200−COM−CANDN−EN en 0511a6.Select the register card Field bus I/O".Fig.4/5:I/O assignments

4. Commissioning4−13Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.1.3 I/O address ranges of the field bus moduleConfigurable I/O address

4. Commissioning4−14Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.2 Configuring the network4.2.1 Installing the EDS fileWhen you commiss

4. Commissioning4−15Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.2.2 General parametrizingThe following steps are necessary for parametri

4. Commissioning4−16Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.2.3 Instructions on RSNetWorx for DeviceNetInsert the slave in the p

4. Commissioning4−17Festo P.BE−SPC200−COM−CANDN−EN en 0511aAssign the slave to a scannerA double click on the desired scanner in

4. Commissioning4−18Festo P.BE−SPC200−COM−CANDN−EN en 0511aParametrizing slavesA double click on the slave opens a dialogue fiel

4. Commissioning4−19Festo P.BE−SPC200−COM−CANDN−EN en 0511aAssign the I/O addresses of the slaveWith the registers Output" a

4. Commissioning4−20Festo P.BE−SPC200−COM−CANDN−EN en 0511a4.3 Commissioning the networkWhen the controller is switched on, it au

Data structure5−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aChapter 5

Contents and general instructionsIVFesto P.BE−SPC200−COM−CANDN−EN en 0511a5. Data structure 5−1 . . . . . . . . . . . . . . .

5. Data structure5−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContents5. Data structure 5−1 . . . . . . . . . . . . . . . .

5. Data structure5−3Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.1 DeviceNet IO: I/O assignment and functionsThe following tables provi

5. Data structure5−4Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.1.1 I/O assignment with the Start/Stop modeByte Bit 7Bit 15Bit 6Bit

5. Data structure5−5Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.1.2 I/O assignment with Record SelectByte Bit 7Bit 15Bit 6Bit 14Bit 5

5. Data structure5−6Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.2 DeviceNet profiles: I/O assignment and functionsThe DeviceNet profi

5. Data structure5−7Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.2.1Control commandsByte 0 in the Command Message controls with its b

5. Data structure5−8Festo P.BE−SPC200−COM−CANDN−EN en 0511aRecord Select modeCommand MessageByte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bi

5. Data structure5−9Festo P.BE−SPC200−COM−CANDN−EN en 0511aRECBIT }V Record no.10 9 8 7 6 5 4 3 2 1 HB LB0 0 0 0 0 0 0 0 0 0 0 0 01 0 0

5. Data structure5−10Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.2.2 Update commandsWith the update commands you can read the follo

5. Data structure5−11Festo P.BE−SPC200−COM−CANDN−EN en 0511aComposition of the Command MessageByteBit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bi

Contents and general instructionsVFesto P.BE−SPC200−COM−CANDN−EN en 0511aDesignated useThe field bus module type SPC200−COM−DN2 enables

5. Data structure5−12Festo P.BE−SPC200−COM−CANDN−EN en 0511aComposition of the Response MessageThe SPC200 replies as follows:Byte

5. Data structure5−13Festo P.BE−SPC200−COM−CANDN−EN en 0511a5.2.3 Parameter commandsThese commands write or read parameters, e.g. p

5. Data structure5−14Festo P.BE−SPC200−COM−CANDN−EN en 0511aThe handshake cycle for reading data PLC { SPC200The Command Messag

5. Data structure5−15Festo P.BE−SPC200−COM−CANDN−EN en 0511aComposition of the Command MessageByte0 1 2 3 4 5 6 7CommandMessageControlb

5. Data structure5−16Festo P.BE−SPC200−COM−CANDN−EN en 0511aComposition of the Response MessageByte0 1 2 3 4 5 6 7ResponseMessageStat

5. Data structure5−17Festo P.BE−SPC200−COM−CANDN−EN en 0511aList of the parameter commands (RMT = 0)WritecommandsFormat WRC Axis C−A

5. Data structure5−18Festo P.BE−SPC200−COM−CANDN−EN en 0511aRead commands Format WRC Axis C−AN CMT Subindex 1) 2)X 0h10h16dsigned10Y 20h

Diagnostic and error treatment6−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aChapter 6

6. Diagnostic and error treatment6−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContents6. Diagnostic and error treatment 6−1 . . . .

6. Diagnostic and error treatment6−3Festo P.BE−SPC200−CO M−CANDN−EN en 0511a6.1 General instructions on diagnosisInformation on gene

Contents and general instructionsVIFesto P.BE−SPC200−COM−CANDN−EN en 0511aTarget groupThis manual is intended exclusively for technic

6. Diagnostic and error treatment6−4Festo P.BE−SPC200−COM−CANDN−EN en 0511a6.2 Diagnosis by LEDThe two−colour LED on the field

6. Diagnostic and error treatment6−5Festo P.BE−SPC200−CO M−CANDN−EN en 0511a6.2.2 Fault display of the Mod/Net LEDLED Reaction Opera

6. Diagnostic and error treatment6−6Festo P.BE−SPC200−COM−CANDN−EN en 0511a6.3 Diagnosis with WinPISAIn the menu [Online] you ca

6. Diagnostic and error treatment6−7Festo P.BE−SPC200−CO M−CANDN−EN en 0511a6.4 Diagnosing the SPC200 via the field busThe 8−figur

6. Diagnostic and error treatment6−8Festo P.BE−SPC200−COM−CANDN−EN en 0511aComposition of the 8−figure fault messagesThe indivi

6. Diagnostic and error treatment6−9Festo P.BE−SPC200−CO M−CANDN−EN en 0511aAxis identifier Meaning0 System fault (not axis−related)1

6. Diagnostic and error treatment6−10Festo P.BE−SPC200−COM−CANDN−EN en 0511a6.5 Diagnosis of the DeviceNet profile communicationTh

6. Diagnostic and error treatment6−11Festo P.BE−SPC200−CO M−CANDN−EN en 0511aNo. Extended fault code in byte 41 Parameter value ca

6. Diagnostic and error treatment6−12Festo P.BE−SPC200−COM−CANDN−EN en 0511a

Technical appendixA−1Festo P.BE−SPC200−COM−CANDN−EN en 0511aAppendix A

Contents and general instructionsVIIFesto P.BE−SPC200−COM−CANDN−EN en 0511aImportant user instructionsDanger categoriesThis manual contai

A. Technical appendixA−2Festo P.BE−SPC200−COM−CANDN−EN en 0511aContentsA. Technical appendix A−1 . . . . . . . . . . . . .

A. Technical appendixA−3Festo P.BE−SPC200−COM−CANDN−EN en 0511aA.1 Technical specificationsType SPC200−COM−DN2Temperature range Operati

A. Technical appendixA−4Festo P.BE−SPC200−COM−CANDN−EN en 0511aA.2 AccessoriesBus connectionConnection to the bus is made via a

A. Technical appendixA−5Festo P.BE−SPC200−COM−CANDN−EN en 0511aAddressesManufacturer AddressesWoodhead Industries Inc. United StatesDani

A. Technical appendixA−6Festo P.BE−SPC200−COM−CANDN−EN en 0511aManufacturer AddressesTur ck United StatesTur ck Inc.3000 Campus Drive

A. Technical appendixA−7Festo P.BE−SPC200−COM−CANDN−EN en 0511aA.3 DeviceNet profiles: Parameter commandsWrite Position RegisterComman

A. Technical appendixA−8Festo P.BE−SPC200−COM−CANDN−EN en 0511aWrite digital nominal value M10 (only with Start/Stop)Command Mess

A. Technical appendixA−9Festo P.BE−SPC200−COM−CANDN−EN en 0511aWrite registerCommand Message, WRC = 5dByte Function ContentsByte 0 Co

A. Technical appendixA−10Festo P.BE−SPC200−COM−CANDN−EN en 0511aWrite flags (status flags)Command Message, WRC = 6dByte Function C

A. Technical appendixA−11Festo P.BE−SPC200−COM−CANDN−EN en 0511aWrite field bus inputs of the SPC200 (I10.8 ... I13.15)Command