G 1

SPC200 Smart Positioning Controller
Electronics/ pneumatics manual System manual Smart Positioning Controller type SPC200
Manual 170 246 en 0901d [713 873]
Contents and general instructions
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0901d Designation . . . . . . . . . . . . . . . . . . . . . . . . . P.BESPC200EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 246
(Festo AG & Co. KG, D73726 Esslingen, Federal Republic of Germany, 2009) Internet: http://www.festo.com EMail: service_international@festo.com The reproduction, distribution and utilization of this document as well as the communicaton of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility module or design. I
Festo P.BESPC200EN en 0901d
Interbus, DeviceNet and PROFIBUS are registered trademarks of their respective trademark holders in certain countries.
II
Contents
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Productspecific terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Documentation for the SPC200 Smart Positioning Controller . . . . . . . . . . . . . . . . . . . Information on operating system versions of the SPC200 and software versions of WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1. 1.1 Summary of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The SPC200 positioning controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 The range of devices for the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . 1.1.2 Structure of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning systems with the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.1 Components of a pneumatic positioning axis . . . . . . . . . . . . . . . . . 1.2.2 Examples of multipleaxis systems . . . . . . . . . . . . . . . . . . . . . . . . . . Structure of the axis interface string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating modes of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multiaxis applications with the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning and programming possibilities . . . . . . . . . . . . . . . . . . . . . . . I/O address range of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX X XI XI XII XIV XV XVI 11 14 15 19 113 113 117 120 124 125 126 131 21
1.2
1.3 1.4 1.5 1.6 1.7 2. 2.1 2.2 2.3 2.4 2.5
Fitting and removing components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Fitting the basic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Fit the control panel into position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 Fitting the axis interface and the I/O function module . . . . . . . . . . . . . . . . . . 216 Notes on fitting the pneumatic axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
III
3. 3.1 3.2
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on fitting the pneumatic components . . . . . . . . . . . . . . 3.2.1 the compressed air supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Service unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.3 Compressed air reservoir (optional) . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.4 Proportional directional control valve type MPYE... . . . . . . . . . . . . 3.2.5 Compressed air tubing and screw connectors . . . . . . . . . . . . . . . . . 3.2.6 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.7 General instructions on measuring systems . . . . . . . . . . . . . . . . . . 3.2.8 Requirements of the mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.9 Mass load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Additional pneumatic circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensional reference system terms and definitions . . . . . . . . . . . . . . . . . Installing the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.1 Selecting the power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.2 Connections on the supply module . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.3 Connections of the diagnostic module . . . . . . . . . . . . . . . . . . . . . . . 3.5.4 Connections of the I/O module type SPC200DIO... . . . . . . . . . . . . 3.5.5 Connections of the analogue input module type SPC2002AIU . . 3.5.6 Connections of the subcontroller module type SPC200SCUAIF . Installing the modules on the axis interface string . . . . . . . . . . . . . . . . . . . . . 3.6.1 Installing the axis interface SPCAIF... . . . . . . . . . . . . . . . . . . . . . . . 3.6.2 Installation I/O function module type SPCFIO2E/2AM8 . . . . . . . 3.6.3 Installing control panel SPC200MMI1F . . . . . . . . . . . . . . . . . . . . .
31 34 35 35 36 37 38 310 311 311 312 312 316 317 326 327 329 335 338 347 350 352 356 361 365
3.3 3.4 3.5
3.6
IV
4. 4.1 4.2 4.3
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting a singleaxis system for the first commissioning . . . . . . . . . . . . Overview of the parameters of a positioning axis . . . . . . . . . . . . . . . . . . . . . 4.3.1 Pneumatic axis data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Application data for pneumatic axes . . . . . . . . . . . . . . . . . . . . . . . . 4.3.3 Axis data of an electric stepping motor axis . . . . . . . . . . . . . . . . . . 4.3.4 Application data of an electric stepping motor axis . . . . . . . . . . . . 4.3.5 Controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1 Saving the hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.2 Commissioning pneumatic axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.3 Notes on commissioning multiaxis systems . . . . . . . . . . . . . . . . . . Controlling the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41 45 48 417 418 419 420 421 422 423 424 427 442 51
4.4
5. 5.1 5.2 5.3
General notes on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Start/Stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 5.2.1 Explanation of all I/O signals in Start/Stop mode . . . . . . . . . . . . . . 511 Record Select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517 5.3.1 Explanation of all I/O signals in Record Select mode . . . . . . . . . . . 522
6. 6.1 6.2 6.3
Operating the SPC200 with the control panel . . . . . . . . . . . . . . . . . . . . . . . Structure and functions of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Moving in the menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting projectspecific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.1 Create new program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.2 Instructions on editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.3 Store of commands on the control panel . . . . . . . . . . . . . . . . . . . . . 6.3.4 Edit existing program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.5 Delete program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit position register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controlling the program sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displaying operands and system states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test and diagnostic functions of the control panel . . . . . . . . . . . . . . . . . . . . . Description of the commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.1 Parallel program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.2 Program organisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.3 Presetting for positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.4 New NC syntax and new NC commands . . . . . . . . . . . . . . . . . . . . . . Addressing, registers and axis status flags . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.1 Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Addressing the control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.3 Position register X [Y Z U] @n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.4 Register Rn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.5 Flag Fn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.6 Axis status flag Fn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Command syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Explanation of the NC commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61 64 67 613 627 628 633 635 639 641 642 646 648 650 652 71 74 75 710 711 712 714 714 716 718 719 721 722 724 730
6.4 6.5 6.6 6.7 6.8 7. 7.1
7.2
7.3 7.4
VI
8. 8.1 8.2
Diagnosis and error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Onthespot diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault messages on the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.2 Fault classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Eliminating faults in the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.1 Faults when switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.2 Faults when positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on installing the pneumatic components . . . . . . . . . . . . . . . . . . . . . Axis structure with drive type DGP(L)... and type DGPI(L)... . . . . . . . . . . . . Axis structure with standard cylinder type DNC... . . . . . . . . . . . . . . . . . . . . Axis structure with standard cylinder type DNCM... . . . . . . . . . . . . . . . . . . . Axis structure with rotary module type DSMI... . . . . . . . . . . . . . . . . . . . . . . Axis structure with standard cylinder type DNCI... . . . . . . . . . . . . . . . . . . . . Optimizing the positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81 84 89 812 813 833 833 835 A1 A3 A10 A17 A24 A31 B1
8.3
A. A.1 A.2 A.3 A.4 A.5 B. B.1 B.2 B.3
Basic information on control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B3 Description of the controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B7 Optimize positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B10 B.3.1 Proceed as follows if the compressed air supply is unstable . . . . . B16
VII
C. C.1
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sequence plans for the programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Creating readiness to operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Start NC record in Record Select mode . . . . . . . . . . . . . . . . . . . . . . C.1.3 Start program or NC record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.4 Carry out fault acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . Cable length and crosssectional area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Internal layout of the inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.4.1 Technical specifications for the SPC200 . . . . . . . . . . . . . . . . . . . . . . C.4.2 Technical specifications of axis interface type SPCAIF... . . . . . . . . C.4.3 Technical specifications of the I/O function module type SPCFIO... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.4.4 Technical specifications of control panel type SPC200MMI1 . . . . C.4.5 Technical specifications of control panel type SPC200MMI1F . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C1 C3 C3 C7 C9 C10 C14 C18 C22 C22 C28 C30 C31 C32 D1
C.2 C.3 C.4
D.
VIII
IX
Designated use
The SPC200 Smart Positioning Controller is designed for fit ting into a control cabinet. It serves as a closedloop position ing controller for pneumatic axes and as a positioning con troller for stepping motor axes. Basic components and modules for the SPC200 are described in this documenta tion. Special extension modules are described in separate manuals. It is absolutely necessary to observe the safety instructions as well as the designated use of the relevant components and modules. Observe also the safety regulations listed in the operating instructions for the pneumatic and electric compo nents used. The SPC200 and the modules and cables to be connected are only to be used as follows: in accordance with designated use only in industrial applications without any modifications by the user. Only the conver sions or modifications described in the documentation supplied with the product are permitted. in faultless technical condition.
If additional commerciallyavailable components such as sen sors and actuators are connected, the specified limits for pressures, temperatures, electrical data, torques, etc. must not be exceeded. Please observe the standards specified in the relevant chapters and comply with technical regulations, as well as with national and local regulations.
Safety regulations
When commissioning and programming positioning systems, the safety regulations listed in this manual as well as in the operating instructions for the other components used, must always be observed. The user must make sure that nobody is in the operating range of the connected actuators or axis system. Access to the possible danger area must be prevented by suitable measures such as protective screens and warning signs.
Warning Pneumatic and electric axes move at high speed and with high force. Collisions can lead to serious injury to human beings and damage to components. Make sure that nobody can place his/her hand in the posi tioning range of the axes or other connected actuators and that no objects lie in the positioning path whilst the system is connected to sources of energy (compressed air, supply voltage).
Warning Faults in parametrizing can cause injury to human beings and damage to property, if the controller is enabled with a 1signal at the ENABLE input. Enable the controller only if the axis system is correctly installed and parametrized.
XI
Warning If the tubing of your axis system is incorrectly connected and you enable the controller, the drive will move, depend ing on the level of the supply pressure, at high speed and with high acceleration into one of the end positions (con trol direction reversed). This can lead to serious injury to human beings and damage to components. Always check the tubing before enabling the controller with a 1signal at the ENABLE input.
Target group
This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing posi tioning systems.
Service
Please consult your local Festo repair service if you have any technical problems.
XII
Important user instructions Danger categories

This manual contains instructions on the possible dangers which may occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc.), printed on a shaded background and marked additionally with a picto gram. A distinction is made between the following danger warnings:
Warning This means that failure to observe this instruction may result in serious personal injury or damage to property.
Caution This means that failure to observe this instruction may result in personal injury or damage to property.
Please note 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.
XIII
Marking special information

The following pictograms mark passages in the text containing special information. Pictograms Information: Recommendations, tips and references to other sources of information.
Accessories: Information on necessary or sensible accessories for the Festo product.
Environment: Information on environmentfriendly 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. Hyphens indicate general activities.
XIV
Productspecific terms and abbreviations

The following productspecific terms and abbreviations are used in this manual: Term/ abbreviation
0signal 1signal Application data Axis data Axis interface Axis interface string CP cable F I I/O modules I/Os Modules PLC/IPC Q R String
Meaning
Input or output supplies 0 V Input or output supplies 24 V Configuration data which describe the conditions of use specified by the application. Configuration data which describe the structure, the features and the com ponents of the axis used. The measuring system and the proportional directional control valve are connected to the SPC200 via the axis interface. All the modules and cables which are each connected to an axis interface connection of the SPC200. Special cable for connecting the various modules to the axis interface string. Flags Digital input Common term for the modules which provide digital inputs and outputs on the axis interface string. Digital inputs and outputs Function cards which are inserted in the rack of the SPC200. Programmable logic controller/industrial PC Digital output Register All the modules which are each connected to an axis interface string.
XV
Documentation for the SPC200 Smart Positioning Controller

This manual contains general basic information on fitting, installing and commissioning pneumatic axes with the SPC200 as well as on their functioning. Extension modules are available for coupling to field bus systems and for connecting electric axes. Detailed informa tion on this can be found in the manual for the relevant module. Information on commissioning, programming and diagnosing the SPC200 with the WinPISA software package can be found in the relevant manual for WinPISA. Type
System manual
Title
SPC200 Smart Positioning Controller type P.BESPC200... WinPISA software package type P.SWWINPISA... WinPISA help system (contained in WinPISA) Field bus module type P.BESPC200...... Stepping motor module type P.BESPC200SMX1... Electric positioning system type P.BEATP...
Contents
Installation, commissioning and diagnosing pneumatic axes with the SPC200; standard components and modules Functions of the WinPISA software package WinPISA help system Installing, commissioning and diagnosing the relevant field bus module Installing, commissioning and diagnosing with a stepping motor Further information on electric positioning systems
Software manual Help system Manuals
Information on the pneumatic components can be found in the operating instructions supplied with the product.
XVI
Information on operating system versions of the SPC200 and software versions of WinPISA
This manual supports the following operating systems and WinPISA versions: Operating system
Version 3.8
Date of validity
082001
Associated WinPISA
Version 4.1 Version 4.1a
Date of validity
052001 062002 102003 122004 032006 112008
Version 4.63 Version 4.82 Version 4.90 Version 4.93
102003 122004 032006 112008
Version 4.31 Version 4.41 Version 4.5 Version 4.51
Please note The operating system and WinPISA versions are always downward compatible, i.e. a newer version supports the capabilities of an older one. Conversely: Any older version does not support the expanded and new capabilities of newer versions.
Caution The functionality of the MMI (control panel) has been frozen to that of operating system version 3.8. This means that all new functions from operating system version 4.63 onwards are no longer supported by the MMI. When commissioning with the MMI, from operating system version 4.63 onwards, the exact switching cycle of the ENABLE signal must be observed during the movement test, see section 4.4.2. The sole purpose of this change is to increase safety for persons and the machinery during commissioning.
XVII
Identification of versionspecific information

Passages in the text containing special information about particular operating system versions are identified as fol lows:
New feature as from OS 4.63
New feature: Note that the the function marked is new as from the speci fied operating system version (in the example 4.63) and is not supported by the older operating system versions. Compatibility violation: Note that as from the specified operating system version (in the example 4.63), the function marked is not compatible with the older versions. The explanations in the text must be observed.
Noncompatible as from OS 4.63
Overview of operating system versions

The following table provides an overview of the changes in the operating system (firmware) of the SPC200: Version Identification
up to 3.8
What has been changed
See section
WinPISA version 4.1a is recommended for this version. Supports drives of the DGP family and stepping motors of the MTRVRDM family. With regard to system functionality, this version is the reference for all newer ver sions.
XVIII
Version Identification
as from 4.63

WinPISA version 4.31 or higher is recom mended for this version. Piston rod drives of the DNC/DNCM family and DSMI rotary drives are supported. The new stepping motor controller SECST is supported. The stepping motor card must have software version 1.42. The capabilities of the PROFIBUS card from software version 2.0 onwards are supported. The field bus card for DeviceNet version 1.2 is supported. Command M39 has been introduced for the first time. This command can be used to specify directly a valve variable, and thus a specific flow rate in the propor tional valve. Commands M40 and M41 have been in troduced for the first time. These two commands can be used to define Move ment limitvalues when command M39 is employed. Movement commands G01, G02, G08, G09 and G25 can obtain their parameters from the @n position registers. Movement commands G01 and G02 can also obtain the parameters for the percen tage speed from the @n registers. Command G25 X[Y,Z,U] 0 receives the meaning 0 % (instead of 100 %), with the result that after the start of the motion command which follows it , the program line after that is executed immediately. M10 without parameters activates the specifications from the configuration list. The axis status flags F64...F127 have been introduced.
See section
A.2, A.3 and A.4 Description of stepping motor indexer module Description of field bus modules PROFIBUS and DeviceNet 7.3
7.3
7.3
7.3
7.3
7.3 7.2.6
as from 4.63
Movement test: The process and the 4.4.2, step 2 sequence for switching the ENABLE signal on and off have been modified. A version check has been introduced. This prevents programs with new capabilities/ functions from being changed inadver tently by older versions.
XIX
as from 4.82

WinPISA version 4.41 or higher is recom mended for this version. The DNCI drive family with an incremental measuring system is supported. The reference run for pneumatic axes has been introduced } G74. Configuration data of channel 5 have been introduced for digital nominal value specification } M10. The M37 command can be parametrized with values (mass value) from the @n position registers. In addition, the Workpiece mass in initial state" (of the axis) has been introduced. This defines what mass load is to be in effect when the system is switched on. The dialogue for the identification run of the axes has been adapted accordingly in WinPISA 4.41. Commands M10 and M11 can be parame trized with values from the @n position registers. Undervoltage in the load voltage no longer causes a serious error" to be gen erated. Data exchange with the measuring system remains intact, and the counter value of the incremental measuring sys tem continues to be updated as long as the supply voltage is available and no serious system error" is active. At least WinPISA 4.50 is recommended for this version. Support of fieldbus module type SPC200COMDN2 System status flags F88 and F89 as status flags for Task A and B. CPI/O modules type CP..CL are sup ported.
See section
A.5 7.3 7.3
7.3
3.2.9
7.3
as from 4.90
Description of fieldbus module 7.2.6
XX
as from 4.93

At least WinPISA 4.51 is recommended for this version. Error messages via the fieldbus can be suppressed through paramaterization (no stop of the PLC). Stop behaviour can be configured.
See section
Description of fieldbus module 5.2.1, 5.3.1
XXI
XXII
Summary of components
Chapter 1
11
1. Summary of components
Contents
1.1 The SPC200 positioning controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 The range of devices for the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . 1.1.2 Structure of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning systems with the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.1 Components of a pneumatic positioning axis . . . . . . . . . . . . . . . . . 1.2.2 Examples of multipleaxis systems . . . . . . . . . . . . . . . . . . . . . . . . . . Structure of the axis interface string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating modes of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multiaxis applications with the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning and programming possibilities . . . . . . . . . . . . . . . . . . . . . . . I/O address range of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 15 19 113 113 117 120 124 125 126 131
1.2
1.3 1.4 1.5 1.6 1.7
12
Contents of this chapter
This chapter provides an overview of the extension possibi lities for positioning systems with SPC200 as well as the range of devices and the structure of the SPC200. This chapter also contains basic information on: connecting pneumatic axes to the axis interface string the operating modes, commissioning and programming possibilities of the SPC200 the I/O address range of the SPC200.
Further information
Coupling to field bus systems is made possible by special field bus modules. Detailed information on this can be found in the manual for the relevant field bus module. The coupling of electric axes is made possible with special modules. Detailed information on this can be found in the manual for the relevant module.
13
1.1
The SPC200 positioning controller

Festo assists you with your positioning tasks with the SPC200 Smart Positioning Controller. The SPC200 is a univer sal, modularbased controller which supports the coupling of pneumatic and electric axes with connection to field bus sys tems. Up to 4 axes can be connected depending on the equipment fitted on the controller. Pneumatic and electric axes can be operated in mixed mode.
14
1.1.1
The range of devices for the SPC200

The range of devices for the SPC 200 includes the following components: Components
SPC200 type SPC200......
Function
The SPC200 is housed in a rack. Depend ing on the requirement of the positioning task you can install the necessary compo nents in the rack.
Control panel type SPC200MMI1...
The control panel has six buttons with which all functions can be accessed by menu. Control panel type SPC200MMI1 can be placed directly on the SPC200. Control panel type SPC200MMI1F is intended for mounting in a front plate.
Axis interface type SPCAIF...
The axis interface provides the connection between the components on the pneu matic axis and the SPC200. It receives the values supplied by the measuring system, passes them onto the SPC200 and pro vides the positioning signal for the pro portional directional control valve. This module provides 2 inputs/outputs for connecting sensors and actuators directly on the axis. Additional functions, such as e.g. gripping, lifting, lowering and turning can be implemented with these sensors and actuators.
I/O function module (optional) type SPCFIO2E/2AM8
15
If required, the following CP I/O modules and CPV valve terminals can be connected to the end of the axis interface string. CP modules (optional)
CPV valve terminals type CPV.........
Function
Provides via valve plates different valve functions for controlling pneumatic actuators. Relay plates, pressure zone separation plates and blanking plates can also be fitted.
Input module type CPE16...M...
Special designs are available for various connection variants. Provide inputs for connecting sensors and enable e.g. cylinder positions to be scanned.
Output module type CPA08M12
Provide universally useable electric outputs for controlling lowcurrent consuming devices (valves, bulbs etc.).
16
Supported drives
The SPC200 supports the pneumatic drives listed in the following table. Consult Festo if you wish to use other drives. Drive Description Measuring system From operating system Permitted fitting position
Horizontal, vertical or diagonally
Linear drive type DGP(I)(L)25...63
Builton or integrated
Version 3.8
Standard cylinder type DNC32...80
Builton
Standard cylinder type DNCM32 and 50 Standard cylinder type DNCI32...63
Builton
Integrated
Rotary drive type DSMI25 and 40
Integrated
Drive shaft vertical upwards or downwards or inclined horizontally to the side
The SPC200 supports various electric stepping motor drives. Detailed information can be found in the description of the stepping motor indexer module, see Documentation for the SPC200", page XV.
17
Notes on planning pneumatic axes

Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. On each side of the drive positioning must not take place in the range of the stroke reduction (see appendix A).
Caution If the range is exceeded, this can lead to impairment of function and thereby to operating faults.
Please note For faultless operation of the pneumatic axes with the SPC200 the following performance limits must be ob served.
Performance limits
Minimum speed Minimum positioning stroke
Value
With DGP(I)(L)... and DNC(I)(M)...: With rotary drive DSMI...: 50 mm/s 40 /s
With DGP(I)(L)..., DNC... and DNC(I)(M)...: with cylinder lengths of < 700 mm: max. 3 % of the stroke length with cylinder lengths of 700 mm: 20 mm With rotary drive DSMI...: 5 The best positioning behaviour (reproducibility and positioning time) is achieved between 10 % and 90 % of the max. stroke length of the cylinder. The max. permissible positioning stroke of a cylinder is equal to the max. stroke length minus the stroke reserve of the cylinder, see section 3.4 and appendix A
Usable stroke length or usable swivel angle
18
1.1.2
Structure of the SPC200

The SPC200 is built up on a modular basis and is housed in a rack. The host computer and memory of the SPC200 are situ ated on the rear wall printed circuit board in the rack. The combination of rack and rear wall printed circuit board is referred to as the basic unit. Basic units with 4 and 6 loca tions are available for implementing variants with different equipment.
1 3 2
1 Rack (basic unit) 2 Rear wall printed circuit board (in the rack) 3 Modules
Fig. 1/1: SPC200 Smart Positioning Controller Depending on the requirement of the positioning task, you can install the necessary components in the basic unit.
19
Basic modules
With the following modules the SPC200 provides a func tional controller device for penumatic axes:
2 1 3
1 Power supply module type SPC200PWRAIF 2 Diagnostic module type SPC200MMIDIAG 3 I/O module type SPC200DIO
Fig. 1/2: Basic modules of the SPC200 Module
Power supply module Diagnostic module I/O module
Description
Enables the power supply and the axis interface designed as a field device to be connected. Enables the control panel to be inserted or connected and a PC to be connected. Provides the necessary I/Os for controlling in the various operating modes.
110
A system with the modules mentioned above offers the following scope of performance: Extension modules up to two pneumatic axes can be controlled various measuring system types can be connected due to different variants of the axis interface independent operation or coordination with external PLC/IPC via I/Os programming and operation via a PC or a control panel.
The modules listed in the following table are available for extending the system:
Module
Analogue input module
Description
With this module you can specify ana logue nominal position values. The mod ule has two analogue input channels for this purpose. The permitted voltage range is 0...10 V.
I/O module
Provides further freely programmable I/Os. The SPC200 supports maximum 4I/O modules.
Subcontroller module
Enables two further pneumatic axes and further I/O modules to be connected. The module provides here the necessary computer output as well as a connection for a further axis interface string.
111
Module
Stepping motor indexer module
Description
Enables a stepping motor controller to be connected for operating a stepping motor See section Documentation for the SPC200", page XV.
Field bus module
Enables connection to be made to the relevant field bus See section Documentation for the SPC200", page XV.
112
1.2 1.2.1
Positioning systems with the SPC200 Components of a pneumatic positioning axis

With pneumatic axes the SPC200 takes over the control and positioning of the axes. The measuring system and the pro portional directional control valve are connected via the axis interface which is placed directly on the drive. The axis interface is connected to the SPC200 by only one cable, the axis interface string. The following diagram shows the basic layout of a pneumatic axis with the SPC200.
3 2 1
7 1 Proportional directional control valve

type MPYE...
5 SPC200 Smart Positioning Controller 6 Axis interface type SPCAIF... 7 Service unit with 5 m filter
2 Drive 3 Measuring system 4 Axis interface string
Fig. 1/3: Connecting pneumatic axes to the SPC200
113
Components
You will require the following components for setting up a pneumatic axis: the SPC200 axis controller an axis interface type SPCAIF... a proportional directional control valve typeMPYE5...010B a measuring system type MLOPOT...TLF, typeMLOPOT...LWG or type MMEMTS...TLFAIF or a drive with integrated measuring system a permitted drive if necessary, further components for the drive, e.g. a mechanical guide, a coupling etc. (see appendix A.) a service unit with 5 m filter a 24 V DC power supply if necessary, components for a pneumatic emergency stop circuit.
The SPC200 Smart Positioning Controller takes control of the following tasks: specification of the nominal positions by positioning control comparison of the nominal and actual positions and posi tioning control by means of the proportional directional control valve (status control) optimization of the controller behaviour by parameter adaptation control of the peripherals via digital inputs and outputs and sequence control.
114
Method of operation
The following diagram shows the basic layout of a position ing control circuit with the SPC200 Smart Positioning Con troller.
2 1 3
4 6
5 1 Position of the drive = control variable 4 Axis interface 2 Actual position (actual value) 3 SPC200 positioning controller 5 Valve voltage (positioning signal) 6 Proportional directional control valve
(positioner) Fig. 1/4: Positioning control circuit with pneumatic components The axis interface, valve, drive and measuring system are connected with each other to form a closedloop control cir cuit. In this closedloop control circuit, the position of the drive represents the control variable. This control circuit is therefore also called positioning control. The measuring system registers continuously the position of the drive and passes this on to the axis interface in the form of an electric signal.
115
The measured values are passed on from the axis interface to the SPC200 Smart Positioning Controller. The SPC200 com pares the nominal position with current position and calcu lates from this value the positioning signal for the propor tional directional control valve. The proportional directional control valve controls the drive by pressurizing one drive chamber and exhausting the other. In the midposition the flow is blocked so that the drive stops typically at the current position.
116
1.2.2
Examples of multipleaxis systems

The SPC200 can be operated independently as well as in con junction with a higherorder PLC/IPC. Within certain limits, it can also manage control functions. For this purpose I/O mod ules with digital inputs/outputs can be incorporated in the SPC200 or external I/O modules can be connected to the axis interface string. Coupling to a higherorder PLC/IPC can be made via digital inputs/outputs or via special field bus modules (e.g. Inter bus; PROFIBUSDP etc.). The components of the pneumatic axes, in some cases also external I/O modules, are connected via maximum two axis interface strings with one cable each to the SPC200.
117
1 3 3
1
PNP INPUT/OUTPUT POWER 0 OUTPUT 1 DIAG 0 INPUT 1
4 1 First axis interface string 3 Axis interface
2 Second axis interface string (optional) 4 External I/O modules

Fig. 1/5: Connecting pneumatic axes and external I/O modules
118
4 7
6 1 Field bus connection (optional) 2 SPC200 Smart Positioning Controller 3 Control cabinet 4 Stepping motor controller 5 Further field bus slaves 6 Stepping motor axis 7 Pneumatic axis (here type DGPL...) 8 Axis interface string (max. 2 axes)
Fig. 1/6: Extension possibilities for positioning systems with the SPC200
119
1.3
Structure of the axis interface string

The SPC200 is intended for fitting into a control cabinet. The connection to the measuring system and the proportional directional control valve is made via the axis interface which is connected to the SPC200 via the axis interface string. In its basic design, the SPC200 can take control of the posi tioning of two pneumatic axes. Two axis interfaces and two pneumatic axes can therefore be connected to the axis inter face string. The axis interface for the second axis is con nected here to the axis interface of the first axis.
Axis identifiers
The axis identifiers are assigned to the axes automatically. The first axis is addresses as the Xaxis; the second axis as the Yaxis.
1 Axis interface of
the Xaxis
2 Axis interface of
the Yaxis
3 1
3 Axis interface
string
POWER ERROR IN OUT VALVE
3
POWER ERROR IN OUT VALVE
Fig. 1/7: Assignment of axis identifiers (example 1)
120
Maximum two axis interface strings and therefore up to four pneumatic axes are possible (X, Y, Z, U) per SPC200. The sec ond axis interface string is connected via the subcontroller module type SPC200SCUAIF, which takes control of the positioning of the further axes. Modules for connecting elec tric axes can then be installed. If modules for connecting further pneumatic or electric axes are fitted, the following applies: Axis identifiers (X, Y, Z, U) are distributed automatically in ascending order without gaps from left to right on the installed modules. On the axis interface string the first axis receives the lowervalue axis identifier, the second axis the higher value axis identifier.
1 Axis interface of the Xaxis 2 Axis interface of the Yaxis
3 Axis interface of the Zaxis 4 Stepping motor controller of the Uaxis
Fig. 1/8: Assignment of axis identifiers (examples 2 and 3)

121
Further modules with inputs and outputs can be connected to the axis interface string. The following diagram shows the possible configurations on the axis interface string, with the example of a twoaxis system.
2
POWER ERROR OUT IN VALVE POWER ERROR OUT IN VALVE POWER ERROR OUT IN VALVE
3
POWER ERROR OUT IN VALVE POWER ERROR OUT IN VALVE POWER ERROR OUT IN VALVE
4
INPUT/OUTPUT PNP POWER DIAG 0 OUTPUT 1 0 INPUT 1
6 1 Possible alternatives 2 Axis interface of the Xaxis 3 Axis interface of the Yaxis 4 Module with outputs/valves 5 Module with inputs 6 Module with inputs and outputs
Fig. 1/9: Configurations on the axis interface string (examples)
122
If required, the I/O function module 6 or the module with outputs 4 is connected to the Out connection of axis inter face 2 or 3. Modules with outputs 4 possess a connection for coupling an input module 5. Input modules can also be connected directly to the axis interface. The individual modules are connected to each other by cables. Information is transmitted between the modules and the SPC200 via this cable. The operating voltage and the load voltage are also provided via this cable. Identification of all connected modules is carried out automatically by the SPC200.
123
1.4
Operating modes of the SPC200

The SPC200 offers suitable operating modes for the different applications. The functions of the digital inputs and outputs of the SPC200 depend on the operating mode set. The follow ing operating modes are available: Start/Stop mode Record Select mode
Start/stop mode
In Start/stop mode the SPC200 can control simple position ing tasks independently or together with a higherorder PLC/IPC. Freely programmable inputs and outputs are avail able in this operating mode. You can start and stop positioning programs either with the control panel, a handheld or a higherorder PLC/IPC. The command Programmed Stop (M00) is available for loose coupling with a higherorder PLC/IPC. With this command you can synchronize the program sequence of the SPC200, e.g. with externally controlled processes.
Record Select mode
The Record Select operating mode supports the close coupling of the SPC200 with a higherorder PLC/IPC. The complete sequence control here is carried out by the con trolling PLC/IPC. This controller passes positioning tasks in the form of record numbers via digital I/Os to the SPC200. When the I/O module is used, the NC records 0...31 of the active program can be accessed via 5 digital inputs. These records usually contain positioning tasks. The PLC/IPC can therefore access freely up to 32 positions per axis. The maxi mum permitted number of NC records (1000 NC records) can be accessed via field bus modules.
124
1.5
Multiaxis applications with the SPC200

The SPC200 axis controller offers the possibility of parallel program processing and supports the setting up of multiaxis applications. An SPC200 can control up to 4 axes. It thereby supports: the coordinated mode the autonomous mode
Coordinated mode
The possibility of parallel program processing is not nor mally used in the coordinated mode. Only one program is defined as the starting program. NC records with positioning tasks for all axes are programmed in this program. If a positioning task concerns e.g. all axes, it is not completed until all the axes have reached the target position. The move ment sequence of all axes is thereby coordinated.
Autonomous mode
With the implementation of multiaxis systems, the con nected axes can be distributed into two asynchronously functioning independent work stations. This permits the lowcost implementation of two independent one or two axis systems with one SPC200. In the autonomous mode, the two parallelrunning programs each contain positioning tasks for one defined work station. In this way, e.g. a loading and unloading station can be con trolled with just one SPC200.
125
1.6
Commissioning and programming possibilities

You can carry out the commissioning and programming of the SPC200 with the: WinPISA software package control panel type SPC200MMI...
With the control panel you can commission and program single and multiaxis systems.
The functionality of the MMI (control panel) has been frozen to that of operating system version 3.8. This means that all new functions from operating system version 4.63 onwards can no longer be displayed or edited using the MMI. Compared with the control panel WinPISA offers an extended scope of functions and a very userfriendly user interface. The following table gives a brief overview:
Please note From operating system 4.6 onwards it is recommended to carry out configuration and commissioning of the axes and programming of the SPC200 controller with WinPISA ver sion 4.3 or later.
126
Theme
Functions
Control panel
1) 1)
WinPISA
Configuration
Entering axis data Entering application data Entering controller data Entering programs Entering positions Teach Editor for positions Project backup functions New NC syntax and new NC commands Test functions for components Program test in single steps Extended test functions Uploading/downloading programs Starting and stopping programs
2)
Programming
Commissioning
Service Analysis and Optimization

1) 2)
Updating the SPC200 firmware by downloading Reading out statistic diagnostic data Graphical representation of measured data Entering extended system data
If they correspond to operating system version 3.8, see also page XVI Only in conjunction with operating system versions 4.6 and WinPISA from version 4.3 onwards
127
Control panel
Control panel type SPC200MMI1... has a twoline LCD dis play. Up to 16 characters per line can be represented. The control panel has six buttons with which all functions can be accessed by menu. Control panel type SPC200MMI1 can be placed directly on the SPC200. Control panel type SPC200MMI1F is intended for mounting in a front plate.
1 2 3
1 Display (LCD display with 2 x 16 characters) 2 Touchsensitive keyboard 3 Interface to the SPC200 on the rear
Fig. 1/10: Control panel type SPC200MMI1 The control panel offers all the necessary functions for com missioning, programming, diagnosing and operating directly on the SPC200. The control panel provides editor functions for editing position registers and programs. You can enter positions or programs via menus on the key board. If your positioning system is builtup completely, you can move to positions very easily and transfer them to the position register with the Teach functions.
128
WinPISA
The WinPISA software package runs on the Windows oper ating system on version 98 or higher. It offers a convenient user interface.
1 2 3
1 Icon bar 2 Project window

Fig. 1/11: User interface of WinPISA
3 Program window
The WinPISA project window offers fast access to all project data. All project components, such as the position list, pro grams and configuration data are represented graphically in the project window. A double click suffices for checking set tings or for undertaking modifications.
129
WinPISA provides the following functions: graphically supported configuration of the current project a userfriendly Editor for NC programming based on DIN66025 load functions for programs, projects, etc. a graphical function for analyzing the positioning behaviour.
WinPISA supports singleaxis applications and multiaxis applications with up to four axes. Position list As an alternative to the direct entry of positions (e.g. X100) when programming, you can also specify positions by means of the position register. You simply need to enter the desired position in the program register (e.g. X@1). 100 position registers are available per axis. In WinPISA you can map the position register by means of the position list. The position registers of all the axes are grouped together under the same index in the position list and are given a name as a symbolic position. You can then use the names of the symbolic positions in user programs instead of specifying position registers.
Please note From operating system version 4.63 onwards, position registers (@n) can also be used for saving speed and ac celeration values and other parameters. Detailed informa tion can be found under the specific NC commands, see section 7.2.3.
130
1.7
I/O address range of the SPC200

A complete word (16 bit) for inputs and/or outputs is avail able for every component and every I/O module, irrespective of how many I/Os are integrated.
Configuring the SPC200

without field bus module First I/O module with field bus module
Maximum address range
I0.0 ... I0.9 1) I1.0 ... I1.15 I2.0 ... I2.9 I3.0 ... I3.15 I4.0 ... I4.9 I5.0 ... I5.9 I10.0 ... I13.15 2)
Q0.0 ... Q0.7 1) Q1.0 ... Q1.15 Q2.0 ... Q2.7 Q3.0 ... Q3.15 Q4.0 ... Q4.7 Q5.0 ... Q5.7 Q10.0 ... Q13.15 2)
I/O module on the first axis interface string Second I/O module First I/O module
I/O modules on the second axis interface string Third I/O module Fourth I/O module
1) 2)
Second I/O module Third I/O module Field bus module
Address range is not available if a field bus module is used Address range not available without a field bus module
131
The following diagram shows an example. I0.0 ... I0.9 Q0.0 ... Q0.7 I2.0 .. I2.9 Q2.0 ... Q2.7
I4.0 ... 14.9 Q4.0 ... Q4.7
Q1.0 ... Q1.11
I1.0 ... I1.15
Q3.0 ... Q3.15
I3.0 ... I3.15
1 These I/Os are partly reserved by

preassigned functions (control inputs and outputs)
Q = output; I = input
Fig. 1/12: Address assignment without field bus module (example) 132
Fitting
Chapter 2
21
2. Fitting
Contents
2.1 2.2 2.3 2.4 2.5 Fitting and removing components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Fitting the basic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Fit the control panel into position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 Fitting the axis interface and the I/O function module . . . . . . . . . . . . . . . . . . 216 Notes on fitting the pneumatic axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
22
2. Fitting
This chapter explains how to fit and remove SPC200 modules as well as how to fit the following components: SPC200 basic unit Control panel Axis interface I/O function module
This chapter also contains instructions on how to fit the pneumatic axis. Further information Instructions on fitting electromechanical axes, power con trollers and sensors can be found in the documentation for the relevant component. Detailed information can also be found in the instructions supplied with the product. Further information on the electric axis can be found in the manual for the relevant module.
23
2. Fitting
Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string. You can thereby avoid: uncontrolled movements of the connected actuators. uncontrolled movements of loose tubing undefined switching states.
24
2. Fitting
2.1
Fitting and removing components
Caution Components may be damaged if they are not handled correctly.

Do not touch the electrical contacts of the modules. Observe the regulations for handling electrostatically
sensitive components.
Protecting the components against discharges of static
electricity: Discharge yourself of static electricity before fitting or removing the modules. The rack type SPC200CPU... serves as a housing for the components of the SPC200. The processor and memory of the SPC200 are situated on the integrated rearwall printed circuit board. The components inserted are connected with each other via this rearwall printed circuit board. The components are fastened with the aid of a locking lever on the rack. A tool is not therefore required for fitting or re moving the components. Locations The locations are marked from left to right with 1 to 4 or 6. Location 1 is reserved for the power supply module (typeSPC200PWRAIF). Other components can be fitted as desired in locations 2 to 4 or 6. Individual identification of all inserted components is carried out automatically.
25
2. Fitting
Module
Power supply module Diagnostic module Subcontroller module Field bus module Nominal value module Stepping motor indexer modules I/O modules
Type designation
SPC200PWRAIF SPC200MMIDIAG SPC200SCUAIF SPC200COM... SPC2002AIU SPC200SMX SPC200DIO
Max. number
1 1 1 1 2 3 3 or 4 1)
1) Maximum four I/O modules if a field bus module is not installed.
Recommendation: If a subcontroller or stepping motor module is installed. Check to see if the modules must be fitted in a certain sequence. Axis identifiers (X...U) are assigned automati cally to these modules in ascending order without gaps from left to right (see chapter 1.3). Mount the subcontroller module if possible in the outer most righthand location. The cable screening/shield can then be fitted easily to the earth connection on the right hand side. Mount the stepping motor indexer module and the field bus module with a gap of at least one location from the diagnostic module, if you are using a control panel.
26
2. Fitting
Warning Actuators can be activated unintentionally and the SPC200 can be damaged if modules are fitted or removed when the power supply is switched on. Before carrying out in stallation and/or maintenance work, switch off the follow ing in the sequence specified: 1. the compressed air supply 2. the load voltage and operating voltage supplies of the SPC200.
Fitting modules
Fit the modules into the rack as follows: 1. Switch off the compressed air supply and the operating voltage supply. 2. If necessary, remove the blanking plate. 3. Hold the module by the front plate and push it into the guide rail. Make sure that the modules are not tilted when they are pushed in and that the components on the printed circuit board are not damaged. 4. Make sure that the plugs on the contact strips are cor rectly aligned. Then gently push the module in com pletely. The locking levers will then engage automatically (see Fig. 2/1).
27
2. Fitting
1 Locks
automatically
2 Direction for
unlocking
3 Guide rail 4 Contact strip 5 Front plate of the

module
1 6 5
6 Locking lever
4
Fig. 2/1: Installing the modules
Removing modules
Proceed as follows when removing a module: 1. Switch off the compressed air supply and the operating voltage supply. 2. Disconnect and remove the connecting cable from the front of the module. 3. Unlock both locking levers (see Fig. 2/1) and carefully remove the module. 4. If necessary, seal the unused connections with blanking plates.
28
2. Fitting
2.2
Fitting the basic unit

You can fit the SPC200 into a control cabinet in one of two ways: by screwing it directly to the wall of the control cabinet by means of a hat rail.
Please note Fit the SPC200 or the hat rail so that there is sufficient space (above or below for heat dissipation 40 mm).
Screwing the SPC200 to the wall

You will require: a mounting surface of approximately 126 x 120 mm2 four threaded holes for screw size M4 (dimensions see following diagram).
94 mm
1 SPC200CPU4: 117 mm
SPC200CPU6: 158 mm Fig. 2/2: Screwing the SPC200 to the wall
29
2. Fitting
Fitting with a hat rail

In order to fit the rack onto a hat rail, you will require mount ing kit CPV10/14VIBGNRH. This kit consists of 2 brackets, 4M4x10 screws and 2 clamping elements with spring (see Fig. 2/3). Proceed as follows when fitting the SPC200 onto a hat rail: 1. Make sure that the mounting surface can support the weight of the SPC200. 2. Fit a hat rail (support rail EN 50022 35x7.5; width 35mm, height 7.5 mm). 3. Fasten the hat rail at least every 100 mm to the fastening surface. 4. Screw the two brackets 2 with the M4x10 screws sup plied 1 to the fastening bracket of the rack (see follow ing diagram). Make sure that the fixing bolts 5 of the bracket grip into the groove of the rack. 5. Hang the rack onto the hat rail. Fasten the rack with the clamping elements 4 so that it cannot tilt or slide down.
210
2. Fitting
1 M4*10 screw 2 Clip 3 Hat rail 4 Clamping

element
1 5
2 3 4
5 Fixing bolts
Fig. 2/3: Fitting the rack onto a hat rail Proceed with dismantling as follows: 1. Remove the clamping elements. 2. Lift up the rack.
211
2. Fitting
2.3
Fit the control panel into position Control panel type SPC200MMI1
Control panel type SPC200MMI1 can be inserted directly into the diagnostic module type SPC200MMIDIAG of the SPC200 (see Fig. 2/4).
Warning Actuators can be activated unintentionally and the SPC200 can be damaged if modules are fitted or removed when the power supply is switched on. Before carrying out in stallation and/or maintenance work, switch off the follow ing in the sequence specified: 1. the compressed air supply 2. the load and operating voltage supplies on the SPC200 and, if applicable, the load voltage supply on the axis interface string. Proceed with fitting as follows: Control panel type SPC200MMI1 can be inserted directly into the diagnostic module type SPC200MMIDIAG of the SPC200 (see Fig. 2/4). 1. Switch off the compressed air supply. 2. Switch off the load voltage and operating voltage sup plies on the SPC200. 3. Carefully place the control panel onto the diagnostic module type SPC200MMIDIAG of the SPC200. Make sure that plug 3 and socket 5 are correctly aligned be fore fully inserting the control panel. 4. Make sure that locking pins 2 snap into position.
212
2. Fitting
1 Control panel
(side view)
2 1
3 4 5 6
2 Locking pin 3 Locking pins on

the control panel
4 Diagnostic
module
5 Socket for control

panel (X3)
6 Groove for
locking pins
Fig. 2/4: Fitting the control panel Proceed with dismantling as follows: 1. Switch off the compressed air supply. 2. Switch off the operating voltage and load voltage supplies for the SPC200. 3. Carefully lift up the control panel from diagnostic module type SPC200MMIDIAG.
213
2. Fitting
Control panel type SPC200MMI1F

Control panel type SPC200MMI1F is intended for mounting in a front plate. For fastening the control panel you require a space of approx. 114 x 102 x 70 mm and a cutout area of approx. 92 x 92 mm. The front plate must not be thicker than 4 mm.
1 Display
(LCD display with 2 x 16 characters)
1 2
2 Fastening clamps
Fig. 2/5: Control panel type SPC200MMI1F The following diagram shows appropriate dimensions.
1 Control panel (side view) 2 Control panel (rear view) 3 Fastening clamps (included in delivery)
Fig. 2/6: Dimensions of type SPC200MMI1F 214
2. Fitting
Proceed with fitting as follows: 1. Push the control panel into the cutout in the front plate. 2. Hang the fastening clamps from the rear into the appropriate cutouts. 3. Screw the control panel to the front plate.
1 Control panel 2 Front plate 3 Fastening clamps 4 Fastening screws 4

3.
1
1.
2.
3
Fig. 2/7: Fitting control panel type SPC200MMI1F
215
2. Fitting
2.4
Fitting the axis interface and the I/O function module

This section explains how to fit the axis interface type SPCAIF... and the I/= function module type SPCFIO... .
Fitting the axis interface

Fit the axis interface as close as possible to the relevant drive. The length of the cable to the measuring system should be approx. 500 mm. The axis interface type SPCAIF... must be fitted on a flat surface.
Fasten the axis interface with at least 3 M4 screws.
The dimensions for the threaded holes for screw size M4 are shown in Fig. 2/8 and Fig. 2/9. Fig. 2/8 shows the current design of the axis interfaces of type SPCAIFPOT, ...LWG and ...MTS. For older axis interfaces, separate support brackets are necessary. These enable horizontal or vertical fitting with the middle holes shown in Fig. 2/8 (dimension 16.9 mm"), see the brief description supplied with the product. The axis interfaces of type SPCAIFPOT, ...LWG, ...MTS can be fitted vertically. Separate support brackets (accessories) are necessary here.
216
2. Fitting
1 Fastening holes for horizontal mounting 2 Angled plug 3 Additional support bracket (accessory) for fitting with vertical mounting
Fig. 2/8: Fitting dimensions of axis interface type SPCAIFPOT, ...LWG and ...MTS
1 2
1 Fastening holes for horizontal mounting 2 Angled plug

Fig. 2/9: Fitting dimensions of axis interface type SPCAIFINC
217
2. Fitting
Fitting the I/O function module

I/O function modules are intended for fitting onto a flat surface and for hat rails. Fitting onto a wall For fastening to a flat surface you will require a mounting area of approx. 70 x 80 mm2. The following diagram shows the dimensions for the four threaded holes of screw size M4.
67 mm
1 I/O function
module type SPCFIO2E/2AM8
INPUT/OUTPUT PNP POWER DIAG
1
0 0 OUTPUT INPUT 1 1
40 mm
Fig. 2/10: Fitting dimensions of the I/O function module
Fitting onto a hat rail
In order to fit the I/O function module onto a hat rail, you will require mounting kit CPTSHS35. This kit consists of two fastenings, two M4*12 screws and two washers. Proceed with fitting as follows: 1. Fit a hat rail (support rail EN 50022 35x15; width 35mm, height 15 mm). 2. Fasten the hat rail at least every 100 mm to the fastening surface. 3. Snap both fastenings into the hat rail (see Fig. 2/11). 4. Screw the housing to the fastening with the screws and washers supplied, as shown in the following diagram.
218
2. Fitting
5. Tighten the screws. The fastening and the housing will then be clamped firmly on the hat rail.
1 Fastening 2 Housing 3 M4x12 screw 4 Washer 5 Hat rail 5
2 3 4
Fig. 2/11: Fitting the SPCFIO2E/2AM8 onto a hat rail
Proceed with dismantling as follows: 1. Loosen the screws. 2. Remove the housing. 3. Use a screwdriver to lift the fastening out of the hat rail.
1 Screwdriver 2 Fastening 2 1
Fig. 2/12: Dismantling the fastening
219
2. Fitting
2.5
Notes on fitting the pneumatic axis
Please note Fit the drive, the measuring system and the proportional directional control valve in accordance with the relevant operating instructions. The following sections contain general rules which are important for the reliable operation of a pneumatic axis.
Proportional directional control valve

Fit the proportional directional control valve as close as possible to the drive. Short compressed air tubing will ensure the dynamics of the system. If you wish to fit the proportional directional control valve onto moving parts, you must fit it at right angles to the direction of movement. Acceleration forces then have no influence on the valve slide setting. If the proportional directional control valve is to be used in an environment subjected to heavy electrical interfer ence, it should be insulated from the mounting surface. Use silencers with a large flow.
220
2. Fitting
Drives
Caution Mount shock absorbers on the drive, also on drives with adjustable cushioning (PPV). In this way you can avoid damage in the event of operating and system faults.
Caution Limit the positioning range by means of fixed end stops if the measuring system is shorter than the positioning range. In this way you can avoid damage to the measuring system in the event of operating and system faults.
Important for positioning accuracy

The cylinder, guide, measuring system and load must be rigid in the direction of movement, have very little play and must be connected flush with each other. The play between the drive, guide, mass and measuring system must be smaller by the factor 10 than the required tolerance (max. 0.1 mm).
221
2. Fitting
222
Installation
Chapter 3
31
3. Installation
Contents
3.1 3.2 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on fitting the pneumatic components . . . . . . . . . . . . . . 3.2.1 the compressed air supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Service unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.3 Compressed air reservoir (optional) . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.4 Proportional directional control valve type MPYE... . . . . . . . . . . . . 3.2.5 Compressed air tubing and screw connectors . . . . . . . . . . . . . . . . . 3.2.6 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.7 General instructions on measuring systems . . . . . . . . . . . . . . . . . . 3.2.8 Requirements of the mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.9 Mass load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Additional pneumatic circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensional reference system terms and definitions . . . . . . . . . . . . . . . . . Installing the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.1 Selecting the power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.2 Connections on the supply module . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.3 Connections of the diagnostic module . . . . . . . . . . . . . . . . . . . . . . . 3.5.4 Connections of the I/O module type SPC200DIO... . . . . . . . . . . . . 3.5.5 Connections of the analogue input module type SPC2002AIU . . 3.5.6 Connections of the subcontroller module type SPC200SCUAIF . Installing the modules on the axis interface string . . . . . . . . . . . . . . . . . . . . . 3.6.1 Installing the axis interface SPCAIF... . . . . . . . . . . . . . . . . . . . . . . . 3.6.2 Installation I/O function module type SPCFIO2E/2AM8 . . . . . . . 3.6.3 Installing control panel SPC200MMI1F . . . . . . . . . . . . . . . . . . . . . 34 35 35 36 37 38 310 311 311 312 312 316 317 326 327 329 335 338 347 350 352 356 361 365
3.3 3.4 3.5
3.6
32
3. Installation
This chapter contains general instructions on installing the pneumatic axis. It also deals with the installation of the SPC200 basic unit with the following components and modules: Power supply module type SPC200PWRAIF Diagnostic module type SPC200MMIDIAG I/O module type SPC200DIO Analogue input module type SPC2002AIU Subcontroller module type SPC200SCUAIF Axis interface type SPCAIF... I/O function module type SPCFIO2E/2AM8
This chapter also contains important basic rules on setting up an axis interface string. Further information Installation instructions on special drives can be found in appendix A. Installation instructions on field bus modules as well as mod ules for coupling electric axes can be found in the manual for the relevant module. Instructions on fitting electromechanical axes, power con trollers and sensors can be found in the documentation for the relevant component.
33
3. Installation
3.1
General instructions on installation

Caution Use only the special matching components from Festo for setting up and wiring the system. Only in this way can you guarantee the correct functioning of the system.
Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string.
You can thereby avoid: uncontrolled movements of the connected actuators uncontrolled movements of loose tubing undefined switching states.
34
3. Installation
3.2
General instructions on fitting the pneumatic components

Please note Faults in the axis setup can lead to malfunctioning. Observe all the instructions on installing pneumatic com ponents. Set up the system with great care. Only then can you guarantee faultless operation.
The following sections contain general instructions on instal ling pneumatic components. These instructions apply to all the drives mentioned here. Special installation instructions related to a certain drive can be found in appendix A.
Please note It is necessary to carry out system identification during the first commissioning, when components are replaced, as well as when the drive configuration is modified (e.g. mounting position, tubing or supply pressure), (see section 4.4.2).
3.2.1
the compressed air supply

For protecting the proportional directional control valve against damage you will require a service unit with a 5 m filter.
Use only dry nonlubricated 5 m filtered compressed air 4...8 bar, tolerance 1 bar. Note the permitted pressure range of the components used.
35
3. Installation
3.2.2
Service unit
Use a service unit consisting of a compressed air filter and a regulating valve (e.g. type LFR...D... with 5 m filter element) as well as a safety startup valve (e.g. HEL......): without lubricator with a 5 m filter with sufficiently large nominal flow corresponding to the air requirement of the connected cylinder during positioning. Reference value: twice the rated flow of the valve (type MPYE5...) use a microfilter if you cannot avoid slight oil mist from the compressed air supply.
36
3. Installation
3.2.3
Compressed air reservoir (optional)

For good positioning behaviour during operation, fluctuations in pressure of max. 1 bar are permitted in front of the propor tional directional control valve. In order to check the stability of the supply pressure, you can fit a pressure measuring point directly in front of the proportional directional control valve.
Install a compressed air reservoir (e.g. type VZS...B) between the service unit and the proportional directional control valve, if the positioning behaviour does not meet your requirements and if you ascertain fluctuations in pressure of over 1 bar in front of the proportional direc tional control valve.
In this way you can reduce fluctuations in pressure during operation. You can compensate for slight excesses in the permitted pressure by using supply tubing with a larger diameter. Reservoir volume: The size of the reservoir volume depends on the cylinder vol ume of the drive used and should be at least twice as large as the volume of the cylinder used. VP = 2 * VZ VP VZ LZ r = = = = buffer volume; cylinder volume (VZ = r2 * * LZ ) cylinder stroke length cylinder diameter / 2
37
3. Installation
3.2.4
Proportional directional control valve type MPYE...
Fit the proportional directional control valve as close as possible to the drive. Short compressed air tubing will ensure the dynamics of the system. If the proportional directional control valve is to be used in an environment subjected to heavy electrical interfer ence, it should be insulated from the mounting surface. Fitting onto moving parts If fitted to moving parts, the proportional directional con trol valve must be mounted at rightangles to the direc tion of movement. Acceleration forces then have no influ ence on the valve slide setting.
1 3
1 Fitting at right angles to the direction of movement 2 Not permitted 3 Proportional directional control valve type MPYE...
Fig. 3/1: Fitting to moving parts
Use silencers with a large rated flow (e.g. U1/8).
Reducing loud exhaust noises:
Install larger silencers with the aid of tubing or pass the ducted exhaust into a small compressed air reservoir and exhaust this with a large silencer. Make sure that the screw connectors and tubing provide sufficient flow. Keep the tubing as short as possible.
38
3. Installation
1 Ducted exhaust 2 Compressed air

reservoir
1 2
3 Silencer
Fig. 3/2: Ducted exhaust
39
3. Installation
3.2.5
Compressed air tubing and screw connectors
If possible, use screw connectors from the QS or QSM series. In the case of drives with 3/8" connection, CKscrew connectors of type CK3/8PK13 are also permitted. Use only straight screw connectors. If angled connectors cannot be avoided, use plug connectors from the Festo Quick Star series. Use screw connectors with the largest possible rated width. If the proportional directional control valve and the drive have connections of different sizes, select the largest possible rated width of the smaller connection size. Depending on the screw connectors, always use the largest possible tubing diameter. Avoid installing restrictors or nonreturn valves in the supply line. Arrange the tubing so that it does not project into the positioning range. Use only clean compressed air tubing and connectors. Use tubing as short as possible between the valve (MPYE5...) and the drive and arrange the tubing symmetrically.
The permitted tubing lengths for the relevant drive can be found in appendix A. Details on permitted temperature and pressure ranges for tubing and connectors can be found in the Pneumatics Catalogue.
310
3. Installation
3.2.6
Drives
Use only the permitted drives with suitable guide listed in appendix A. Consult Festo if you wish to use other drives. Installation instructions for the permitted drives can be found in appendix A.
3.2.7
General instructions on measuring systems

Please note Note that the positioning accuracy which can be reached depends on the type of measuring system used. The mechanical work path (possible slide path) of the measuring system can be longer than the electrical work path (usable stroke length of the measuring system). If analogue measuring systems are used (e.g. type MLOPOT...), the following also applies: In conjunction with the SPC200, an electrical reserve of 0.3% of the rated length is also required in both end positions, see section 3.4. Example: Nominal length of the measuring system: 1000 [mm] Permitted work path: 3...997 [mm]
Caution If the slide of the measuring system leaves the permitted work path, the SPC200 will generate an appropriate fault message. In order to avoid these fault messages, limit the positioning range so that the slide of the measuring sys tem is always within the permitted work path.
311
3. Installation
Measuring systems with actuator slides

If you wish to use a measuring system with a slide under difficult ambient conditions, fit it so that the side with the actuator slide faces downwards. The drip edge on both sides prevents excessive dirt from forming on the running surface.
3.2.8
Requirements of the mechanism

The drive, guide, measuring system and load must be rigid in the direction of movement, have very little play and must be mounted flush with each other. If necessary, provide a sufficiently large supply of energy in order to minimise the effects of transverse forces on the positioning behaviour. The play between the drive, guide, mass and measuring system must be smaller by the factor 10 than the required tolerance, but never greater than 0.1 mm.
3.2.9
Mass load
For good positioning behaviour, the SPC200 must be adjusted to the mass load. Here the mass load represents the com plete mass to be moved with the positioning drive, including the weight of the piston and the slide. It consists of the mass of the workpiece which generally changes during the pro cess and all other parts of the drive with mass, such as pis tons, piston rods, slides, workpiece grippers or gripper units, etc. which are defined during the design engineering, and generally do not change: Mass load = workpiece mass + total moving mass without workpiece
312
3. Installation
There is a maximum and a minimum permissible mass load. The mass load depends on: the type of drive used the diameter of the drive used the selected mounting position the operating pressure.
Make sure that in all load situations the effective mass load: is at least equal to the minimum permissible mass load. This applies in particular when there is no workpiece. If necessary, fasten an additional mass / mass load to the slide. the maximum permissible mass load must not be exceeded, see Tab. 3/1 and Tab. 3/2. Please note Minimum mass load. A pneumatic positioning axis always requires a minimum mass load. You can find these values in Tab. 3/1 and Tab. 3/2. If necessary, this minimum mass load must be ensured through the use of an additional weight.
313
3. Installation
In order to configure a positioning axis, the user must define not only the Max. workpiece mass which is to be moved in the application, but also the Workpiece mass in initial state". The latter is used to specify the workpiece mass which is in effect on the positioning axis when the system is switched on (Poweron), and which accordingly must be taken into ac count in the SPC200. The following applies: 0 Workpiece mass in initial state Max. workpiece mass (max. workpiece mass, is defined in the application data) With this option you have the capability to adjust the servo setting of the SPC200 to various mass loads. Depending on the application, you can thus, if necessary, define the mass load of the initial state so that it is between the smallest and largest value. This feature is available from operating system version 4.82 (together with WinPISA version 4.41) onwards. Operating system 4.63 and earlier recognises only the initial state: Mass load = workpiece mass + mass of all other moving parts of the axis Please note If the mass load varies from positioning task to positioning task (e.g. due to different workpieces) by more that 30 %, the mass load must be adapted to the actual parameters. The NC command M37 can be used for this, see section 7.4.
314
3. Installation
Mass load for linear drives and piston rod cylinders

Determine the permitted mass load based on Tab. 3/1: Mounting position
horizontal ( = 0) vertical ( = 90) diagonal (0 < < 90) mmax d Psys mmax = = = = =
Maximum mass load

mmax 0.33 * mmax (12/3 sin) * mmax
Minimum mass load

0.1 * mmax 0.1 * mmax 0.1 * mma
Mounting position in [] d * Psys * 0.008 Cylinder diameter [mm] Supply pressure [bar] Maximum mass load for horizontal mounting position [kg]
Tab. 3/1:
Maximum and minimum mass load
Mass moment of inertia for rotary drives

The mass moment of inertia must not change during the movement. Permitted mass moments of inertia for rotary module type DSMI... in electronically regulated operation with the SPC200 are shown in the following table: Rotary module Permitted mass moment of inertia [kgm2 * 104]
15 ... 300 60 ... 1200
DSMI25... DSMI40...
Tab. 3/2:
Permissible mass moment of inertia
Festo supports you in calculating the mass moment of inertia with the MTM calculation program (Internet: http://www. festo.com). This program serves for calculating the mass mo ments of inertia of the 2nd degree for various basic units and standard parts from Festo (e.g. clipon flange for DSMI...).
315
3. Installation
3.3
Additional pneumatic circuits

You may require additional pneumatic circuits in order to attain a particular status for the system in certain applica tions. Please note If the operating voltage supply for the SPC200 is switched off, the proportional directional control valve type MPYE will move to the midposition. Due to the asymmetrical voltagepressure curve of the proportional directional con trol valve when the supply pressure is switched on, the slide can move slowly into one of the end positions.
Additional information
The "Guide To Safety Technology" brochure contains detailed information on: Directives and norms Machine guidelines and DIN EN ISO 138491 Definition and concept of risk Risk assessment Directivecompliant procedure for safe design (as per EN ISO 12100) Control architectures (as per DIN EN ISO 138491) Operating modes and safety functions
Sample circuit diagrams Festo products Services
You can request the "Guide To Safety Technology" brochure in the Internet at: www.festo.com
316
3. Installation
3.4
Dimensional reference system terms and definitions

In this section you will find descriptions of the dimensional reference system and the reference points for the various drives.
Please note With regard to the reference vectors in Fig. 3/3, Fig. 3/4, Fig. 3/5 and Fig. 3/6, the following applies: an arrow pointing to the right (or clockwise) represents a positive or increasing value. an arrow pointing to the left (or anticlockwise) repre sents a negative or decreasing value.
317
3. Installation
A) Drive type DGP(I)(L)...
1 Linear drive in this case DGPL with measuring system built on 2 Slide shown here in various positions 3 Measuring system type TLF, electric connection on the left side
Fig. 3/3: Dimensional reference system for DGP(I)(L)
318
3. Installation
Dimensional reference system for drive type DGP(I)(L)...

Reference points (1) Measuring system zero point this is always on the connection side of the measuring system, and is reached when the connecting rod of the measuring system is retracted; corresponds to a measured value of 0". Axis zero point, position of the slide/piston at the stop which is located closest to the measur ing system zero point. All other axisspecific reference values refer to this point. Project zero point reference point for all position values in programs and the position registers; defined by the user. An actual position which is displayed also refers to this point. With this reference value, the user has the option of using software to compare the location of the position values to a fixed point on the machine.
(2) (3)
Definition of paths (A) Mounting offset specifies the offset between the measuring system zero point and the axis zero point. It is a signed value; the arrow direction indicated corresponds to a positive numeric value. The mounting offset also affects the servo optimization of the SPC200; even small values (a few mm) must be specified as precisely as possible. Project zero point offset specifies the offset between the axis zero point and the project zero point. It is a signed value; the arrow direction depicted corresp. to a positive numeric value. Value of the current position (j actual position) relative to the project zero point. Value of the lower software end position; defines the smallest position value that can be moved to. Value of the upper software end position; defines the largest posi. value that can be moved to. Working stroke specifies the working positioning range of the axis; it is determined by the software end positions and specified by the user. The following applies: (F) = (E) (D) Maximum permissible positioning range; determined by the drive length and the stroke reserve. The following applies: (G) = (H) 2 * [K] Stroke of the drive; corresponds to the ordered length, also indicated on the type plate. Measuring system length; corresponds to the ordered length, also indicated on the type plate. Stroke reserve positioning must not take place in the range in front of the end covers. Positioning behaviour becomes unreliable in this range because it is affected by the damping elements in the covers. These values can be found in the appendices for the relevant drives. Electric reserve of the measuring system (0.3 %). This is used to monitor the electrical connec tion. When selecting the measuring system and the drive, the following relationship between the lengths must be observed: 0.994 * (J) (G) (F)
(B) (C) (D) (E) (F) (G) (H) (J) [K]
[L]
319
3. Installation
B) Drive type DNC(M)...
1 Piston rod drive in this case DNC

with measuring system built on
3 Measuring system type LWG, electric

connection on the left side
2 Piston rod advanced in various

positions
4 Connecting rod of the measuring

system in various positions
Fig. 3/4: Dimensional reference system for DNC(M)
320
3. Installation
Dimensional reference system for drive type DNC(M)...

Reference points (1) Measuring system zero point this is always on the connection side of the measuring system, and is reached when the connecting rod of the measuring system is retracted; corresponds to a measured value of 0". Axis zero point, position of the slide/piston at the stop which is located closest to the measur ing system zero point. All other axisspecific reference values refer to this point. Project zero point reference point for all position values in programs and the position regis ters; defined by the user. An actual position which is displayed also refers to this point. With this reference value, the user has the option of using software to compare the location of the position values to a fixed point on the machine.
(2) (3)
Definition of paths (A) Mounting offset specifies the offset between the measuring system zero point and the axis zero point. It is a signed value; the arrow direction indicated corresponds to a positive numeric value. The mounting offset also affects the servo optimization of the SPC200; even small values (a few mm) must be specified as precisely as possible. Project zero point offset specifies the offset between the axis zero point and the project zero point. It is a signed value; the arrow direction depicted corresponds to a positive numeric value. Value of the current position (j actual position) relative to the project zero point. Value of the lower software end position; defines the smallest position value that can be moved to. Value of the upper software end position; defines the largest pos. value that can be moved to. Working stroke specifies the working positioning range of the axis; it is determined by the software end positions and specified by the user. The following applies: (F) = (E) (D) Maximum permissible positioning range; determined by the drive length and the stroke reserve. The following applies: (G) = (H) 2 * [K] Stroke of the drive; corresponds to the ordered length, also indicated on the type plate. Measuring system length; corresponds to the ordered length, also indicated on the type plate. Stroke reserve positioning must not take place in the range in front of the end covers. Positioning behaviour becomes unreliable in this range because it is affected by the damping elements in the covers. These values can be found in the appendices for the relevant drives. Electric reserve of the measuring system (0.3 %). This is used to monitor the electrical connec tion. When selecting the measuring system and the drive, the following relationship between the lengths must be observed: 0.994 * (J) (G) (F)
(B)
(C) (D) (E) (F) (G) (H) (J) [K]
[L]
321
3. Installation
C) Drive type DNCI...
1 Piston rod drive in this case DNCI

with integrated incremental measuring system
5 Reference stop either end stop of the

drive itself (reproducibility: ~ 1/10 mm) or built on externally (reproducibility: ~ 1/100 mm)
2 Piston rod advanced in various

positions Fig. 3/5: Dimensional reference system for DNCI
322
3. Installation
Dimensional reference system for drive type DNCI...

Reference points (1) (2) (3) Reference point point of reference for the axis zero point. The reference point can be an external, adjustable fixed stop or the lower or upper end stop of the drive itself. Axis zero point position of the piston rod when completely retracted, without external fixed stop. All other axisspecific reference values refer to this point. Project zero point reference point for all position values in programs and the position regis ters; defined by the user. An actual position which is displayed also refers to this point. With this reference value, the user has the option of using software to compare the location of the position values to a fixed point on the machine.
Definition of paths (A) Reference position offset specifies the offset between the axis zero point and the reference point. This is always a positive value. This offset value also affects the servo optimization of the SPC200; even small values (a few mm) must be specified as precisely as possible. Project zero point offset specifies the offset between the axis zero point and the project zero point. It is a signed value; the arrow direction depicted corresponds to a positive numeric value. Value of the current position (j actual position) relative to the project zero point. Value of the lower software end position; defines the smallest position value that can be moved to. Value of the upper software end position; defines the largest pos. value that can be moved to. Working stroke specifies the working positioning range of the axis; it is determined by the software end positions and specified by the user. The following applies: (F) = (E) (D) Maximum permissible positioning range; determined by the drive length and the stroke reserve. The following applies: (G) = (H) 2 * [K] Stroke of the DNCI; also corresponds here to the measuring system length, and is indicated on the type plate. Stroke reserve positioning must not take place in the range in front of the end covers. Positioning behaviour becomes unreliable in this range because it is affected by the damping elements in the covers. These values can be found in the appendices for the relevant drives. When selecting the drive, the following relationship between the lengths must be observed: (G) (F)
(B)
(C) (D) (E) (F) (G) (H) [K]
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3. Installation
D) Drive type DSMI...
1 Rotary drive type in this case DSMI

with integrated angle measuring system
3 Electrical connection of the angle

measuring system
2 Stop lever in various angle positions

Fig. 3/6: Dimensional reference system for DSMI
324
3. Installation
Dimensional reference system for drive type DSMI...

Reference points (1) Measuring system zero point always on the behind the stop on the lefthand side of the drive in the anticlockwise direction; corresponds to a measured value of 0". In the DSMI it cannot be reached due to the limitation of the rotary wing, see also [L]. Axis zero point this is always to the left in the anticlockwise direction, and corresponds to the extreme position of the stop lever. All other axisspecific reference values refer to this point. Project zero point reference point for all angle values in programs and the position registers; defined by the user. An actual position which is displayed also refers to this point. With this reference value, the user has the option of using software to compare the location of the angle values to a fixed point on the machine.
(2)
(3)
Definition of paths (A) Mounting offset specifies the angle offset between the measuring system zero point and the axis zero point. It is a signed value; the arrow direction indicated corresponds to a positive angle of rotation. WinPISA automatically provides this value in the application data. Project zero point offset specifies the angle offset between the axis zero point and the project zero point. It is a signed value; the arrow direction indicated corresponds to a positive angle of rotation. Value of the current angle position (j actual position) relative to the project zero point. Value of the lower software end position; defines the smallest angle of rotation that can be moved to. Value of the upper software end position; defines the largest angle of rotation that can be moved to. Working stroke specifies the angle range of the rotary drive; it is determined by the software end positions and specified by the user. The following applies: (F) = (E) (D) Maximum permissible angle range during positioning; determined by the max. swivel angle of the drive (for DSMI: 272) and the stroke reserve. The following applies: (G) = (H) 2 * [K] Angle of rotation of the drive, corresponds to the order specifications, and is also indicated on the type plate. Stroke reserve; for the DSMI it is 5. It decreases the usable angle of rotation of the rotary drive. In this angle range, close to the inner end stops, positioning behaviour is affected excessively by the damping elements. Electric reserve of the measuring system. This is used to monitor the electrical connection. In the DSMI, this reserve is already built in, and does not have to be considered by the user.
(B)
(C) (D) (E) (F) (G) (H) [K]
[L]
325
3. Installation
3.5
Installing the SPC200

Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. the load voltage for field devices and proportional directional control valves (plug X2, pin 1) the load voltage supply for the outputs (plug X6/X8, pin 8) if applicable, the load voltage supply on the axis interface string operating voltage supply for internal electronics of the SPC200 and field devices (plug X2, pin 2). You can thereby avoid: uncontrolled movements of the connected actuators uncontrolled movement of loose tubing undefined switching states.
Please note Identify the cable connected to the SPC200. You can then avoid confusion of similar plugs during conversion work.
326
3. Installation
3.5.1
Selecting the power unit

Warning In order to provide the electric supply, use only PELV circuits as per IEC/DIN EN 602041 (Protective Extra Low Voltage, PELV). Take into account also the general requirements for PELV circuits as per IEC/DIN EN 602041.
Use only power packswhich guarantee reliable electrical
isolation of the operating voltage as per IEC/DIN EN602041. By the use of PELV power units, protection against electric shock (protection against direct and indirect contact) is guar anteed in accordance with IEC/DIN EN 602041 (electrical equipment of machines, general requirements). Recommendation:

Use a closedloop controlled power unit. Select a power unit which will provide sufficient output for later extensions. The current requirement depends on the number and type of the connected components. When selecting the power unit, check that it provides sufficient output. If necessary, calculate the total current requirement accord ing to the following table.
327
3. Installation
Current consumption at pin 1 of module SPC200PWRAIF

Sum of the load current consumption of all proportional directional control valves (approx. 1.1 A per MPYE...) Load current consumption of all simultaneously actuated CPV valve coils on the axis interface strings 1) 2) Load current consumption of all simultaneously actuated outputs on the axis interface strings 1) 3) Recommended reserve Sum of current consumption at pin 1 + _____ A + _____ A + _____ A + 0.5 A ______ A
= _____ A
Current consumption at pin 2 of module SPC200PWRAIF

Current consumption of the internal electronics of the SPC200 with SPC200CPU4 (400 mA) with SPC200CPU6 (600 mA) Current consumption of all sensors connected to the modules SPC200DIO (see manufacturer specifications) Current consumption of the modules which are supplied with operating voltage via the axis interface strings (logic supply) Current consumption of all sensors (see manufacturer specifications) on the modules connected to the axis interface strings. Sum of current consumption at pin 2
+ _____ A + _____ A + _____ A + _____ A = _____ A + _____ A
Current consumption of the outputs on the I/O module SPC200DIO...

Load current consumption of the simultaneously actuated outputs on the I/O module type SPC200DIO... 4) Sum of the current consumption on the I/O module SPC200DIO... + _____ A = _____ A + _____ A = _____ A
Total current consumption

1) 2) 3)
Separate supply possible, in some cases necessary depends on current consumption of valve type (see technical specifications for the valves) The current requirement is determined by the loads to be switched (e.g. individual valves, protection devices, etc.). 4) Supplied directly at the supply terminals of the outputs of I/O module SPC200DIO...
328
3. Installation
3.5.2
Connections on the supply module

The following connecting and display elements can be found on the front of power supply module type SPC200PWRAIF:
2 3 4 5 1 Power supply module type SPC200PWRAIF 2 Combicon screw terminal for axis interface string (X1) 3 ERROR LED for fault display (red) 4 POWER LED for power supply (green) 5 3pin Combicon screw terminal for power supply (X2)
Fig. 3/7: Connecting and display elements on the power supply module
329
3. Installation
Operating voltage connection (X2)

The following are supplied with + 24 V DC via the operating voltage connection (X2): the load voltage for field devices and proportional direc tional control valves pin 1 (24 L): + 24 V DC, tolerance 5/+25% the internal electronics of the SPC200, the connected modules and measuring systems; pin 2 (24 V): + 24 V DC, tolerance 5/+25%.
Please note Note that the tolerance of 5 % to + 25 % for the supply and load voltages must be observed for both circuits.
Please note Check your Emergency stop circuit in order to ascertain the measures necessary for switching your machine/system into a safe state in the event of an Emergency stop (e.g. switching off the load voltage, compressed air supply, etc.).
Use cables with suitable crosssectional area and length for the supply cables (see also appendix C.2). The toler ance of 5 % to + 25 % for both circuits must also be ob served directly at the operating voltage connection (X2) of the SPC200. Check the 24 V operating voltage of the outputs whilst your system is operating. Make sure that the operating voltage of the outputs lies within the permitted toler ances even when the system is operating under full load. If the distance between the power unit and the SPC200 is more than one metre, provide two separate supply cables for the load voltage and the logic supply starting at the power unit.
330
3. Installation
The following diagram shows the pin assignment of the operating voltage connection on the power supply module.
Pin 1: 24 L Pin 2: 24 V Pin 3: 0 V
2 1 Pin assignment:
Pin 1 (24 L): Pin 2 (24 V): Pin 3 (0 V): 24 V load voltage (can be switched off separately) 24 V supply for internal electronics 0V
2 Earth connection (M4 thread)

Fig. 3/8: Operating voltage connection (X2)
Earth connection
The SPC200 is provided with earth connections on the left and righthand sides of the rack.
Please note Connect one of the earth cables of the SPC200 with low impedance (short cable with large crosssectional area) to the earth potential. In this way, you will avoid interference caused by electromag netic influences.
331
3. Installation
Connection example
The following diagram shows the connection of a common 24 V supply for pin 1 (24 L) and pin 2 (24 V). Please note that: the voltage tolerance of 24 V DC 5/+25 % must be ob served for the load voltage and electronics supply with regard to the load voltage supply, the voltage toler ances of the components connected to the axis interface string must also be observed.
24L AC 230V DC 24V PE 24V 0V
1 Separate supply cables 2 Load voltage (can be switched off separately)

Fig. 3/9: Example connection of a common 24 V supply
Please note Switching off the load voltage leads to faults (e.g. under voltage, AIF string faults) which must be quitted when the load voltage is switched on again.
332
3. Installation
Plug for axis interface string (X1)

Caution Use the special cables from Festo (type KSPCAIF...) forconnecting the axis interface. Note the maximum permitted cable lengths on the axis interface string (see section 3.6). You can then avoid functional faults on the SPC200 and on the modules connected to the axis interface string. The bus signals, the operating voltage and the load voltage for the connected field devices are provided via the 5pin plug of the power supply module.
333
3. Installation
Connecting cable type KSPCAIF... is supplied already fitted with a 5pin screw terminal.
Caution The axis interface connection is not protected against in correct polarity. Make sure that the assignment is correct, e.g. when you fit the screw terminal yourself after shorten ing the cable.
1 Earth/ground
connection
2 Pin assignment:
1: CANLOW (brown) 2: CANHIGH (white) 3: 24 V (yellow) 4: 0 V (green) 5: 24 V load voltage (grey)
1 2 3 4 5
Fig. 3/10: Pin assignment of the plug for the first axis interface string (X1) Follow the installation instructions supplied with the cable when connecting the cable screening. Depending on the cable used, connect the cable screening either to the earth connection 1 or to a large surface, com plying with EMC requirements as follows: to a screening plate intended for this purpose through the cable opening into the control cabinet.
334
3. Installation
3.5.3
Connections of the diagnostic module

For commissioning, programming and diagnosing, you will require a diagnostic module type SPC200MMIDIAG. The diagnostic module offers the following serial interfaces: a connection for control panel type SPCMMI1. a connection for a PC or for control panel type SPC200MMI1F. This serial interface is on a 9pin sub minD plug and complies with standard RS232.
The serial interface is operated with the following settings: Baud rate: 9.6 ... 115.2 kBaud Data bits: Parity: 1 stop bit No handshake 8 bits even
In order to connect a PC you will require: a screened connecting cable (e.g. Festo diagnostic cable type KDIPPA3BU9) a PC with serial interface (RS232) and installed programming and commissioning software WinPISA typeP.SWWINPISA....
335
3. Installation
Please note If you wish to use a different connecting cable, note the following pin assignment: Use a screened cable and connect the screening to the plug housing. In this way you will avoid faults in data transmission.
1 Pin assignment:
2: Received Data (RxD) 3: Transmitted Data (TxD) 5: Signal Ground (SGND)
5 3 2
Fig. 3/11: Pin assignment of the serial interfaces (X4) Connect the diagnostic cable (programming cable) as follows: 9pin plug on the 9pin socket of the diagnostic module 25pin or 9pin socket on the serial interface of your PC.
Instructions on connecting control panel type SPC200MMI1F can be found in section 3.6.3.
336
3. Installation
Control panel type SPC200MMI1 can be placed directly on the upper interface when the power supply is switched off.
Caution The control panel may be damaged if it is inserted into the SPC200 when power is still applied. Switch off the operat ing voltage before inserting the control panel into the SPC200.
Fig. 3/12: Connection for control panel (X3)
337
3. Installation
3.5.4
Connections of the I/O module type SPC200DIO...

For controlling the SPC200 via digital I/Os, you will require anI/O module type SPC200DIO.... This module provides 10digital inputs and 8 digital outputs for the following func tions: providing digital I/Os for controlling the SPC200 (only if no field bus module is installed) providing freely programmable digital I/Os for controlling peripherals.
Please note Maximum three I/O modules are permitted for operation on the field bus. Without a field bus module, four I/O mod ules can be installed in a rack.
The logical functions of the digital inputs/outputs depend on the operating mode selected. Freely programmable I/Os are only available in Start/stop mode. Control via digital I/Os of the I/O module is only possible if a field bus module is not installed. Identification of all inserted modules takes place automatically, from left to right begin ning with the power supply module. The assignments of plug X5/X7 (inputs) and of plug X6/X8 (outputs) are shown in the following diagrams.
338
3. Installation
Inputs 1
24 V 0V 0
1 Pin assignment:
24 V: Internal 24 V sensor supply (not with separate potential) 0 V: 0 V (not with separate potential) 0: Input 0 ... 9: Input 9 Fig. 3/13: Assignment of plug X5/X7 (inputs)
1 Threewire
sensor
1 2
2 Twowire sensor 3 Contact
Fig. 3/14: Example of circuitry (PNP inputs)

339
3. Installation
Outputs 1
0
7 24 V 0V
1 Pin assignment:
0: ... 7: 24 V: 0 V: Output 0 Output 7 24 V external supply of outputs (load supply) 0 V external supply of outputs (load supply)
Fig. 3/15: Assignment of plug X6/X8 (outputs)
1 Example 1 2 Example 2 3 Not permitted 4 Load supply 3 2
4
24 V 0V
DC AC
Fig. 3/16: Example of circuitry (outputs X6/X8) Fig. 4/1 shows how you can supply the load voltage for plugs X2 and X6/X8 with a power unit.
340
3. Installation
Addressing
The assignment of the I/O address range depends on the configuration of the SPC200. If a field bus module is in stalled, the address range 0.0 ... 0.9 will remain unassigned. The assignment of the I/O addresses for configurations with and without field bus module is shown in the following table: Configuration without field bus module
First I/O module
Configuration with Maximum address range field bus module

I0.0 ... I0.9 1) I1.0 ... I1.15 I2.0 ... I2.9 I3.0 ... I3.15 I4.0 ... I4.9 I5.0 ... I5.9 I10.0 ... I13.15 2) Q0.0 ... Q0.7 1) Q1.0 ... Q1.15 Q2.0 ... Q2.7 Q3.0 ... Q3.15 Q4.0 ... Q4.7 Q5.0 ... Q5.7 Q10.0 ... Q13.15 2)
I/O modules on the second axis interface string Third I/O module Fourth I/O module
1) 2)
Address range is not available if a field bus module is used Address range is not available without a field bus module
If a field bus module is not installed, certain I/Os on the first identified I/O module are preassigned depending on the operating mode.
341
3. Installation
Basic rules
If several I/O modules are installed in a rack, observe the following: The I/O module inserted on the left next to the power supply module is the first I/O module. Further I/O mod ules are counted from left to right. If a field bus module is not installed, the first I/O module will provide five freely programmable inputs, three freely programmable outputs and I/Os for controlling the SPC200 (I0.0 ... I0.9 and Q0.0 ... Q0.7). All I/Os of further I/O modules are freely programmable. If a field bus module is installed, the address ranges I0.0... I0.9 and Q0.0 ... Q0.7 are not available. The first I/O module then occupies the addresses I2.0 ... I2.9 and Q2.0 ... Q2.7. Their I/Os are therefore also freely program mable.
Explanations of the I/O control signals in the relevant operat ing mode can be found in chapter 5.
342
3. Installation
Connection assignment of front plug X5 for the first I/O module when operated without a field bus module
If a field bus module is not installed, the first I/O module will provide the following control inputs: Inputs with control function
Pin no. 1 2 3 4 5 6 7 8 9 10 11 12
1) 2) 3)
Design. 1) 24 V 0V 0 1 2 3 4 5 6 7 8 9
Address 2) I0.0 I0.1 I0.2 I0.3 I0.4 I0.5 I0.6 I0.7 I0.8 I0.9
Start/Stop mode
Record Select mode
24 V sensor supply (not with separate potential) 0 V (not with separate potential) Freely programmable RECBIT1 RECBIT2 RECBIT3 RECBIT4 RECBIT5 SYNC_IB SYNC_IA STOP START/RESET 3) ENABLE CLK_B CLK_A STOP RESET 3) ENABLE
Designation on the module Addresses of the first installed I/O module when configured without a field bus module (I = input) RESET (Program Reset) in conjunction with 0signal at the STOP input
343
3. Installation
Connection assignment of front plug X6 for the first I/O module when operated without a field bus module
If a field bus module is not installed, the first I/O module will provide the following control outputs: Outputs with control function
Pin no. 1 2 3 4 5 6 7 8 9 10
1) 2)
Design 1) 0 1 2 3 4 5 6 7 24 V 0V
Address 2) Q0.0 Q0.1 Q0.2 Q0.3 Q0.4 Q0.5 Q0.6 Q0.7
Start/Stop mode Freely programmable
Record Select mode 3)
MC_B MC_A SYNC_OB SYNC_OA READY
RC_B RC_A ACK_B ACK_A READY
24 V external supply of outputs 0 V external supply of outputs
Designation on the module Addresses of the first installed I/O module when configured without a field bus module (Q = output) 3) No freely programmable I/Os are supported in this operating mode.
344
3. Installation
General connection assignment for I/O modules without special control functions
The word number (here x) depends on the configuration of the SPC200. Configuration without Configuration with field bus module field bus module
Second I/O module Third I/O module Fourth I/O module First I/O module Second I/O module Third I/O module
Word number x
2 4 5
Inputs without control function

Pin no. 1 2 3 4 5 6 7 8 9 10 11 12
1) 2) 3)
Design. 1) 24 V 0V 0 1 2 3 4 5 6 7 8 9
Address 2) Ix.0 Ix.1 Ix.2 Ix.3 Ix.4 Ix.5 Ix.6 Ix.7 Ix.8 Ix.9
Start/Stop mode
24 V sensor supply (not with separate potential) 0 V (not with separate potential) Freely programmable
Designation on the module The word number (here x) depends on the configuration (I = input). No freely programmable I/Os are supported in this operating mode.
345
3. Installation
General connection assignment for I/O modules without special control functions
The word number (here x) depends on the configuration of the SPC200. Configuration without Configuration with field bus module field bus module
Second I/O module Third I/O module Fourth I/O module First I/O module Second I/O module Third I/O module
Word number x
2 4 5
Outputs without control function

Pin no. 1 2 3 4 5 6 7 8 9 10
1) 2) 3)
Design. 1) 0 1 2 3 4 5 6 7 24 V 0V
Address 2) Qx.0 Qx.1 Qx.2 Qx.3 Qx.4 Qx.5 Qx.6 Qx.7
Start/Stop mode Freely programmable
24 V external supply of outputs 0 V external supply of outputs
Designation on the module The word number (here x) depends on the configuration (Q = output). No freely programmable I/Os are supported in this operating mode.
346
3. Installation
3.5.5
Connections of the analogue input module type SPC2002AIU

Two such modules can be installed in the basic unit type SPC200CPU6. Each module possesses two differential in puts. The first module (inserted on the left) provides differen tial inputs 1 and 2; the second module provides differential inputs 3 and 4. The module enables positions to be specified in the form of a voltage (0...10 V).
REF GND A1+ A1 REF GND A2+ A2 PE Crosssectional area of connection max. 1.5 mm2
1 Differential inputs 1 and 2 2 Differential inputs 3 and 4
3 Pin assignment:
REF GND A...+ A... PE 10 V reference voltage (outputs) Ground Signal (+) Signal () Earth/ground connection
Fig. 3/17: Analogue input module type SPC2002AIU (plug X9) The analogue inputs can be assigned to any axes and can be activated by means of appropriate commands in the position ing program. Various nominal value modes are supported here (e.g. constant position adjustment, individual position ing etc.).
347
3. Installation
The voltage range is 0...10 V. Within the possible positioning range of the axis, you can use a program to define any de sired range for movement via the analogue nominal value specification. Voltage value and position have the following proportion to each other: Voltage
0V ... ... 10 V
Description
Smallest position value ... ... Largest position value
Connecting analogue sensors

Warning Incorrect installation can lead to faulty operation and cause e.g. undesired movements of the actuators. Observe at all costs the following installation instructions.
Use a screened cable twisted in pairs for the analogue nominal value specification. Do not place the signal cables near or parallel to cables with high levels of interference. If necessary, use separate wiring channels, separate cable bundles or cables. Always connect the cable screening for the analogue signal cables on one side to the earth connection (pin 9).
If possible use short signal cables. The maximum cable length should not exceed 4 m.
348
3. Installation
Circuitry for connecting a differential signal
1 Screening/shield 2 Earth/ground
connection
1 2 4 3
A1 [A2] A1+ [A2+] SPC2002AIU
3 Signal () 4 Signal (+)
Fig. 3/18: Connecting a differential signal
Circuitry for connecting a potentiometer
1 Potentiometer 2 Screening/shield 3 Earth/ground

connection
SPC2002AIU
2
REF A1+ [A2+] A1 [A2] GND
Fig. 3/19: Connecting a potentiometer
349
3. Installation
3.5.6
Connections of the subcontroller module type SPC200SCUAIF

In its basic design, the SPC200 can take control of the posi tioning of two pneumatic axes. With the subcontroller mod ule maximum four pneumatic axes can be operated with one SPC200. The subcontroller module provides a connection for a second axis interface string and controls the positioning of the connected axes. Maximum two pneumatic axes per axis interface string are permitted.
Caution Use the special cables from Festo (type KSPCAIF...) for connecting the axis interface. Note the maximum permitted cable lengths on the axis interface string (see section 3.6). You can then avoid functional faults on the SPC200 and on the modules connected to the axis interface string. The bus signals, the operating voltage and the load voltage for the connected field devices are provided via the 5pin plug of the power supply module. Connecting cable type KSPCAIF... is supplied already fitted with a 5pin screw terminal.
Caution The axis interface connection is not protected against in correct polarity. Make sure that the assignment is correct, e.g. when you fit the screw terminal yourself after shorten ing the cable.
350
3. Installation
1 Earth/ground
connection
2 Pin assignment:
1: CANLOW (brown) 2: CANHIGH (white) 3: 24 V (yellow) 4: 0 V (green) 5: 24 V load voltage (grey)
1 2 3 4 5
3 Groove with
inserted coding pin
Fig. 3/20: Pin assignment of the plug for the second axis interface string (X10) Follow the installation instructions supplied with the cable when connecting the cable screening. Depending on the cable used, connect the cable screening either to the earth connection 1 or to a large surface, com plying with EMC requirements as follows: to a screening plate intended for this purpose through the cable opening into the control cabinet.
Please note In order to avoid confusing the connections X10 and X1, assign different codes to each connection. In order to do this, push the coding pins supplied into different grooves in the contact strips. Remove the relevant material on the plug.
351
3. Installation
3.6
Installing the modules on the axis interface string

Warning Cables with high levels of interference can cause electro magnetic interference. Do not place the following cables in the vicinity of cables with high levels of interference: CP cable Measuring system cable proportional directional control valve cable
Please note Connect the earth connection of the modules with low impedance (short cable with large crosssectional area) to the earth potential. In this way, you will avoid interference caused by electromag netic influences.
352
3. Installation
Basic rules
When the modules are installed on the axis interface string the following basic rules must also be observed. 1. Maximum string length per string The string length is the sum of all cable sections between the SPC200 and all direct string devices, seesection 1.3. The maximum permitted string length is 30 m.
2. External load voltage supply If the following modules are used, the external load voltage supply type SPCAIFSUP24V must be in stalled directly in front of the relevant module: I/O function module (type SPCFIO2E/2A) with twoaxis systems: CP valve terminal (type CPV...) A loaddependent drop in voltage occurs on the axis interface string. If the installation is faulty, this can cause the load voltage to drop below the permitted tolerance.
3. Configuration on the axis interface string At first maximum two axis interfaces are connected to the SPC200. If required, the I/O function module or at first a CP module with outputs, and then a CP module with inputs, is connected to the last axis interface.
4. Terminating resistor If there is a CP I/O module, a CP valve terminal or an axis interface at the end of the axis interface string, the plug with integrated terminating resistor type KABSM9R100 must be installed in the outgoing CP cable of this module (e.g. connection OUT).
353
3. Installation
Special accessories are available here for CP input modules. A terminating resistor is already incorporated in the I/O func tion module. 5. Maximum permitted cable lengths If the following cable lengths are exceeded, the external load voltage supply must be installed in front of the rel evant module. Instead of a CP valve terminal, a CP output module type CPA08M12 can also be installed.
SPC200 max. 8 m 1) SPC200 max. 8 m 1)
SPCAIF...
SPCAIF... max. 2 m 1)
max. 8 m
SPCAIFSUP24V SPCFIO2E/2A
CPV...VIFB... )
max. 8 m
CPE16M...
1) Without external load voltage supply
2)
Without external load voltage supply only type CPV10VIFB6 or type CPV14VIFB6 is permitted
Fig. 3/21: Maximum permitted cable lengths on the axis interface string (one axis)
354
3. Installation
SPC200 max. 8 m 1)
SPC200 max. 8 m 1)
SPC200 max. 5 m 1)
SPCAIF... max. 8 m
SPCAIF...
SPCAIF...
max. 8 m
max. 8 m
SPCAIFSUP24V SPCFIO2E/2A
SPCAIFSUP24V CPV...VIFB... max. 8 m
SPCAIFSUP24V CPV...VIFB... max. 8 m
CPE16M...
1) Without external load voltage supply
CPE16M...
Fig. 3/22: Maximum permitted cable lengths on the axis interface string (two axes)
355
3. Installation
3.6.1
Installing the axis interface SPCAIF...

Warning Faults due to electromagnetic influences can cause fast compensating movements of the axis. Observe the follow ing installation instructions in order to avoid faults due to electromagnetic influences.
Connect the earth connection of the axis interface with low impedance (short cable with large crosssectional area) to the earth potential. Only with measuring system type MLOPOT...LWG: In order to earth the device, connect the earth strap (sup plied with the measuring system) to the flat plug of the measuring system and to the earth connection of the axis interface (see Fig. A/9). Only with rotary module type DSMI...: In order to earth the device, connect the earth connection of the DSMI... and the earth connection of the axis inter face with an earth strap or an earth cable (crosssectional area min. 2.5 mm2, length max. 0.5 m; see Fig. A/16). Do not place the axis interface cable, CP cable, measuring system cable or proportional directional control valve cable near or parallel to cables with high levels of inter ference. Use only the original cables. Fasten the plugs with the aid of the union nut in order to prevent unintentional loosen ing, e.g. due to shock. Seal unused connections with the protective caps sup plied. Only in this way can you comply with protection class IP65. Please note Maximum two axis interfaces may be connected to an axis interface string. Types for different measuring systems may be mixed.
356
3. Installation
The axis interface provides the connection between the com ponents on the axis and the SPC200. It reads the values sup plied by the measuring system and passes them onto the SPC200. It also passes the received positioning values in analogue form to the proportional directional control valve. The diagram below shows the connecting elements on the axis interface.
2 1
POWER ERROR IN VALVE
OUT
4 5
6 1 Earth/ground connection 2 Connection, axis interface string, incoming (IN) 3 POWER LED (green) 4 Connection, axis interface string, continuing (OUT),
for further field devices or teminating resistor typeKABSM9R100 Fig. 3/23: Connecting elements of the axis interface
5 ERROR LED (red) 6 Connection for valve

type MPYE5...010B
7 Measuring system
connection (here type SPCAIFPOT)
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3. Installation
Connecting the axis interface to the SPC200

Warning Note the maximum permitted cable lengths between the individual modules on the axis interface string and the SPC200 (see section 3.6). Use only the following original cables for connecting the axis interface.
Cable type
KSPCAIF1WD... KVICP2...*) KVICP1...
Description
Connecting cable for the first axis Connecting cable for the second axis or for I/O modules
*) Suitable for use as drag chain
Connect the axis interface for the first axis with the plug marked IN to the 5pin screw terminal of the power supply module. If necessary, connect the axis interface for the second axis or modules with inputs/outputs to the OUT socket. If the axis interface is at the end of an axis interface string, install the terminating resistor type KABSM9R100 on the OUT connection. Fasten the plugs/sockets with the aid of the union nut in order to prevent unintentional loosening, e.g. due to shock.
358
3. Installation
Connecting the measuring system

The axis interface has been designed for one of the following measuring systems: Axis interface
SPCAIFPOT
Measuring system type

Analogue system Linear potentiometer type MLOPOT...TLF or integrated systems (e.g. type DNCM...) Analogue system Linear potentiometer type MLOPOT...LWG or integrated systems (e.g. type DSMI...) Digital system Temposonic type MMEMTS...TLFAIF or inte grated system (e.g. type DGPI(L).........AIF) Incremental system Integrated measuring system (e.g. type DNCI...)
SPCAIFPOTLWG
SPCAIFMTS
New feature from BS 4.82
SPCAIFINC
In the axis interface types SPCAIFPOT and SPCAIFMTS, the measuring system cable is permanently connected with the axis interface. It has a fixed length of approx. 0.30 m. The axis interface type SPCAIFINC has an 8pin M12 plug for the sensor connection.
Please note Use only the original cable. Do not extend the cable. Inter ference due to electromagnetic influences can be avoided if a short cable is used.
359
3. Installation
Connecting the proportional directional control valve

The valve connection provides the power supply for the valve and the control voltage for positioning the valve slide.
Please note Use only the original cable type KMPYE....
POWER ERROR IN VALVE OUT
5 4 3
7 1
Pin assignment and core colours of cable KMPYE...
Socket for valve (MPYE) on cable KMPYE...

2 3 4 n.c. 1 n.c.
2: 0 V 3: 0 V 4: Nominal value U(s) 5: GND 6: n.c. (not connected) 7: 24 V supply for valves 1: 24 V supply for valves n.c. (not connected)
brown green yellow grey pink white blue red
2 1
3 4
Fig. 3/24: Valve connection
360
3. Installation
3.6.2
Installation I/O function module type SPCFIO2E/2AM8

Warning Faults due to electromagnetic influences can cause fast compensating movements of the axis. Observe the follow ing installation instructions in order to avoid faults due to electromagnetic influences. Connect the earth connection of the modules with low impedance (short cable with large crosssectional area) to the earth potential. Use only the original cable type KVICP2... for connect ing the module. Fasten the plugs with the aid of the union nut in order to prevent unintentional loosening, e.g. due to shock.
Please note For connecting the I/O function module you will require the external load voltage supply module type SPCAIFSUP24V. Note the maximum permitted cable lengths on the axis interface string (see section 3.6). Use cable type KM8M8GSGD... and plug with union nut with M8x1 thread for connecting sensors and actuators. Seal unused connections with the protective caps supplied. Only in this way can you comply with protection class IP65.
361
3. Installation
The I/O function module can be connected as the last module on the axis interface string. The necessary terminating resis tor is incorporated in this module. It provides 2 inputs and 2 outputs for connecting sensors and actuators directly on the axis. Additional functions, such as e.g. gripping, lifting, lowering and turning can be implem ented with these sensors and actuators. The following diagram shows the display and connecting el ements of the I/O function module.
INPUT/OUTPUT PNP POWER DIAG 0 0 OUTPUT INPUT 1 1
aA
aJ
8 7 Type plate
1 Identification for PNP inputs
2 Groove for identification labels (IBS6x10) 8 Status LED per input (green) 3 Actuator connections (outputs) 4 Status LED per output (yellow) 5 Protective cap 6 Earth/ground connection
Fig. 3/25: Connecting elements of the I/O function module type SPCFIO2E/2AM8
9 Sensor connections (inputs) aJ Connection for axis interface string aA Status LED (green)
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3. Installation
Pin assignment
The following diagrams show the pin assignment of the sensor and actuator connections of the I/O function module.
1 Pin assignment:
1: Output Q... 3: 0 V 4: n.c.
(not connected)
1: Qx.0 1)
3
1: Qx.1 1)
1) Module on AIF string 1: x = 1; module on AIF string 2: x = 3
Fig. 3/26: Pin assignment of the outputs
1 Example 1 2 Example 2 3 Not permitted
Fig. 3/27: Example of circuitry of outputs (PNP)
363
3. Installation
1 Pin assignment:
1: 24 V 3: 0 V 4: Input I
4: Ix.0 1)
4: Ix.1 1)
1) Module on AIF string 1: x = 1; module on AIF string 2: x = 3
Fig. 3/28: Pin assignment of the inputs
1 Threewire
sensor (positive switching)
2 Twowire sensor
(positive switching)
3 Contact
1
Fig. 3/29: Example of circuitry of inputs (PNP)
364
3. Installation
3.6.3
Installing control panel SPC200MMI1F

Connect the power supply as shown in the following diagram.
24V FE 0V
2
RS232
Pin 2: RxD Pin 3: TxD Pin 5: SGND

24V AC DC PE 0V
4 3 RS232 interface
(see Technical Specifications)
1 Control panel SPC200MMI1F 2 Power supply (Phoenix Combicon

terminal 3x3.81)
4 Functional earth (FE)
Fig. 3/30: Connecting the power supply on the control panel Connect the RS232 interface of the control panel with socket X4 of the diagnostic module SPC200MMIDIAG. The maxi mum cable length is 10 m. Use diagnostic cable (programming cable) type KDIPPA3BU09 for connecting to the SPC200.
365
3. Installation
366
Commissioning
Chapter 4
41
4. Commissioning
Contents
4.1 4.2 4.3 Procedure for commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting a singleaxis system for the first commissioning . . . . . . . . . . . . Overview of the parameters of a positioning axis . . . . . . . . . . . . . . . . . . . . . 4.3.1 Pneumatic axis data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Application data for pneumatic axes . . . . . . . . . . . . . . . . . . . . . . . . 4.3.3 Axis data of an electric stepping motor axis . . . . . . . . . . . . . . . . . . 4.3.4 Application data of an electric stepping motor axis . . . . . . . . . . . . 4.3.5 Controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1 Saving the hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.2 Commissioning pneumatic axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.3 Notes on commissioning multiaxis systems . . . . . . . . . . . . . . . . . . 45 48 417 418 419 420 421 422 423 424 427 442
4.4
42
4. Commissioning
This chapter describes the commissioning of a pneumatic axis with the SPC200. Commissioning is explained using the example of a single axis system controlled by an I/O module. The basic pro cedure as well as the description of the I/O control signals is also relevant for systems with an installed field bus module.
Further information
Before carrying out the commissioning with the control panel, you should be familiar with the functions of the control panel. Detailed information on this can be found in chapter 6. Information on commissioning with WinPISA can be found in the WinPISA manual. Information on commissioning on the field bus or on commissioning electric axes can be found in the manual for the relevant extension module.
43
4. Commissioning
Warning Before carrying out installation and/or maintenance work, switch off the following in the sequence specified: 1. the compressed air supply 2. Load and operating voltage supplies on the SPC200 and, if applicable, load voltage supply on the axis interface string. You can thereby avoid: uncontrolled movements of loose tubing uncontrolled movements of the connected actuators undefined switching states.
Caution The SPC200 is set at the factory to certain axis and ap plication data. Before applying compressed air, you must adapt these settings to your application and to the axes which you are using. You can thereby avoid: uncontrolled movements of the connected actuators.
Please note From operating system 4.31 onwards it is recommended to carry out configuration and commissioning of the SPC200 with the latest version of WinPISA. Only the latest version of WinPISA provides you with simple and comprehensive support and the use of all features of the SPC200.
44
4. Commissioning
4.1
Procedure for commissioning

Fit the components as described in chapter 2. Observe the installation instructions in chapter 3 when fitting and instal ling the pneumatic components. Provide a pneumatic emerg ency stop circuit which will put your system into a safe state in the event of a fault. If you are using an external measuring system: Check the mounting position of the measuring system (see also sec tion3.2.7). Before switching on the compressed air or the stepping motor controller for electric axes, you must first make known to the SPC200 the conditions of use in your positioning sys tem and the type of components used. You can undertake the necessary settings: with the control panel with the WinPISA software package.
If you use the control panel for commissioning, you should first be familiar with the functions of the control panel. Detailed information on this can be found in chapter 6.
45
4. Commissioning
Steps for commissioning

In order to commission axes, you must first create and save the desired hardware configuration. The individual axes and then the complete system can be commissioned. The following steps are necessary for commissioning with the control panel: 1. Create the desired hardware configuration 2. Save the hardware configuration (actual configuration) as the nominal configuration (see section 4.4.1) 3. Commission the connected axes (see section 4.4.2) 4. Commissioning the system When the hardware configuration has been saved, the indi vidual axes can be configured and commissioned. Commissioning pneumatic axes The following list provides an overview of the activities which are necessary for commissioning pneumatic axes when the hardware configuration has been saved. 1. Setting projectspecific parameters Set all axis, application and configuration data (see section 4.4.2, step 1). 2. Check the pneumatic tubing Carry out a movement test with the control panel or with WinPISA (see section 4.4.2, step 2).
3. Only for DNCI: Carry out a reference run; only possible with WinPISA from version 4.41. Not supported by the MMI.
46
4. Commissioning
4. System identification carry out static and, if necessary, dynamic identification run. During the identification travel, characteristic system values, such as friction, hys teresis, acceleration and delay abilities are ascertained and saved (see section 4.4.2, step 3). 5. If necessary, calibrate the measuring system (only for potentiometers with WinPISA). Calibration compensates for systemspecific tolerances between the ascertained position and the actual position (see section 4.4.2, step4). 6. Move the axis manually (optional). The basic functioning ability of the controller as well as the effectiveness of the set software limit positions can therefore be checked (seesection 4.4.2, step 5). 7. Enter a test program (see section 4.4.2, step 6). 8. Set the operating mode and the starting programs (seesection 4.4.2, step 7). 9. Test the program in singlestep mode or in continuous mode. Observe here the positioning behaviour of the axis (see section 4.4.2, step 7). When all the axes are ready for operation, you can start com missioning the complete positioning system. The necessary steps depend on the equipment fitted on the system.
47
4. Commissioning
4.2
Connecting a singleaxis system for the first commissioning
Caution Leave the compressed air supply switched off.

The SPC200 is set at the factory to certain axis and
application data. Before applying compressed air, you must adapt these settings to your application and to the axes which you are using. You can thereby avoid: unexpected movements of the connected actuators.
With some commissioning steps, the control signals ENABLE, START and STOP are required for controlling the axes. If a field bus module is installed WinPISA provides a test mode. In the test mode you can manipulate the inputs and outputs as desired, without these being connected to the circuitry. The status of the READY output and the ACK outputs used by the system (ACK_A, ACK_B, only in the Record Select mode) are permanently updated by the operating system and can not therefore be influenced.
48
4. Commissioning
Please note When a field bus module is used, all control signals are controlled via the field bus module. If the communication to the field bus master is faulty: the field bus module of the SPC200 no longer exchanges any data, all control signals are set to a 0signal, all outputs on the SPC200 remain in the last valid state until they are reset by the SPC200 itself or by Power off/on. the connected MPYE valves move to their midposition, the axes stop without closedloop control. If the axes are in a vertical position, they can move downward due to the leakage in the system.
If a field bus module is not installed: The control signals are triggered via the first installed I/O module. The following connection diagram shows the circuitry which is required in this case.
49
4. Commissioning
1 Designation on
plug X5
2 Input address 3 Function 4 Load voltage

(can be switched off separately)
1 2 3
0V
9 I0.9 ENABLE
8 I0.8 START/ RESET 1)
7 I0.7 STOP
24 V 24 V
24 V
1)
RESET (Program Reset) in conjunction with 0signal at the STOP input
Fig. 4/1: Connection diagram for the first commissioning via an I/O module
410
4. Commissioning
Wire the components as shown in Fig. 4.1. For reasons of clarity not all the earthing measures have been shown.
Please note Incorrect or missing earthing can cause interference. Therefore always carry out the earthing measures described in section 3.5.2.
Explanation of the control signals

Input ENABLE Via the ENABLE input you can enable the controller. If there is a 0signal at this input, the controller is switched off. No further positioning tasks will then be accepted. When the supply pressure is switched off , the axes can be shifted manually. A 0signal at the ENABLE input causes the following: With an active controller: The controller is switched off and the valve control voltage is set to an electrical medium value (offset). No further positioning tasks will then be accepted. With the movement test: The movement test will be discontinued. The valve control voltage will be set to an electrical medium value (offset). The READY output on the SPC200 will be reset (seeFig. 4/2).
411
4. Commissioning
3 1 2
1 0 1 0
1 = 1signal = 24 V 0 = 0signal = 0 V
1 ENABLE input on the SPC200 2 READY output on the SPC200 3 Reaction time max. 10 ms
Fig. 4/2: Time diagram of enable signal
4 Reaction time of the SPC200:

without stepping motor module: max. 100 ms with stepping motor module: max. 2 s
The controller is enabled with a 1signal, providing there are no system faults. A 1signal at the ENABLE input causes the following: The current position of the axis becomes the nominal position i.e. the axis stops in this position under closed loop control (controlled stop). The READY output is automatically set again, see the following pages. If the READY output supplies a 1signal, the program sequence can be started or continued.
412
4. Commissioning
Instructions on controller enable Note that in the following cases a rising signal edge is required at the ENABLE input for controller enable: during the first commissioning after the projectspecific parameters have been set after a Data Reset and resetting of the projectspecific parameters when the movement test has been carried out. Warning Faults in parametrizing can cause injury to human beings and damage to property, if the controller is enabled with a 1signal at the ENABLE input. Enable the controller only if the axis system is correctly installed and parametrized.
Warning If the tubing of the axis system is incorrectly connected and you enable the controller, the drive will move, depend ing on the level of the supply pressure, at high speed and with high acceleration into one of the end positions (con trol direction reversed). This can lead to serious injury to human beings and damage to components. Always check the tubing before enabling the controller with a 1signal at the ENABLE input.
Please note The valve slide of the MPYE... proportional directional control valve assumes the mechanical midposition if the load voltage is not applied (Emergency stop). Due to the asymmetrical voltagepressure curve of the proportional directional control valve, the slide can move slowly into one of the end positions when the supply pressure is switched on.
413
4. Commissioning
STOP input
You can stop the processing of the current NC record via the STOP input. If a positioning task is running at that moment, it will be interrupted. The current positions become the nom inal positions (closedloop controlled stop). The stop status is cancelled by: 1. a 1signal at the STOP input. 2. renewed start of the sequence, e.g. by a rising edge at the START input.
START input
Using the start input, you can start the selected starting pro gram, or resume the current program after a stop, or set the current program back to the initial state, or acknowledge a fault message; for details see chapter 5. The START input is edgetriggered, and responds exclusively to the level change from 0signal to 1signal.
READY output
This output supplies a 1signal if the system is ready to oper ate. A 0signal at this output indicates that the SPC200 is not yet ready to operate, because: there is a system fault or positioning fault the enable signal is missing or the rising signal edge required at the ENABLE input for the first commissioning, after a Data Reset or after the movement test, is missing (e.g. the ENABLE input is incor rectly connected to the supply voltage).
414
4. Commissioning
Switch on the power supply

Warning Leave the compressed air supply switched off. If com pressed air is applied, the connected actuators may carry out sudden compensating movements as soon as the power supply is switched on. Make sure that nobody can place his/her hand in the posi tioning range of the moveable mass and that there are no objects in its path.
Please note If you are using control panel type SPC200MMI1F: When the MMI1F is switched on, it tries to communicate with the SPC200. The SPC200 must therefore be ready for communication. Switch on the power supplies for the SPC200 and the MMI1F therefore either simultaneously or in the following sequence: 1. first the power supply for the SPC200 2. then the power supply for the MMI1F.
Switch on the operating voltage and the load voltage for the SPC200 and, if necessary, the operating voltage for the control panel type SPC200MMI1F.
When the power supply is applied, the SPC200 automatically performs an internal test. If the control panel is inserted, it will display the current fault number in the event of a fault (see section 8.2). When the device is switched on the first time, the following fault code will be displayed.
ERROR no. 00004001
415
4. Commissioning
In this case the actual configuration of the SPC200, as well as the configuration on the axis interface string, is not the same as the saved nominal configuration. Proceed as described in section 4.3.1 under Save hardware configuration". If there are no faults, the POWER LED will light up and the control panel will show the basic setting, see section 6.1, Fig. 6/2. The SPC200 is then ready for commissioning which you can carry out with the control panel or with the WinPISA software package.
416
4. Commissioning
4.3
Overview of the parameters of a positioning axis

A positioning axis is described using various parameters which are saved in the positioning controller. These include, the mass being moved, the drive type, the drive length, the mounting position, and much more. The SPC200 positioning controller requires these data in order to define the optimal servo setting for the positioning application concerned. A distinction is made between the axis data, the application specific data, and the controller data. The data sets are configured and loaded into the SPC200 by means of either the control panel see section 4.4 and chapter 6 or with the WinPISA configuration and program ming software. Detailed explanations of the parameters can be found in chapter 6 of this manual, in the manual for WinPISA, and in the online help for WinPISA. Please note Each configurable parameter is assigned a default value in the SPC200. This can be overwritten if required via the control panel or with WinPISA. Please note From operating system version 4.63 onwards, it is recom mended to carry out commissioning and programming only with WinPISA version 4.31 or later.
417
4. Commissioning
4.3.1
Pneumatic axis data

The axis data describe all characteristics of the selected drive, including the measurement system and the selected valve.
Axis data
Cylinder Designation 1) Design Length Diameter Measuring system Design 1) Length Valve Type Flow factor 1)
1) 2)
Unit
Default values
Example
mm mm
Without piston rod 100 25
DGPIL501000 Without piston rod 1000 50
mm
Potentiometer 100
Temposonic 1000
MPYE51/8HF010B 1 2)
MPYE51/4010B 1 2)
Not available via control panel Value=1 means: optimal flow characteristics, no reduction due to angled connectors, very thin hoses.
418
4. Commissioning
4.3.2
Application data for pneumatic axes

The application data describe the general conditions under which the positioning axis is operated:
Application data
Moveable mass without workpiece Max. mass of the workpiece Workpiece mass in initial state 1) Supply pressure Mounting position Mounting offset Project zero point Lower software end position Upper software end position Positioning tolerance Positioning quality class Maximum speed Maximum acceleration Reference speed 1) Reference run mode 1)
1) 2)
Unit
Kg Kg (Kg, %) bar mm mm mm mm mm m/s m/s2 mm/s
Default values
7.0 1.0 100 % 2) 6 0 0.00 0.00 10.00 90.00 1.00 5 2.0 10.0 50 5
Example
25 10 0 kg 2) 6 90 0.00 0.00 30.00 970.00 0.30 3 3.0 5.0 50 5
Not available via control panel This value is saved in the SPC200 as a % value of the Max. mass of the workpiece", and depicted in WinPISA as a Kg value. This % value cannot be altered using the control panel.
419
4. Commissioning
4.3.3
Axis data of an electric stepping motor axis

The axis data describe all characteristics of the selected drive, including the selected stepping motor:
Axis data
Cylinder Designation 1) Length Flow factor 1) Motor / gear unit 1) Motor Steps per revolution Gear unit
1)
Unit
Default values
Example
mm mm
100 25
DGE40ZR 500 40
200 1
MTRST8748SGB 800 4:1
Not available via control panel
420
4. Commissioning
4.3.4
Application data of an electric stepping motor axis

The application data describe the general conditions under which the positioning axis is operated:
Application data
Resolution for a full step [1/1] 1) Step mode 2) Resolution 3) Startstop frequency Project zero point Lower software end position Upper software end position Reference position Reference speed factor Maximum speed Maximum acceleration Reference run mode 1)
1) 2) 3)
Unit
mm1 mm1 Hz mm mm mm mm m/s m/s2
Default values
5.00000 1/2 10.00000 400 0.00 10.00 90.00 10.00 0.5 0.10 0.50 1
Example
8.00000 1/1 8.00000 400 0.00 10.00 490.00 10.00 1.0 1.0 2.0 1
Corresponds to Resolution" on the control panel Only limited availability via control panel Operand = resolution for full step divided by the step mode
421
4. Commissioning
4.3.5
Controller data
The controller data are optional parameters, and are valid only for a pneumatic axis, see appendix B. It is advisable to alter these parameters only in small steps (0.1 ... 0.3), and to depict the changes in the movement se quence graphically using the function Represent measured values" (WinPISA). Exception: the Positioning timeout parameter The Positioning timeout is used to monitor the time duration of a positioning task. If the configured time after the begin ning of a positioning task elapses without an MC signal being set, the SPC200 generates a fault. The parameter value 0 switches off the function.
Controller data
Gain factor Damping factor Signal filter factor Positioning timeout
Unit
s
Default values
1 1 1 2
Example
1 1 1 0
Stop behaviour
Stop behaviour can be configured starting with firmware ver sion 4.93 in combination with WinPISA as from 4.51: The position at the time of the stop signal becomes the setpoint position (default). After standstill, the axis runs back to this position. The current position at standstill becomes the setpoint position. This function is only available as from firmware version 4.93 and can be configured with WinPISA as from version 4.51.
422
4. Commissioning
4.4
Commissioning with the control panel

If you wish to use the control panel for commissioning, you should first be familiar with the functions of the control panel. Leave the compressed air supply switched off. An over view of the menu system on the control panel can be found in section 6.1.1.
The functionality of the MMI (control panel) has been frozen to that of operating system version 3.8. This means that all new functions of operating system versions 4.63 and 4.82 can no longer be displayed or edited using the MMI.
Please note From operating system 4.63 onwards it is recommended to carry out configuration and commissioning of the SPC200 with the latest version of WinPISA. Only the latest version of WinPISA provides you with simple and comprehensive support and the use of all features of the SPC200. For commissioning with the control panel, proceed as described in sections 4.4.1 and 4.4.2.
Warning If the tubing of the axis system is incorrectly connected and you enable the controller, the drive will move, depend ing on the level of the supply pressure, at high speed and with high acceleration into one of the end positions (con trol direction reversed). This can lead to serious injury to human beings and damage to components. Always check the tubing before enabling the controller with a 1signal at the ENABLE input.
423
4. Commissioning
4.4.1
Saving the hardware configuration

In the switchon phase the SPC200 assigns the axis ident ifiers to the connected axes one after the other. If modifica tions are made to the axis configuration at a later stage, the axis identifiers will be reassigned. All user data already en tered, such as parameters, programs and the position list for the new axis configuration cannot therefore be used.
Caution In this case all data already entered will be reset to the status as at delivery or deleted when the hardware con figuration is saved (function Reset data"). Always set the correct hardware configuration first. Save the hardware configuration before entering data and programs.
With WinPISA you can read programs and configuration data out of the SPC200 and archive them.
424
4. Commissioning
In the switchon phase, the SPC200 checks whether the cur rent hardware configuration is the same as the saved nominal configuration. The installed modules as well as the string assignment are checked here. Each I/O module on the axis interface string is assigned with a fixed I/O address range. An axis identifier is assigned to each axis interface and each stepping motor indexer module or the axis connected thereto. Save the configuration As a preparation for commissioning the desired hardware configuration must be created and saved. The SPC200 is prepared at the factory to save the current hardware configuration in the first switchon phase automati cally as the nominal configuration. If you create the desired hardware configuration correctly before the first switchon phase, it will not be necessary to save the hardware configur ation manually. If the actual configuration differs from the saved nominal configuration, proceed as follows: 1. Check that all components are installed, that all modules on the axis interface string are correctly connected, and that the CP cable is correctly fastened with the union nut. Make sure that the power unit provides sufficient output. 2. Now switch on the operating voltage. The status LEDs on the modules will now light up. If the current axis configuration and the I/O assignment (hard ware configuration) are not the same as the saved con figuration, an appropriate fault message will be displayed (fault code 0000 4001). 3. Check whether all the status LEDs light up. The modules have then been recognised correctly.
425
4. Commissioning
If necessary, you can ascertain the actual configuration re cognised in the switchon phase with the command ACTUAL CONFIG. in the menu CONFIG. SYSTEM (see section 6.2). 4. If the recognised actual configuration does not comply with your wishes: switch off the power supply and create the desired configuration. 5. If the recognised actual configuration fulfills your wishes, press any button in order to quit the fault message. The basic setting will then be displayed again. 6. Select the command OPERATING MODE in the menu CONFIG. and press the Enter button.
SET CONFIGUR. SAVE CONFIGUR. ?
7. Press the Enter button in order to save the actual con figuration as the nominal configuration. 8. If modifications have been made to the axis configur ation, you will receive the following message:
RESTORE FACTORY SETTINGS ?
Please note This message indicates that all data are reset to the status as at delivery. All data and programs entered will be lost. 9. Press the ESC button in order to interrupt. Or press the Enter button in order to delete all the data in the SPC200 and to save the hardware configuration. When the current hardware configuration is saved, the actual configuration becomes the nominal configuration. The con trol panel then shows the basic setting again.
426
4. Commissioning
4.4.2
Commissioning pneumatic axes

If you have created and saved the desired hardware configur ation, you can commission pneumatic axes as follows:
Step 1:
Setting projectspecific parameters
Set all projectspecific parameters. These include: Projectspecific parameters

Axis data Application data System configuration
Menus on the control panel

AXIS PARAM. APPLIC. PARAM. CONFIG. SYSTEM
Leave the supply pressure switched off and proceed here as described in section 6.2 Setting projectspecific parameters".
Step 2:
Check the tubing of the axes
Check the tubing of the axes at all costs. In addition to the visual check of the tubing (see appendix A) or the check with WinPISA, you can also use the control panel. The command MOVEMENT TEST in the menu TEST/DIAG. is available here. Recommendation: Check the tubing with the aid of WinPISA, version 4.3 or higher. During the movement test you can modify the control voltage of the valve. With the supply pressure switched off, the reac tion of the valve slide can be observed in the viewing window of the valve and its ability to function can be checked. During the movement test the controller is switched off for all axes. The software end positions set with the application parameters therefore have no effect.
427
4. Commissioning
Warning The controller is switched off with this function. The pneu matic axes can therefore perform sudden unexpected movements if the supply pressure is switched on. The set software end positions have no effect. If you wish to carry out the movement test with the supply pressure switched on:
Make sure that the complete positioning range of the
pneumatic axes remains free.

Warn other people of this danger by the use of appropri
ate warning signs and/or protective screens.

Keep the acceleration forces low. In order to do this, set
a low supply pressure of maximum 3 bar and reduce the mass load to a minimum: no workpiece, if possible no heavy gripper systems, etc..
Necessary control signals before accessing the movement test: 0signal at the ENABLE input
Please note that from operating system version 4.63 onwards the ENABLE signal must be switched on and off in a defined sequence during the movement test. This is solely for your safety. Failure to comply with this causes the movement test to be aborted immediately! When the movement test is carried out, the ENABLE signal must be controlled as described in the following: The move ment test always ends with a 0signal at ENABLE.
428
4. Commissioning
In order to carry out the movement test with the supply pressure switched on, proceed as follows: 1. Keep the acceleration forces low. In order to do this, set a low supply pressure of maximum 3 bar and reduce the mass load to a minimum: no workpiece, if possible no heavy gripper systems, etc. 2. Switch on the power supply for the SPC200. Make sure here that there is a 0signal at the ENABLE input (no fixed wiring of the ENABLE input with the supply voltage). 3. Switch on the supply pressure. 4. Select the submenu AXIS in the menu TEST/DIAG. and press the Enter button.
TEST/DIAG. AXIS X:
5. The cursor is positioned on the axis identifier. Select the desired axis with the buttons vV (here X) and press the Enter button. The first command in the submenu AXIS will then be displayed.
TEST/DIAG. AXIS JOG AXIS >
6. Select the command MOVEMENT TEST with the buttons { }.

TEST/DIAG. AXIS MOVEMENT TEST >
7. Then press the Enter button. The movement test will then be switched on. The valve voltage will thereby be set to 5V. The current valve voltage will be shown directly after the axis identifier.
MOVEMENT TEST X:05.00 +0.01
429
4. Commissioning
8. Now apply a 1signal to the ENABLE input in order that the valve voltage can be modified. During the active movement test the controller is switched off for all axes. 9. Now specify whether you wish to raise or lower the control voltage. Set the appropriate sign here with the buttons vV. Control voltage
>5V
Direction of movement with correct tubing

Negative (towards measuring system zero point or towards the electrical connection of the measuring system) Positive
<5V
The valve voltage can be influenced with the following buttons: Button functions
Press the Enter button once.
Description
The valve voltage is increased or reduced once by 0.01 V. The valve voltage is increased or reduced continuously in steps of 0.01 V. The control voltage is reset to 5.0V.
Press and hold down the
Enter button.
Press the ESC button.
In order to overcome static friction, the control voltage must be increased or reduced accordingly.
430
4. Commissioning
The movement test can be interrupted by a 0signal at the ENABLE input. The valve voltages will then be set to an elec trical medium value (offset). An appropriate fault message will then appear on the control panel. 10. Modify the control voltage until the drive starts to move slowly. 11. Make sure that the drive moves in the correct direction (see under 9.). Adjust the tubing if the drive moves in the wrong direction (see also appendix A). 12. In order to conclude the movement test and to reset the control voltage to 5 V again, press the ESC button. The control panel then shows the following again.
TEST/DIAG. AXIS MOVEMENT TEST >
13. In order to conclude this procedure, apply a 0signal once again to the ENABLE input. 14. If you wish to carry out the movement test with the same axis again, proceed now as described as from point 7. 15. If you wish to carry out the movement test with a different axis, press the ESC button. Then proceed as described as from point 5. In order to return to the basic setting, press the ESC button several times.
431
4. Commissioning
Step 3:
Carry out identification travel
Please note If system identification is not carried out, the positioning behaviour will probably be bad. In the case of modifica tions to the axis data and the mounting position, as well as modifications to the supply pressure of more than 1bar, the data ascertained during system identification will be deleted. In these cases, therefore, new identifica tion travel is necessary. During identification travel the characteristic system values are ascertained and saved. Before identification travel can be carried out, the positioning system must be ready for oper ation. A distinction is made between two types of system identifica tion. Types
Static identification
Description
With the static identification, variables are ascertained which have an effect on the behaviour of the system at the beginning and end of the movement. This includes static friction of the drive and the valve characte ristics in the range of the midposition (valve hysteresis). With the dynamic identification, the maximum attainable speed as well as the acceleration ability and delay ability of the drive system are ascertai ned. This identification must be carried out in the case of axes which should move at maximum speed (NC command G00). If considerable modi fications to the mass occur during operation, identification should be carried out both with and without the workpiece.
Dynamic identification with workpiece without workpiece
432
4. Commissioning
In order to obtain good positioning behaviour, be sure to carry out the system identification a static identification and at least one dynamic identification run. The NC command G00" cannot be used without dynamic identification. If your compressed air supply does not reliably fulfil the necessary requirements (tolerance of 1 bar in operation), please observe the instructions in section B.3.1. It is necessary to carry out the static and dynamic identifica tion run during the first commissioning, when components are replaced, as well as when the drive configuration is modi fied (mounting position, tubing or supply pressure). Only for pneumatic drives with incremental measuring sys tem (e.g. type DNCI...): A reference run must be carried out before the identification run (WinPISA from version 4.4x). Necessary control signals: 1signal at ENABLE, STOP and READY.
Caution Incorrect axis and application data can lead to collisions during identification travel. This applies especially to axis length, the mounting offset and the software end posi tions.
Warning With a dynamic identification run, an axis is set in motion at the highest acceleration and speed. Make sure that: the complete positioning range of the axis is free the correct axis and application data are set.
433
4. Commissioning
Carry out identification travel as follows: 1. Make sure that the tubing of the positioning system is correctly connected (see step 2, movement test). 2. Set the compressed air supply to the pressure desired during operation. Standard setting = 6 bar. 3. Select the submenu AXIS in the menu TEST/DIAG. and press the Enter button.
TEST/DIAG. AXIS X:
4. The cursor is positioned on the axis identifier. Select the desired axis with the buttons vV (here X) and press the Enter button. The first command in the submenu AXIS will then be displayed.
5. Select the command IDENTIFICATION with the buttons { }.

TEST/DIAG. AXIS IDENTIFICATION >
6. Press the Enter button in order to select the command.

IDENTIFICATION X: STATIC?
7. Select the identification travel which you wish to carry out with vV. Meaning:
434
4. Commissioning
Identification
STATIC DYNAMIC1 DYNAMIC2
Meaning
Static identification Dynamic identification with workpiece *) Dynamic identification without workpiece *)
*) Workpiece must be removed or added
8. Press the Enter button in order to save the identification travel. The identification travel takes a certain amount of time. During identification progress is indicated as a per cent value. After successful identification travel the message OK is shown, e.g.:
IDENTIFICATION X: DYNAMIC1 OK
You can return to the basic setting by pressing the ESC button several times. If system identification is not successful:
Check the layout, the installation as well as the axis and application data of the relevant axis. Then carry out identification again.
Step 4:
Calibrate the measuring system (optional,only with WinPISA)
From operating system version 4.82 onwards, the calibration function requires WinPISA version 4.41 or higher. Calibration compensates for systemspecific tolerances which may occur when the actual position is ascertained. In this way the electrically ascertained position values are adapted to the actual values. Carry out calibration if you wish to save or improve the absolute positioning accuracy.
435
4. Commissioning
Step 5:
Move the axis by means of the control panel (optional)
Necessary control signals: 1signal at ENABLE, STOP and READY. With the command JOG AXIS in the menu TEST/DIAG. you can move the axis manually. Proceed as follows: 1. Select the submenu AXIS in the menu TEST/DIAG. and press the Enter button.
TEST/DIAG. AXIS X:
2. The cursor is positioned on the axis identifier. Select the desired axis with the buttons vV (here X) and press the Enter button. The command JOG AXIS in the submenu AXIS will then be displayed.
3. Press the Enter button in order to select the command. The previously selected axis and the current positioning mode will then be displayed.
JOG AXIS X: CONT
4. Select the desired positioning mode with vV. Meaning: Positioning mode
CONT STEP
Meaning
Position continuously Position in steps twice the set positioning tolerance
436
4. Commissioning
JOG AXIS X: STEP
5. Press the Enter button in order to activate the positioning mode, e.g.:
JOG AXIS STEP X:+0100.00 +
6. Set the desired positioning direction with the buttons vV. 7. With positioning mode STEP: Press the Enter button in order to move one step. With positioning mode CONT: Hold the Enter button pressed down for as long as positioning is carried out. You can return to the basic setting by pressing the ESC button several times.
437
4. Commissioning
Possible problems Cause

The slide moves into an end position. The control direction is not the same as the direction of positioning of the slide. Measuring system or measuring system cable is defective. The slide moves one position. The control panel shows a fault number The slide does not move The axis or application data are not correct. See section 8.2 The valve cable is defective No supply pressure
Remedy
Swap the connecting tubing on the proportional directional control valve. Replace measuring system or measuring system cable *) Correct the data Eliminate fault Check the cable *) Switch on the compressed air supply or check the tubing. Apply a 1signal to the ENABLE input.
Remarks
See also appendix A
Check first with MOVEMENT TEST See section 6.2 See section 8.2 See also appendix A See also section 3.2
The controller is switched off because there is no ENABLE signal. System has stopped. Proportional directional control valve is defective
*) Check and if necessary replace
See also Fig. 4.2
Apply a 1signal to the STOP input. Replace the proportional directional control valve. *)
See also Fig. 4.2 Check first with MOVEMENT TEST
438
4. Commissioning
Step 6:
Enter test program
In order to avoid unnecessary fault messages during the switchon phase, programs 0 and 1 have already been created at the factory. They each contain the NC record N000 with the command M30 (Program end). N000 M30
Select therefore the command MODIFY PROGRAM, if you wish to use program number 0 or 1 for your test program. Enter a short test program, e.g.:
N000 N001 N002 G02... X+100 G02... X+150 M30 FX50 FX90
Adapt the position specifications (X+100, X+150) to your requirements. Notes on the procedure for programming with the control panel can be found in section 6.3.
Step 7:
Test the program
With the command SINGLE STEP in the menu TEST/DIAG., you can test saved programs in single steps in the operating mode START/STOP (see section 6.8). This operating mode is set at the factory. Set the operating mode START/STOP as follows: 1. Select the command OPERATING MODE in the menu CONFIG. SYSTEM.
CONFIG. SYSTEM OPERATING MODE >
439
4. Commissioning
2. Press the Enter button in order to select the command. The current operating mode will then be displayed, e.g.:
OPERATING MODE RECORD SELECT
3. Select the operating mode START/STOP and press the Enter button. The operating mode then becomes effective.
OPERATING MODE START/STOP
You can return to the basic setting by pressing the ESC button several times. You can test the program in single steps as follows: Necessary control signals: 1signal at ENABLE, STOP and READY.
1. Select the submenu SYSTEM in the menu TEST/DIAG. and press the Enter button. The command SINGLE STEP in the submenu SYSTEM (SYS.) will then be displayed.
TEST/DIAG. SYS. SINGLE STEP >

SINGLE STEP P00
440
4. Commissioning
3. Use the cursor buttons to set the program number of the test program and press the Enter button. The record number of the first NC record will then be shown.
SINGLE STEP P00 N000
4. Press the Enter button in order to start the NC record. The NC record will then be processed. The current record number will then be displayed in the bottom line. 5. Repeat point 4 when the activated NC record has been processed and you would now like to start the displayed NC record. You can return to the basic setting by pressing the ESC button several times.
Defining the starting program

In order to test a program in normal" operation, you must define the program as the starting program. (see MENU CONFIG. SYSTEM, command DEFINE TASKS). You can start a program defined as the starting program with the START input or with the command START SYSTEM in the menu SYSTEM CONTROL.
Program 0 is defined as the starting program at the factory.
Please note When defining starting programs note the instructions in section 7.1. In order to improve the positioning characteristics, you can optimize the controller parameters after the commissioning (see appendix B).
441
4. Commissioning
4.4.3
Notes on commissioning multiaxis systems

Commission at first each axis individually, as described in this chapter. Note when using two starting programs that both parallel running programs have the READY output and the ENABLE, STOP and START/RESET inputs. Notes on coordinated and autonomous operation can be found in section 7.1.1.
442
Controlling the SPC200
Chapter 5
51
5. Controlling the SPC200
Contents
5.1 5.2 5.3 General notes on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Start/Stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 5.2.1 Explanation of all I/O signals in Start/Stop mode . . . . . . . . . . . . . . 511 Record Select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517 5.3.1 Explanation of all I/O signals in Record Select mode . . . . . . . . . . . 522
52
The SPC200 offers the following two operating modes for processing the saved NC programs: Start/Stop mode Record Select mode
The functions of the digital inputs and outputs and of the permitted NC commands depend on the operating mode set. This chapter describes how to control the SPC200 in the op erating modes named. Examples of the I/O circuitry are shown for controlling the SPC200 via an I/O module. All I/O control signals as well as their time behaviour are described. Further information Information on the coordinated and autonomous operation of axes with an SPC200 can be found in chapter 7.1.1. Special instructions on operation on the field bus or on oper ating electric axes can be found in the manual for the relevant extension module. Sequence plans for programmers can be found in appendix C.
53
5.1
General notes on operation Operating modes of the SPC200
Start/Stop
In the operating mode Start/Stop the SPC200 can control positioning tasks independently. Any necessary synchroniz ation with externally controlled processes is supported by the Programmed Stop" (command M00). The Record Select operating mode supports the close coupling of the SPC200 with a higherorder PLC/IPC. If con trolled by an I/O module, 32 NC records of the fixed starting programs can be accessed via 5 digital inputs. In this oper ating mode, only positioning commands, positioning condi tions and commands for setting the positioning quality class are supported (see chapter 5.3). In both operating modes the SPC200 can process two paral lelrunning programs. Coordinated and autonomous oper ation of two work stations can therefore be achieved with one SPC200.
Record Select
Setting the operating mode
Set the desired operating mode as well as the desired start ing program in the menu CONFIG SYSTEM on the control panel. Note that in the following cases a rising signal edge is re quired at the ENABLE input for controller enable. during the first commissioning after the projectspecific parameters have been set after a Data Reset and resetting of the projectspecific parameters when the movement test has been carried out.
Controller enable
54
Switchon behaviour of the SPC200 1 Depends on fault

(see chapter Diagnosis)
Switching on
Switch on the power LED Switch on the error LED Initialization and self test (max. 10 s)
Fault?
Yes
Error LED remains alight or flashes
No Make starting program available. Error LED goes out
Controller enable? (Enable = 1?) Yes
No
Ready output is set. Controller is switched on. Actual position = nominal position (closedloop controlled stop)
SPC200 is ready for operation
Fig. 5/1: Switchon behaviour of the SPC200
55
When the power supply is switched on, the SPC200 carries out an initialization and a selftest. If there are no faults, the set operating mode will be activated and the starting pro grams will be made available. This procedure can take a certain amount of time (max.10seconds), depending on the equipment fitted on the system. If there is then a 1signal at the ENABLE input: the controller will be enabled. The current position becomes the nominal position (controlled stop). the READY output will be set.
If there is a 1signal at the ENABLE input, the lack of the load voltage supply will trigger a fault message. Switch on the load voltage before setting ENABLE to a 1signal. If there is a 1signal at the STOP input and the READY output supplies a 1signal, the program sequence or positioning procedure can be started, see appendix C.1.
56
Load voltage
24 V 0V 1 0 1 0 1 0 1 0
1 2
ENABLE
READY
STOP
START/CLK
3 1 The load voltage should now be available

(type > 1 s)
3 Debounce time t 10 ms
2 Reaction time of the SPC200:

without stepping motor module:max.100ms with stepping motor module: max. 2 s Fig. 5/2: Time behaviour of the I/O signals at start of sequence
Operating mode
Starting the program sequence or positioning task

START signal on the control panel or via START input CLK input
Starting the program sequence or positioning task

START signal on the control panel or via START input
Start/Stop mode Record Select mode
If there is a 0signal at the STOP input, a Reset can be trig gered by a rising edge at the START input (see description of the I/O signals in chapter 5.2.1 and 5.3.1).
57
Quitting a fault
If a fault occurs during the program processing, the READY output will be reset automatically. When the fault has been eliminated, the fault message can be acknowledged with a START signal. If several faults occur simultaneously, quitting must be undertaken several times.
1
Fault 1 0 1 0 1 0 1 0 1 0 1 0
Fault message
ENABLE
READY
STOP
START/CLK
3
there are faults (max. 10 s)
1 Time requirement depends on equipment fitted on the system and whether 2 Debounce time t 10 ms 3 Quitt. faults; if there are several faults, quitt. must be undertaken several times 4 Start program or NC record
Fig. 5/3: Time behaviour when quitting a fault If there are no faults, the READY output will supply a 1signal again. Then program sequence can then be continued or the next NC record can be started. 58
5.2
Start/Stop mode
In Start/Stop mode the SPC200 can control positioning tasks independently. The following are available in this operating mode if an I/O module is used: five freely programmable inputs three freely programmable outputs all NC commands.
Start/Stop mode
With each further I/O module, a further ten freely program mable inputs and eight freely programmable outputs are available. For special I/O functions directly on the axis, I/Os can be made available via modules on the axis interface string. The sequence of programs can be controlled in Start/Stop mode via digital I/Os. The command Programmed Stop (M00) is available for loose coupling with a higherorder PLC/IPC. With this command you can synchronize the program se quence of the SPC200, e.g. with externally controlled pro cesses. The following diagram shows the I/O circuitry in case you wish to trigger the operating functions Start, Stop and Enable via an external control panel. Instead of a control panel you can also use a higherorder PLC/IPC for controlling.
59
1 2 3
0V 24 V
9 I0.9 ENABLE
8 I0.8 START/ RESET 1)
7 I0.7 STOP
24 V 24 V
5 6 7
3 Q0.4 MC_A
7 Q0.7 READY
24 V 24 V
0V 0V
1) RESET (Program Reset) in conjunction with 0signal at the STOP input
1 Designation on plug X5 2 Input address (I = input) 3 Function 4 Load voltage (can be switched off
separately)
5 Designation on plug X6 6 Output address (Q = output) 7 Function 8 Power supply for outputs (can be
switched off separately as an option)
Fig. 5/4: Example of an I/O circuit for the operating mode Start/Stop with operation via a control panel 510
5.2.1
Explanation of all I/O signals in Start/Stop mode

The connection assignment and I/O addresses of the I/O modules can be found in chapter 3.5.3, field bus addresses in the manual for the field bus module.
Inputs
Function
SYNC_IB SYNC_IA
Description
Synchronization input for program B (like SYNC_IA, but for program B) Synchronization input for program A This input supports synchronization of the SPC200 with external devices (e.g. PLC/IPC). With a Programmed Stop (command M00) the SPC200 waits for a fal ling edge at this input before it processes the next NC record (see Fig. 5/6).
STOP
Stop program sequence A falling edge at this input causes: the program sequence and the axes to be stopped. Depending on the parameterisation, the axis is stopped (controlled stop): The position at the time of the stop signal becomes the setpoint position (d f lt) After (default). Aft standstill, t d till the th axis i runs back b k to t this thi position. iti The current position at standstill becomes the setpoint position. New feature This function is only available as from firmware version 4.93 in combination as from with WinPISA as from version 4.51. OS 4.93 If there is a 0signal, a Program Reset can be triggered by a rising edge at the START input (see under START input). The program sequence is continued by: 1. a 1signal at this input 2. a new start signal (Start on the control panel or a rising edge at the START input).
511
Function
START/ RESET
Description
Start/continue programs or quit faults The sequence of created programs will be started or continued or a fault will be acknowledged with a rising edge at this input. Prerequisites: there must be a 1signal at the STOP input there must be a 1signal at the ENABLE input in order to start/continue: there must be a 1signal at the READY output. Reset program If there is a 0 signal at the STOP input and a 1 signal at the ENABLE input, a RESET (Program Reset) can be triggered by a rising edge at the START input. This will have the following effects: the NC record pointer is reset to 0 the presettings G90 and G02 (speed and acceleration values and workpiece mass in initial state), as well as the positioning quality class set in the application data become valid the nominal value input is switched off (M12) all settings undertaken with M10, M11, M13 or M14 are reset to the defined stan dard values (parameter set for the axis, Nominal value specification" tab) preswitch off values defined with G25 are reset again direct control of the valve voltage (M39) is deactivated all settings undertaken with M40 and M41 are reset to the standard values all freely programmable outputs and the SYNC outputs are reset the set starting programs are made available any active faults are acknowledged. All flags (F), registers (R) and position registers (@) remain unchanged. Controller enable An 0signal at this input causes: the controllers of all axes will be switched off. The valve control voltage will be set to an electrical medium value (offset). the READY output will be reset if you use a stepping motor, the ENABLE signal for the stepping motor controller will be reset and the reference position will be deleted. No further positioning tasks will then be accepted. If there is a 1signal again at this input: the READY output will be set the valve control voltages and the controllers of all axes will be switched on the current position will become the nominal position (closedloop controlled stop). If you are using a stepping motor, reference travel must be carried out again. At the next START signal, the program sequence will be continued. In the following cases a rising signal edge is required at the ENABLE input for controller enable. during the first commissioning after the projectspecific parameters have been set after a Data Reset and resetting of the projectspecific parameters when the movement test has been carried out.
ENABLE
512
Outputs
Function
MC_B (motion complete) MC_A (motion complete)
Description
MC output for program B (like MC_A, but for program B) MC output for program A (see also chapter 7.4, NC command G61) 1signal at this output indicates that a positioning task from program A has been concluded. When the positioning task has been completed, an MC signal will also be sent if the axis is no longer at the programmed nominal position (e.g. because of failure of the compressed air supply, unstable control, etc.). 0signal indicates that a positioning task is being processed. If there is to be evaluation of the MC signal by the PLC: In the case of position ing tasks which follow directly one after the other, the MC signal may be too brief to be evaluated by the PLC. The signal can be lengthened between the positioning commands with the aid of NC command G04. The MC output is not reset when a positioning task is carried out within the positioning tolerance (stroke < positioning tolerance) A separate MC signal is generated internally in the SPC200 for each axis addressed. These MC signals are ANDlinked internally (see Fig. 5/5). Synchronization input for program B (like SYNC_OA, but for program B) Synchronization output for program A If there is a 1signal at the SYNC_IA input during a Programmed Stop (com mand M00), a 1signal at this output will indicate the readiness to process the next NC record. If there is a negative edge at the SYNC_IA input, output SYNC_OA will be reset and the next NC record will be processed (see Fig. 5/6). System ready to operate This output supplies a 1signal if the system is ready to operate. A 0signal at this output indicates that there is a system fault or positioning fault or that there is no ENABLE signal.
SYNC_OB SYNC_OA
READY
513
Working method of the MC signals (MC_A and MC_B)

For each program (A or B), a separate MC signal is generated internally in the SPC200 for each axis addressed. The MC output for the relevant program supplies a 1signal if all rel evant internal MC signals supply a 1signal (AND linking).
1 Internal MC
signals depending on the axis addressed and on each program MC_AX or MC_BX etc. (here 4 axes)
MC_...X MC_...Y MC_...Z MC_...U
2 Depending on the
program MC_A or MC_B
&
MC_...
Fig. 5/5: AND linking of the internal MC signals (example: 4 axes)
Please note If an NC record is processed with the following NC com mands, the status of the MC signal will be undefined: M10, nominal value mode 1 (Activate nominal value input) M39 (Start valve variable output) M12 (Stop axis) When nominal value mode 1 is started or after direct out put of a valve variable, the MC signal of the relevant axis is constantly 1.
Axis status flags F72...75 can be used to poll the MC signals of each axis, and to use them in programs, see chapter 7.2.
514
Programmed Stop
Synchronization of the SPC200 with externally controlled processes is supported by the Programmed Stop (command M00). For this purpose, the SPC200 provides separate control I/Os for programs A and B. The relevant program will be stopped with the Programmed Stop (command M00). If there is a 1signal at the relevant SYNC input (SYNC_IA or SYNC_IB), the SPC200 will indicates the stop status of the program by setting the appropriate SYNC output (SYNC_OA or SYNC_OB). Externally controlled processes can then run.
M00 G00/G01/G02 M00 G00/G01/G02
1
SYNC_IA/IB 1 0 1 0 1 0
SYNC_OA/OB
MC_A/B
3 1 Externally controlled process 2 Programmed Stop
3 3 Program sequence
Fig. 5/6: Time behaviour with a Programmed Stop If there is a negative edge at the SYNC input, the SYNC output will be reset and the program will be processed further. The continuation of the program sequence is represented in Fig. 5/5 with the aid of the MC signal.
515
The MC signal (MC_A/B) is not affected by Programmed Stop M00, but rather only by the starting and completion of a posi tioning command.
Summary of the Start/Stop mode

In operating mode Start/Stop the SPC200 provides freely programmable inputs and outputs. With the Programmed Stop (command M00), two parallel running programs can be synchronized with other processes independently of each other e.g. by a PLC/IPC. Start/Stop mode
Prerequisites
Description
The program must already be saved in the program memory The axis, application and system data must be set correctly The Start/Stop operating mode must be set There must be a 1signal at the ENABLE and STOP inputs
Operation with the control panel Operation via I/O
Operating functions Start, Stop, Reset via menu SYSTEM CONTROL on the control panel Operating functions Start with rising edge at START input Stop with 0signal at the STOP input Continue program with 1signal at the STOP input and rising edge at the START input Program reset with 0signal at the STOP input and rising edge at the START input Fault acknowledgement with 1signal at the STOP input and rising edge at the START input
516
5.3
Record Select mode

In the Record Select mode the SPC200 is controlled by a higherorder PLC/IPC. The controlling PLC/IPC sends posi tioning tasks in the form of binarycoded record numbers via digital I/Os to the SPC200. The SPC200 then processes the desired NC record and waits for the next positioning task. If controlled by an I/O module, NC records 0...31 of the starting programs can be accessed via 5 digital inputs. With control via a field bus, the NC records 0...999 are available. As the sequence of the NC programs is controlled by a higher order PLC/IPC, NC commands, which serve for sequence con trol, are not permitted in this operating mode. Only the following NC commands are supported: NC command
G00 G01 G02 G08 G09 G60 G61 G62 G74 G90 G91
Record Select mode
Description
Positioning at the highest possible speed Position at a defined speed Position with jerkfree acceleration Position with Start/Stop frequency Acceleration for approach ramp Acceleration for braking ramp Exact stop Set positioning quality class Fast stop Start reference travel Absolute dimension specification (presetting at program start) Relative dimension specification
517
The following diagram shows an example of an I/O circuit for Record Select mode.
1 2 3
0V 24 V
9 I0.9 ENABLE
8 I0.8 RESET 1)
7 I0.7 STOP
24 V _ 24 V
0/4 I0.0/I0.4 RECBIT...
5/6 I0.5/I0.6 CLK_B/A
Outputs
PLC/IPC
Inputs
5 6 7
24 V _ 24 V
0V _ 0V
3/4 Q0.3/Q0.4 RC_B/A
5/6 Q0.5/Q0.6 ACK_B/A
7 Q0.7 READY
1 Designation on plug X5 2 Input address (I = input) 3 Function 4 Load voltage (can be switched off
separately)
5 Designation on plug X6 6 Output address (Q = output) 7 Function

1)
RESET (program reset) in conjunction with a 0signal at the STOP input
Fig. 5/7: Example of an I/O circuit for the operating mode Record Select with two starting programs 518
In the operating mode Record Select positioning tasks are sent in the form of binarycoded NC record numbers to the SPC200 via the inputs RECBIT.... With a rising edge at the CLK input, the record numbers are accepted for the relevant program and acknowledged with the ACK signal. The following diagram shows the signal curve of the I/O sig nals relevant for communication when a positioning task is delegated.
1
RECBIT...
1 0
CLK_A/B
1 0
ACK_A/B
RC_A/B
3 1 Debounce time t 10 ms 2 The status of the individual input signals depends on the desired record
number
3 Positioning procedure 4 As from this moment the PLC/IPC waits for the 1signal at the RC_A/B output
Fig. 5/8: Time behaviour of the I/O signals in Record Select mode
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NC record numbers
The desired NC record number, in which the positioning task is stored, is specified binarycoded via inputs. The following NC records can therefore be accessed: Type of control Accessible NC record numbers
0...31 0 ... 999 1)
I/O module (5 inputs; 25 = 32) Field bus module (10 inputs)
1) Maximum permitted number of NC records
The NC records are always stored in the SPC200 beginning with NC record 0 and a step size of 1. If possible, use the same numbering in WinPISA, e.g. with the aid of the number ing function.
520
The inputs RECBIT... have the following meaning: RECBIT5

24 Input signals 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1
RECBIT4
23
RECBIT3
22
RECBIT2
21
RECBIT1
20
Designation
Value NC record number 0 1 2 3 ...
1 1
1 1
1 1
1 1
0 1
30 31
With control via a field bus module RECBIT... as 2byte value from 0 to 999, see manual on the field bus module.
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5.3.1
Explanation of all I/O signals in Record Select mode

The connection assignment and I/O addresses of the I/O modules can be found in chapter 3.5.4, field bus addresses in the manual for the field bus module.
Function Inputs
RECBIT1 ... RECBIT5 CLK_B CLK_A
Description
Bit 1 for record number (20) ... Bit 5 for record number (24) 1) Start NC record from program B or quit fault (like CLK_A, but for program B) Start NC record from program A or quit fault With a rising edge at this input: the NC record number at the RECBIT... inputs will be accepted by the SPC200 for program A and processed. This will be indicated with the signal ACK_A (see Fig. 5/8). an active fault is acknowledged if at the same time a 1signal is active at the STOP input.
STOP
Stop positioning task An 0signal at this input causes: the axes to be stopped (controlled stop). Depending on the parameterisation: The position at the time of the stop signal becomes the setpoint position (default). After standstill, the axis runs back to this position. The current position at standstill becomes the setpoint position. New feature as This function is only available as from firmware version 4.93 in combina from OS 4.93 tion with WinPISA as from version 4.51. The positioning task can be started again by: a 1signal at this input renewed starting of the positioning task via the relevant CLK input (CLK_A/CLK_B). Continuation of a positioning task after a Stop signal is not supported in this operating mode. If you use NC command G91, movement must be made to an absolute position (G90) after each stop.
1)
With control via a field bus module RECBIT... as 2byte value from 0 to 999, see manual on the field bus module.
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Function Inputs
RESET
Description
Reset program If there is a 0signal at the STOP input and a 1signal at the ENABLE input, a RESET (Program Reset) can be triggered by a rising edge at the RESET input. This will have the following effects: the NC record pointer is reset to 0 the presettings G90 and G02 (speed and acceleration values and workpiece mass in initial state), as well as the positioning quality class set in the application data become valid the ACK outputs will be reset the set starting programs are made available any faults are acknowledged. Controller enable An 0signal at this input causes: the controllers of all axes will be switched off. The valve control voltage will be set to an electrical medium value (offset). the READY output will be reset if you use a stepping motor, the ENABLE signal for the stepping motor controller will be reset and the reference position will be deleted. No further positioning tasks will then be accepted. If there is a 1signal again at this input: the READY output will be set again the valve control voltages and the controllers of all axes will be switched on the current position will become the nominal position (closedloop controlled stop) If you are using a stepping motor, reference travel must be carried out again. With the next CLK signal, the positioning task at the RECBIT... inputs will be processed. In the following cases a rising signal edge is required at the ENABLE input for con troller enable. during the first commissioning after the projectspecific parameters have been set after a Data Reset and resetting of the projectspecific parameters when the movement test has been carried out.
ENABLE
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Function Outputs
RC_B (record complete) RC_A (record complete)
Description
NC record of program B concluded (like RC_A, but for program B) NC record of program A concluded (see also chapter 7.4, NC command G61) 1signal at this output indicates that a positioning task from program A has been concluded. When the NC record has been processed, an RC signal will also be sent if the axis is no longer at the programmed nominal position (e.g. because of failure of the compressed air supply, unstable control, etc.). An 0signal indicates that an NC record is being processed. Task accepted (acknowledge) for program B (like ACK_A, but for program B) Task accepted (acknowledge) for program A Acceptance of the task from program A is acknowledged via this output (see Fig. 5/8). System ready to operate This output supplies a 1signal if the system is ready to operate. An 0signal at this output indicates that there is a system fault or positioning fault or that there is no Enable System signal.
ACK_B (acknowledge) ACK_A (acknowledge) READY
Please note Continuation of a positioning task after a Stop signal is not supported in this operating mode. If you use NC command G91, movement must be made to an absolute position (G90) after each stop.
524
Summary of Record Select mode

The Record Select operating mode supports the close coupling of the SPC200 with a higherorder PLC/IPC. Record Select mode
Prerequisites
Description
The program must already be saved in the program memory The system data must be entered in the configuration The Record Select mode must be set There must be a 1signal at the ENABLE and STOP inputs
Operation with the control panel Operation via I/O
Operating functions Stop, Reset via menu SYSTEM CONTROL on the control panel Operating functions Select NC record via the RECBIT... inputs. Start the selected NC record via the CLK input Stop via the STOP input Program reset with 0signal at the STOP input and rising edge at the CLK input Fault acknowledgement with 1signal at the STOP input and rising edge at the CLK input
525
Example of program in Record Select mode

Inputs I0.4 ... I0.0 1) I11.9 ... I11.0 2)
00000 00001 00010 ... 01000 01001 ... 10000 ... 11111
1) 2)
NC records of the starting program
N000 G00 X100.00 Y100.00 N001 G00 X130.00 Y100.00 N002 G01 X50.00 FX50 ... N008 G90 X100.00 Y110.00 N009 G91 X10.00 Y20.00 ... N016 G00 X200.00 Y200.00 ... N031 G02 X150.00 Y150.00
With control via an I/O module With control via a field bus module
Sequence control takes place exclusively via a higherorder PLC/IPC. With a rising edge at the CLK input, the signals at the RECBIT... inputs will be accepted as NC record numbers, acknowledged by the ACK signal and the NC record will be processed. Only the positioning commands (G00, G01, G02 and G74), positioning conditions (G08, G09, G90 and G91) and com mands for setting the positioning quality class (G60, G61, G62) will be supported.
526
Operating the SPC200 with the control panel
Chapter 6
61
6. Operating the SPC200 with the control panel
Contents
6.1 6.2 6.3 Structure and functions of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Moving in the menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting projectspecific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.1 Create new program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.2 Instructions on editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.3 Store of commands on the control panel . . . . . . . . . . . . . . . . . . . . . 6.3.4 Edit existing program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.5 Delete program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit position register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controlling the program sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displaying operands and system states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test and diagnostic functions of the control panel . . . . . . . . . . . . . . . . . . . . . 64 67 613 627 628 633 635 639 641 642 646 648 650 652
6.4 6.5 6.6 6.7 6.8
62
This chapter describes the menu and operating functions of the control panel type SPC200MMI.... All parameters and operating functions of pneumatic axes are explained in detail and general system operating functions are described. Control panel functions of special extension modules such as stepping motor indexer modules and field bus modules are simply listed without a description.
Further information
Control panel functions of stepping motor indexer modules and of field bus modules can be found in the manual for the relevant module. WinPISA offers mainly the same operating functions and parameters as the control panel. Information on this can be found in the WinPISA manual. Caution The functionality of the MMI (control panel) has been frozen to that of operating system version 3.8. This means that all new functions and new or expanded NC commands (see chapter 7.1.4) from operating system version 4.63 onwards are no longer supported by the MMI.
When commissioning with the MMI, from operating system version 4.63 onwards, the exact switching cycle of the ENABLE signal must be observed during the movement test, see chapter 4.4.2. The sole purpose of this change is to increase safety for persons and the machinery during commissioning. Please note From operating system version 4.63 onwards, it is recom mended to carry out commissioning and programming only with WinPISA version 4.31 or later.
63
6.1
Structure and functions of the control panel

Control panel type SPC200MMI1... enables you to carry out commissioning, programming and diagnosis directly on the SPC200. It offers a simple menu structure and a uniform key board assignment.
Warning Faults may occur if control and operating functions are accessed at the same time by WinPISA and the control panel. Make sure that WinPISA and the control panel are not used at the same time. The following diagram shows the elements on the control panel.
1 Twoline LCD
displays
2 Buttons
Esc
Enter
Fig. 6/1: Elements of the control panel The twoline LCD display shows all texts in English. Up to 16characters can be represented on each line. The touch sensitive keyboard has six buttons. With these buttons you can carry out all operating functions and settings as indicated in the menu. 64
Button
Esc
Description
Switches back to the nexthigher menu level Rejects the current entry (entry aborted) Deletes the current NC record if the cursor in the Editor is positioned at the code identifier for NC record number (N). Confirms the current menu selection Transfers the setting or operating function under taken into the SPC200 Inserts a copy of the current NC record if the cursor in the Editor is positioned at the code identifier for NC record number (N). Select next menu command or parameter Position the cursor to the left/right Modify the setting at the current cursor position Increase/reduce number value Select axis (set axis identifier code) Select NC command or diagnostic function
Enter
{ } vV
Switchon reaction When the power supply is applied, the SPC200 automatically performs an internal test. During the brief test phase, the control panel shows the software version number of the con trol panel (here Vn.n).
MMI SPC200 Vn.n INITIAL TEST
The SPC200 is then ready to process user commands entered on the control panel. If a fault is ascertained, the control panel will show the current fault number (see chapter 8.2). If there is no fault, the basic setting will be shown.
65
In the basic setting the control panel shows the following message:
1 2
SPC200 Vnnn X SELECT WITH <>
Esc
Enter
1 Operating system version of the SPC200 (nnn = version

number); the dot after the main version identifier is not shown due to lack of space; nnn corresponds to n.nn
2 Currently configured axes (here Xaxis) 3 Reference line: With { } you can select your menu
Fig. 6/2: Basic setting on the control panel By pressing the Esc button several times you can access the basic setting. A special procedure is only required for exiting the Program Editor (see chapter 6.3.1). In the basic setting the control panel offers eight menus for selection. The following diagram gives an overview of the menu structure and menu commands on the control panel:
66
6.1.1
Moving in the menu system 1

Esc Enter
SPC200 Vnnn X SELECT WITH <>
SYSTEM CONTROL
DISPLAY
EDIT PROGRAM
CONFIG. SYSTEM
START SYSTEM STOP SYSTEM RESET SYSTEM RESET PROGRAMS RESET ERROR RESET DATA TASK STATE REFERENCE POS. CURRENT POS. POS.DIFFERENCE DIGITAL INPUT FIELDBUS INPUT DIGITAL OUTPUT FIELDBUS OUTPUT MEMORY FLAG REGISTER ERROR STEPMOTOR INPUT
NEW PROGRAM MODIFY PROGRAM DELETE PROGRAM MODIFY POSREG. TEACH
ACTUAL CONFIG. SET CONFIGUR. OPERATING MODE DEFINE TASKS FIELD BUS
1 Basic setting 2 Moving in the menu system
3 See next page AXIS PARAM 4 See next page TEST/DIAG.
Fig. 6/3: Menu structure on the control panel (continued on next page)
67
Esc Enter
AXIS PARAM. X,Y,Z,U1)
APPLIC. PARAM. X,Y,Z,U1)
CONTROL PARAM. X,Y,Z,U1) GAINFACTOR2) DAMPINGFACTOR2) FILTER FACTOR2) POS. TIMEOUT2)
TEST/DI AG.
CYL.TYPE2) CYL.LENGTH CYL.DIAMETER2) SENSORMEASUREM.2)
SYSTEM AXIS X,Y,Z,U1)
Pneum. axis 2)
Electric axis 3)
SINGLE STEP INPUT TEST FB. INPUT TEST OUTPUT TEST FB. OUTPUT TEST FLAG TEST REGISTER TEST JOG AXIS MOVEMENT TEST2) IDENTIFICATION2) EXIT FROM LIMIT3) REFER. TRAVEL3)
TOOL LOAD WORK LOAD PRESSURE FITTING POS. FITTING OFFS. POS. BASEPOINT LOWER END POS. UPPER END POS. POS. TOLERANCE QUALITY CLASS MAX. SPEED MAX. ACCELER.
1) 2) 3)
RESOLUTION START/STOP FREQ POS. BASEPOINT LOWER END POS. UPPER END POS. REF. POSITION REF. SPEED FAC. MAX. SPEED MAX. ACCELER. MODE OF REFER. MICRO/HALFSTEP
Select axis identifier X, Y, Z or U Parameter or function is only available with pneumatic axis Parameter or function is only available with electric axis
1 Previous page CONFIG. SYSTEM 2 Moving in the menu system
3 See previous page SYSTEM CONTROL
Fig. 6/4: Menu structure on the control panel (continued)
68
The menus on the control panel

Menu
SPC200 READY SYSTEM CONTROL > SPC200 READY DISPLAY SPC200 READY EDIT PROGRAM
Description
System control: Control functions Start, Stop, Reset Displays: Operands, system states Edit program: 1) Displaying and processing programs and position registers, Teaching Configure system: Determine operating mode and starting programs, display and accept hardware configuration Axis data: Display and set (e.g. cylinder length) Application data: Display and set (e.g. project zero point) Control parameters: Display and set Test and diagnosis: Program test, movement test, etc.
>
>
SPC200 READY CONFIG. SYSTEM >
SPC200 READY AXIS PARAM.
>
SPC200 READY APPLIC. PARAM. > SPC200 READY CONTROL PARAM.> SPC200 READY TEST/DIAG.
1)
>
The editing of programs with the MMI is recommended only for small test programs.
Please note that from operating system version 4.63 onwards there are new NC commands and expansions that are no longer supported by the MMI. Please use WinPISA, version 4.3 or higher.
69
By pressing the button { or }you can access the individ ual menus from the basic setting one after the other. The menu name is displayed in the bottom line. The top line still shows the text from the basic setting (SPC200...). This will remind you that you are in the first level. The top line is an orientation aid for your selection. It shows, e.g. the menu which you have accessed. The bottom line offers the selection possibilities of the current menu. The selection possibility is represented by the character > . If you have made a selection by pressing the Enter button, the text in the display will roll upwards.
1 Display from the

basic setting (first level)
SPC200 READY AXIS PARAM. >
1 2
2 The menu AXIS

PARAM. can be opened with the Enter button
Enter
3 Menu AXIS
PARAM. is open
AXIS PARAM. X:
3 4 3
4 Axis identifier,
selection with vV
Enter
5 First parameter of
the selected axis
AXIS PARAM. CYL. TYPE >
Fig. 6/5: Functions of the display lines
610
The top line then shows the selection made as an orientation aid. The bottom line shows again the current selection possi bility or in the lowest level entry fields. In the case of menus which contain axisspecific parameters or operating functions, the axis identifier of the first axis (N) will be shown when the menu is opened. In the case of multi axis systems, you can select the desired axis with vV and by pressing the Enter button. All the following parameters and operating functions refer to the selected axis. If, for example, an electric axis is selected, parameters or operating functions for electric axes are then displayed.
Summary: Moving in the menu system

Purpose
Confirm the current selection and, if necessary, change to the next lower level. Make another selection in the same menu level. Select axis identifier. Abort selection and change to the next higher level.
Press ...
Enter { } Vv Esc
611
Proceed as follows when selecting a menu command or parameter: 1. Press the Esc button as often as necessary until the basic setting is shown. The first line of the display will then show the text SPC200 followed by the version number of the operating system. 2. Press the button { or }as often as necessary until the desired menu appears in the bottom line. 3. Press the Enter button. The menu will then be opened and the first parameter or the first operating function of the menu will be shown. 4. If an axis identifier is offered for selection, select it with the buttons vV and then press the Enter button. 5. If a parameter or an operating function is shown, you can scroll through the menu with the buttons { or } until the desired parameter or the desired command is shown in the bottom line. 6. Press the Enter button in order to select the command or parameter. The following sections show you how to make the settings, how to carry out the programming or how to trigger operating functions.
612
6.2
Setting projectspecific parameters
Warning Incorrectly set parameters can lead to uncontrolled reac tions of the connected axes during operation. The SPC200 must know the conditions of use in your project and the type of components used in your positioning system. Undertake the necessary settings in the following menus: Menu
SPC200 READY AXIS PARAM.
Description
Axis data Specifications on the axes used Application data Specifications on the conditions of use System configuration Operating mode, starting programs, hardware configuration
>
SPC200 READY APPLIC. PARAM. > SPC200 READY CONFIG. SYSTEM>
From operating system version 4.63 onwards, the DSMI rotary drive is supported by the SPC200. It cannot be configured or parametrized using the MMI. Please use WinPISA, version 4.31 or higher. From operating system version 4.82 onwards, the piston rod drive of the DNCI family with integrated incremental measur ing system is supported by the SPC200. It cannot be confi gured or parametrized using the MMI. Please use WinPISA, version 4.41 or higher.
New feature from BS 4.82
Proceed as follows:
If you have selected a parameter in a menu by pressing the Enter button (see chapter 6.1.1), the text in the display will roll upwards.
613
AXIS PARAM. X:
1 2
Enter
AXIS PARAM. CYL. TYPE >
Enter
CYL. TYPE X: 1
5 1 Menu AXIS PARAM. is open 2 Axis identifier can be selected, selection with vV 3 Parameter Cylinder type can be selected 4 Current setting of the Xaxis (here cylinder type 1) 5 Axis identifier display (here for Xaxis)
Fig. 6/6: Functions of the display lines The top line then shows the selection made (here AXIS PARAM.) as an orientation aid. When entering axisspecific parameters you can then select the desired axis. In this case the cursor is positioned on the axis identifier. For this purpose, the relevant axis must be connected to the SPC200 and the current hardware configuration must be saved.
614
With the buttons vV you can now select the axis, the para meters of which you wish to modify. When the axis has been selected, the bottom line will show the current parameter setting. In order to modify a parameter, position the cursor on the desired figure of the displayed parameter with the buttons { }. With the buttons vV you can now modify the figure. If you modify a parameter value, the character ? will be shown in the bottom line.
CYL. TYPE X: 1
CYL. TYPE X: 2
Enter
CYL. TYPE X: 2
5 1 Character flashes (here underlined) = current cursor

position
2 Identifier for value modification 3 New value accepted (? No longer visible)

Fig. 6/7: Set parameter values
615
The character ? indicates that the setting is not transferred into the SPC200 until the Enter button is pressed. When the Enter button is pressed, the ? is deleted. This indicates that the setting has been accepted. The following sections explain the meaning of the individual parameters which you must adapt to your project.
Axis data
Menu AXIS PARAM The axis data are configuration data which describe the com position, the properties and the components of the axis used. The axis data form the basis for parameter ranges of the application data (e.g. possible positioning speed of the axis). Axis data for pneumatic axes Please note Modified axis data do not become effective until after a program reset. In some cases new identification travel (system identification) is necessary.
616
Menu AXIS PARAM (axis data)

Pneumatic axis CYL. TYPE X:0 Cylinder type (design) 0 ... 2 Specifies the design of the drive used. 0 = with piston rod 1 = without piston rod 2 = rotary Cylinder length or max. swivel angle 50 ... 10000 [mm] or [] Length or max. swivel range of the drive (see type plate). Cylinder diameter 12 ... 0.320 [mm] Diameter of the drive (see type plate) Measuring system length (sensor length) or max. swivel angle 50 ... 10000 [mm] or [] Length or max. swivel range of the measuring system used (see type plate) Valve type (see type plate) 0 ... 4 0 = MPYE5M5010B 1 = MPYE51/8LF010B 2 = MPYE51/8HF010B 3 = MPYE51/4010B 4 = MPYE53/8010B
CYL. LENGTH X:+0050.00
CYL. DIAMETER X:+0012.00
SENSOR LENGTH X:+0050.00
VALVE TYPE X:0
Axis data for electric axes: Menu AXIS PARAM (axis data)
Electric axis CYL. LENGTH Y:+0050.00 Cylinder length 1) 50 ... 10000 [mm]
1) Explanations see manual for stepper motor indexer module type P.BESMX1...
617
Application data
Menu APPLIC. PARAM The application data are configuration data which describe the conditions of use specified by the application. Application data for pneumatic axes The application data are an important basis for the internally ascertained control data.
Please note Modified application data do not become effective until after a program reset. If the mounting position is modified or if the supply pressure is increased/decreased by more than 1bar, new identification travel (system identification) may be necessary. From operating system version 4.82 onwards, a Workpiece mass in initial state" can be specified independently of the configured maximum workpiece mass <TOOL LOAD>. This gives you the capability of adapting to your process the effec tive mass load when the system is switched on. This new function is not supported by the MMI. Please use WinPISA, version 4.41 or higher.
618
Menu APPLIC. PARAM (application data)

Pneumatic axis TOOL LOAD X:+0000.00 Total mass to be moved by the positioning axis, or mass moment of inertia, in each case without the workpiece. 0.1 ... 2000 [kg] or [kgm2 * 104] In the case of the pneumatic axis describes the total weight or the mass moment of inertia of the following components: slide and piston fastening plate Tool The maximum permissible total load and the maximum permissible total mass moment of inertia depends on the drive type used, see chapter 3.2.9. Maximum mass or mass moment of inertia of the workpiece 0 ... 2000 [kg] or [kgm2 * 104] You can modify this value via the control panel, if at the same time the Workpiece mass in initial state" is also modified, see chapter 3.2.9. Recommendation: Use NC command M37 if you wish to position with different loads. Supply pressure 3 ... 10 bar Specifies the prepared supply pressure. For good positioning behaviour: fluctuations in pressure of max. 1 bar in front of the proportional directional control valve during positioning minimum supply pressure 4 bar. Please note the permitted pressure range of the components used (e.g. DGP...... max. 8 bar). Mounting position In the case of linear drives and drives with piston rod: 90 ... +90 [] In the case of the rotary module: Parameter is not evaluated. In the case of linear drives and drives with piston rod specifies the mounting position and the direction in which the drive and the measur ing system should preferably be fitted. 0 horizontally + 90 vertically upwards (zero of measuring system at bottom) 90 vertically downwards (zero of measuring system at top) In the case of the rotary module the parameter is not evaluated (permitted mounting positions see Appendix A.4).
WORK LOAD X:+0001.00
PRESSURE X:+0000.00
FITTING POS. X:+00
619
Reference points
With the following four parameters you can specify the reference points of your positioning system. Note that the software end positions and the project zero point refer to the cylinder zero point. If you modify the mounting offset, the SPC200 will check to see if the resulting new reference points still lie within the range of the measur ing system. If this is not the case, an appropriate fault mess age will be displayed.
3 4
6 4 Lower software end position 5 Project zero point 6 Upper software end position
1 Measuring system zero point 2 Mounting offset 3 Cylinder zero point
Fig. 6/8: Reference points (see also chapter 3.4)
620

Pneumatic axis FITTING OFFS. X:+0000.00 Mounting offset 10000 ... +10000 [mm] or [] Offset between measurement system zero point and cylinder zero point. The mounting offset is positive if the cylinder zero point lies within the measuring system range. Set the mounting offset so that approximately 0 is shown as the actual position on the cylinder zero point. The mounting offset is negative if the cylinder zero point lies outside the measuring system range. Project zero point 10000 ... +10000 [mm] or [] Specifies the point of the axis to which the positions contained in the position registers and programs refer. The project zero point refers to the cylinder zero point. Lower software end position 0.0 ... 10000 [mm] or [] End position on the side of the measuring system zero point monitored by the operating system (software) of the SPC200 and which must not be overrun. If both software end positions are set to 0, their function will have no effect. The lower software end position refers to the cylin der zero point and represents the lower limit of the positioning range. Upper software end position 0.0 ... 10000 [mm] or [] End position on the side opposite the measuring system zero point monitored by the operating system (software) of the SPC200 and which must not be overrun. If both software end positions are set to 0, their function will have no effect. The upper software end position refers to the cylinder zero point and represents the upper limit of the positioning range. Positioning tolerance 0.1 ... 10.00 [mm] or [] This parameter specifies the repetition accuracy with which a position ing procedure is to be carried out.
POS. BASEPOINT X:+0000.00
LOWER END POS. X:+0000.00
UPPER END POS. X:+0000.00
POS. TOLERANCE X:+0000.00
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Pneumatic axis QUALITY CLASS X:0 Positioning quality class 1 ... 6 Describes the conditions under which a positioning task is to be regarded as concluded or when the signal MC (Motion Complete) is to be output. Meaning: 1 = fast stop without damping time 2 = fast stop with damping time 3 = exact stop without damping time 4 = exact stop with damping time 5 = exact stop with final speed check 6 = exact stop with damping time and final speed check The fixed setting here is valid as the standard setting at program start. It can be switched in the program with the commands G61 and G60. Maximum speed 0.1 ... 10.0 [m/s] or [103 /s] Maximum speed for positioning with the commands G01 and G02. The speed factor specified with commands G01 and G02 refers to the maximum speed defined here. Maximum acceleration 0.1 ... 100.0 [m/s2] or [103 /s2] Maximum acceleration for positioning with the commands G01 and G02. In the positioning program you can use the commands G08 and G09 to specify reduced acceleration related to the maximum acceleration defined here.
MAX. SPEED X:+0000.00
MAX. ACCELER. X:+0000.00
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Application data for electric axes Menu APPLIC. PARAM (application data)
Electric axis RESOLUTION Y:+0010.000 START/STOP FR. Y:+0500.00 POS. BASEPOINT Y:+0000.00 LOWER END POS. Y:+0010.00 UPPER END POS. Y:+0090.00 REF. POSITION Y:+0010.00 REF. SPEED Y:+0001.00 MAX. SPEED Y:+0000.10 MAX. ACCELER. Y:+0000.50 MODE OF REFER. Y:0 MICRO/HALF STEP Y:0 Resolution 1) 0.100 ... 9999.999 [1/mm] Startstop frequency 1) 1 ... 9999 [Hz] Project zero point 1) 0.0 ... 10000 [mm] Lower software end position 1) 0.0 ... 10000 [mm] Upper software end position 1) 0.0 ... 10000 [mm] Reference position 1) 0.0 ... 10000 [mm] Reference speed factor 1) 0.01 ... 1.00 Maximum speed 1) 0.1 ... 10.0 [m/s] Maximum acceleration 1) 0,1 ... 100.0 [m/s2] Reference travel mode 1) 1 ... 4 Micro/half step 1) 0 or 1
1) Explanations see manual for stepping motor indexer module
623
System configuration
Menu CONFIG. SYSTEM In the menu CONFIG. SYSTEM you can specify the desired operating mode as well as the starting programs for your system. Description of the individual parameters Menu CONFIG. SYSTEM (Configure system)
ACTUAL CONFIGUR. 1. AIF Display current configuration Displays the hardware configuration ascertained during the startup phase. n. AIF ; 1...2 axis interface string (n = 1...2) n. SM ; 1...3 stepping motor (n = 1...3) If stepping motor indexer modules are installed, the selection n. SM" will show which axis identifier of the first, second or third stepping motor indexer module has been assigned. The selection n. AIF" shows which axis identifiers have been assigned during the startup phase and which modules have been recognized on the relevant string. The recognized module types (CP modules) are listed one after the other as follows: I = input module O = module with outputs or valves I/O = function I/O module The entry " means that an appropriate module has not been recognized. Example: 1. AIF AXIS: XY CPMOD: , , I/O, Explanation: Two axis interfaces were recognized on the first axis inter face string during the startup phase. These were assigned with the axis identifiers X and Y. A function I/O module has also been recognized on the axis interface string. Save the actual configuration as the nominal configuration Note the instructions on how to proceed in chapter 4.3.1. When the system is started, the SPC200 checks whether the current hardware configuration is the same as the nominal configuration. The installed modules as well as the string assignment are checked here. The current hardware configuration (installed modules) and the current string assignment can be saved as the nominal configuration with this command. If the axis configuration has been modified, all data already entered will become invalid and will be reset to the status as at delivery or deleted.
SET CONFIGUR. SAVE CONFIGUR.
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Menu CONFIG. SYSTEM (Configure system)

OPERATING MODE START/STOP Operating mode START/STOP ; Start/Stop mode RECORD SELECT ; Record select mode The operating mode defines how the sequence control of the SPC200 should function. Explanations of the operating modes can be found in chapter 5. Define starting programs Tn ; Task number TA, TB Pn ; Program number /0...99 P for "no starting program defined" If the cursor is positioned at P, you can switch between P00 and P for task B. An SPC200 can control two work stations. It thereby supports the coordinated and the autonomous operation of the two axes. In coordi nated mode the possibility of parallel program processing is not used. Only one starting program is defined (an active task). This controls both work stations. In autonomous mode two starting programs (two active tasks) are defined. Each starting program controls a different work sta tion. Further information on the coordinated and autonomous modes can be found in chapter 7.1.1.
DEFINE TASKS TA:P00
Summary: Set parameters

Purpose
Confirm current parameter selection Accept setting made Position cursor on axis identifier or parameter value or figure Modify the setting at the current cursor position (increase/decrease figure value) Abort entries Switch back to next higher menu level
Press ...
Enter {} vV Esc
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Proceed as follows: 1. Select the parameter which you wish to modify (seechapter 6.1.1). 2. Press the Enter button in order to confirm the selection. The current parameter value for the selected axis will then be displayed in the bottom line. 3. With multifigure values: Position the cursor with the buttons { or } on the figure of the parameter value which you wish to modify. 4. Set the figure value with the buttonsvV. 5. Repeat points 3 and 4 if you wish to modify further figures. 6. Press the Enter button. The value will then be transferred to the SPC200.
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6.3
Edit program
The control panel provides you with an Editor with which you can edit both position registers as well as NC programs. If your positioning system is set up completely, you can teach position registers with the aid of the Teach functions. All menu commands for editing NC programs and position registers as well as the Teach function can be found in the menu EDIT PROGRAM.
Please note Programs which use the new NC commands and the extended NC syntax of operating system version 4.6 or higher cannot be displayed and cannot be edited with control panel type SPC200MMI1... .
Menu EDIT PROGRAM (Edit program)

EDIT PROGRAM NEW PROGRAM Create new program > Modify program Delete program Modify position register Teach mode (teach position register)
EDIT PROGRAM MODIFY PROGRAM > EDIT PROGRAM DELETE PROGRAM > EDIT PROGRAM MODIFY POSREG. > EDIT PROGRAM TEACH >
These commands are explained in the following sections.
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6.3.1
Create new program

1. Press the button { or }as often as required in the basic setting until the menu EDIT PROGRAM is displayed.
SPC200 READY EDIT PROGRAM
>
2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (New program) will then be displayed in the bottom line.
EDIT PROGRAM NEW PROGRAM
>

NEW PROGRAM PROGRAM NO.: 00?
4. Programs 0 and 1 are already created at the factory. Use the cursor buttons to set the desired program number of a nonexistent program, e.g.:
5. Press the Enter button in order to create the program. When the program has been created, you can edit the first NC record. For displaying an NC record both lines of the display are used. This is to be regarded as one line with 32 characters. When programming multiaxis systems, note that for reasons of space only the parameters for the currently selected axis are displayed.
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The procedure for editing an NC record is explained using as an example the command G00 (Position at highest possible speed). This is followed by an overview of all available NC commands. A detailed description of the NC commands with program examples can be found in chapter 7.4.
Example: NC record with G00

When a program has been created, the number of the created program will be displayed in the first three columns (here P03). After this the NC record number N000 is shown.
P03:N000 * X* *
The cursor is positioned on identifier N. 1. Press button } in order to position the cursor on the first NC word of the current NC record (here * for positioning with saved values). With the buttons vV you can now select the desired NC command. 2. Press button v in order to switch to G00.
P03:N000 G00 * X+0000.00
3. Press button } when you have selected the desired command.

P03:N000 G00 * X+0000.00
4. With the buttons vV you can now select further NC words or parameters for the NC command. Press button } when you have undertaken the setting.
P03:N000 G00 * X+0000.00
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5. The cursor is positioned on the axis identifier. If several axes are configured, select the desired axis with the but tons vVand then press button }.
P03:N000 G00 * X+0000.00
6. If the cursor is positioned next to the axis identifier, you can switch between the following with the buttons vV: position value (X+0000.00 or X0000.00) register value (X@00) axis not relevant (X*) Meaning: The positioning command has no effect for the relevant axis.
7. If you have made your choice, you can set the position value or register value with the cursor buttons. Proceed as usual figurebyfigure:

position the cursor on the figure with {and } increase/decrease the figure value with vV.
P03:N000 G00 * X+0123.45
8. If you also wish to specify a position in the current NC record for the second axis, then position the cursor again on the axis identifier with the button {. Then switch to the desired axis and set the position or register value for this axis with the cursor buttons, e.g.:
P03:N000 G00 * Y+0100.00
The NC record entered in this example would appear as follows in WinPISA: N0000 G00 X+123.45 Y100.00
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In order to display the NC record on the control panel, you must position the cursor on the axis identifier and switch between the configured axes.
P03:N000 G00 * X+0123.45
P03:N000 G00 * Y+0100.00
9. In order to conclude the entry of the NC record, make sure that the cursor is positioned on an NC command, para meter or operand. Then press the Enter button. The cur sor is then positioned on identifier N and the NC record is intermediately saved in the SPC200. If the Enter button is pressed when the cursor is positioned on the identifier for NC record number (N), a copy of the cur rent NC record will be inserted. 10. Select the next NC record (here N001) with vV. Proceed with editing the NC record as described. Always conclude programs with NC command M30 (program end with repeat) or M02 subprogram end) e.g.
P03:N005 M30
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Exit program editor 1. First make sure that the cursor is positioned on an NC command, parameter or operand. Then press the Enter button in order to conclude the entry of the current NC record. The cursor is then positioned on identifier N and the NC record is intermediately saved in the SPC200.
P03:N005 M30
2. Press button } in order to position the cursor on the NC command again.

P03:N005 M30
3. Now press the Esc button. The NC editor will then be exited. When the NC editor is exited, the program is transferred from the intermediate buffer (RAM memory) into the program memory (flash memory). Failure of the operating voltage be fore the NC editor is exited will therefore lead to loss of the modifications undertaken.
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6.3.2
Instructions on editing
Failure of the operating voltage before the NC editor is exited will therefore lead to loss of the modifications undertaken. When entering extensive programs exit the Editor now and then in order to save intermediately. When programming pay attention to correct syntax and use only existing operands. Both lines of the display can be used for showing an NC record. Note when programming multiaxis systems that, for reasons of space, only the parameter for the currently selected axis can be displayed. When the cursor is moved, the lines are to be regarded as one line with 32 characters. With the buttons { and } the individual NC words or parameters are selected one after the other. The cursor wanders accordingly to the left or to the right.
Insert, delete line
If the NC program already contains several lines, NC records can be inserted and deleted and you can page through the program. For this purpose the cursor must be positioned on identifier N (NC record number) (e.g. N001). You can then: page through the program with the buttons vV insert a copy of the current NC record by pressing the Enter button delete the current NC record by pressing the Esc button. The delete procedure is quitted with Enter or rejected with Esc.
Editing lines
With the buttons { and } the character or NC word to be modified will be selected. With the buttons vV the char acter or the NC word will be modified.
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If the cursor is positioned on an NC word, an NC word will be selected with vV. If the cursor is positioned on a figure, the figure value will be increased or decreased with vV. If the cursor is positioned on the axis identifier, one of the existing axes will be selected with vV. With positioning commands, one of the following char acters can be selected on the right next to the axis ident ifier: Meaning
Positive position value (e.g. X+0100.00) Negative position value (e.g. X0100.00) Number of the position register (e.g. X@10) Axis not relevant (e.g. Y*; Yaxis not relevant)
Sign
+ @ *
If the character * is selected, the command programmed in the current line for the selected axis is not relevant, e.g.:
P03:N001 G00 G90 Y*
Conclude entry
In order to conclude the entry of an NC record or program, the cursor must be positioned on an NC command, para meter or operand. The NC record is concluded with the Enter button. Program entry is concluded with the Esc button.
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6.3.3
Store of commands on the control panel

The operating system of the SPC200 offers as from version 4.6, in conjunction with WinPISA as from version 4.3, an extended scope of functions due to the support of new NC commands and extended NC syntax. As from operating system version 4.6, position registers (@n) can also be used for saving speed and acceleration values.
An overview of the new NC commands as well as a detailed description of all NC commands with programming examples can be found in chapter 7.4.
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First NC word
NC command Description Supported operating mode
Start/Stop * Positioning with saved values The last programmed positioning command (G00, G01 or G02) remains effective. Positioning at the highest possible speed Positioning at a defined speed Positioning with jerkfree acceleration Positioning with Start/Stop frequency Dwell time in 100th. of a second Acceleration in % of maximum acceleration Pneumatic axis: for acceleration ramp Electric axis: for acceleration and braking ramps Acceleration in % of maximum acceleration Pneumatic axis: for braking ramp Positiondependent further record switching Load position value into position register Add position value and position register Record Select
G00 G01 *) G02 *) G04 G08 *)
G09 *) G25 *) G28 G29
= Command is supported = Command is not supported in record selection mode

*)
The new NC syntax is not supported by the control panel. It can only be used in conjunction with WinPISA as from version 4.3 (see also chapter 7.1.4).
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First NC word (continued)

Start/Stop G60 G61 G62 G74 M00 M02 M10 *) M11 M12 *) M13 M14 *) M30 M37 *) M38 M39 *) M40 *) M41 *) L E05
*)
Record Select
Exact stop Set positioning quality class Fast stop Start reference travel Programmed stop Subprogram end Activate nominal value input Offset for analogue nominal value specification Deactivate nominal value input / end positioning procedure immediately Set nominal value mode Assign nominal value input Program end with repeat Set mass assessment Load actual value to register @n Output valve variable Set stroke limit value with M39 Set speed limit value with M39 Access subprogram Unconditional jump
The new NC syntax is not supported by the control panel. It can only be used in conjunction with WinPISA from version 4.3 onwards (see also chapter 7.1.4).
= Command is supported = Command not supported in this mode

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First NC word (continued) NC command Description Supported operating mode

Start/Stop #S #R #T #TN #LR #AR #TR Set singlebit operand Reset singlebit operand Test singlebit operand for 1signal Test singlebit operand for 0signal Load register Add to register Test register Record Select
= Command is supported = Command not supported in this mode
Second NC word
Start/Stop * Using the last positioning mode (G90, G91) The last programmed positioning mode (relative or absolute move) remains effective. Absolute dimension specification (presetting at program start) Relative dimension specification Record Select
G90 G91
= Command is supported
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6.3.4
Edit existing program

>>
>>
3. Select the command MODIFY PROGRAM with the buttons { or }.

EDIT PROGRAM MODIFY PROGRAM>>
4. Press the Enter button in order to select the menu MODIFY PROGRAM.
MODIFY PROGRAM PROGRAM NO.: 00?
5. Use the cursor buttons to set the desired program number, e.g. program no. 03:
6. Press the Enter button in order to edit the program.
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When a program has been selected, the program number will be displayed in the first three columns (here P03). The first NC record of the program is shown after this, e.g.
P03:N000 G00 * X+0100.00
The cursor is positioned on the identifier for the NC record number (here N000). With the buttonsvV you can page through all the NC records of the program. Note when programming multiaxis systems that, for reasons of space, only the parameter for the currently selected axis can be displayed. Instructions on editing can be found in chapter 6.3.2.
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6.3.5
Delete program
>>
>>
3. Select the command DELETE PROGRAM with the buttons { or }, and press the Enter button.
DELETE PROGRAM PROGRAM NO.: 00?
4. Use the cursor buttons to set the desired program number, e.g. program no. 03:
DELETE PROGRAM PROGRAM NO.: 03?
5. Press the Enter button in order to delete the program. The program will then be deleted.
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6.4
Edit position register

As an alternative to the direct entry of position values (e.g. X100) when programming, you can also specify positions by means of the position register. You simply need to enter the number of the position register (e.g. the program). In the case of programming with WinPISA, the position regis ters will be preassigned with the values of the position list (see WinPISA manual). With the following commands in the menu EDIT PROGRAM you can fill the position registers with the desired position values. Menu EDIT PROGRAM
EDIT PROGRAM MODIFY POSREG. > EDIT PROGRAM TEACH > Modify position register (edit position register) Teach mode (teach position register)
Modify position register

1. Press the button { or }as often as required in the basic setting until the menu EDIT PROGRAM is displayed. 2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (NEW PROGRAM) will then be displayed in the bottom line. 3. Select the command MODIFY POSRG with the buttons {or } and press the Enter button.
MODIFY POSREG. X:@00
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4. Use the cursor buttons to set the desired axis identifier and the register number, e.g. X:@03, and press the Enter button. The current value of the register will then be dis played.
MODIFY POSREG. X:@03 +0123.00
The value 9999.99 is reserved as identifier for unused position registers. 5. You can now modify the value with the cursor buttons. Press the Enter button in order to save the modification. 6. If you wish to modify a further position register, press the Esc button and repeat points 4. and 5..
Teach position register

Warning With this function one or more axes of the system will be set in motion. Make sure that nobody can place his/her hand in the positioning range of the moveable mass whilst the compressed air supply is still switched on. The following conditions must be fulfilled for the Teach mode: the positioning system must be set up completely, wired and supplied with power and compressed air the axis and application data must be set correctly the inputs ENABLE and STOP must supply a 1signal.
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2. Press the Enter button in order to open the menu EDIT PROGRAM. The first command (NEW PROGRAM) will then be displayed in the bottom line. 3. Select the command TEACH with the buttons { or } and press the Enter button.
TEACH SELECT X:@00 CONT
4. Use the cursor buttons to set the desired axis identifier, the register number and the positioning mode. The following positioning modes are possible: Positioning mode
CONT STEP
Description
Position continuously Position in steps twice the set positioning tolerance
5. Press the Enter button in order to confirm the selected positioning mode. The current position will then be displayed in the bottom line.
TEACH:@03 CONT X:+0123.00 +
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6. With the buttons vV you can now set the positioning direction (+ = in positive direction; = in negative direc tion; SAVE = save). In order to position the slide and to set the desired direction, proceed as follows: Positioning mode
CONT STEP
Description
Hold the Enter button pressed down until the slide is to stop. Press the Enter button in order to move the appropriate step.
7. In order to save the current position, select the command SAVE with the buttons vV and press the Enter button.
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6.5
Controlling the program sequence
Warning Make sure that nobody can place his/her hand in the posi tioning range of the moveable mass and that no objects lie in its path. Prerequisite In order to be able to control the sequence of programs with the control panel, the following conditions must be fulfilled: the positioning system must be set up completely, wired and supplied with power and compressed air the parameters in the menus AXIS PARAM, APLIC.PARAM and CONFIG. SYSTEM must be set correctly the inputs ENABLE and STOP must supply a 1signal there must be at least one program in the memory.
You can start and stop or reset the system with the following commands in the menu SYSTEM CONTROL : Menu SYSTEM CONTROL
SYSTEM CONTROL START SYSTEM ? Start system (only supported in Start/Stop mode) With this command the sequence of created programs will then be started or continued. Prerequisite: there must be a 1signal at the STOP input there must be a 1signal at the ENABLE input When the system has been started the display will show the command STOP SYSTEM, so that unintentional starting can be rejected immedi ately. Stop system With this command the program sequence and the axes will be stopped. The current position becomes the nominal position (controlled stop).
SYSTEM CONTROL STOP SYSTEM ?
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Menu SYSTEM CONTROL

SYSTEM CONTROL RESET SYSTEM ? Reset system The SPC200 is reset to the status it was in when it was switched on. A program reset and a hardware recognition are carried out here and the axis interface string is reinitialized. This procedure can take a certain amount of time, depending on the system configuration used. Reset program Prerequisites: there must be a 1signal at the ENABLE input This will have the following effects: the NC record pointer is reset to 0 the presettings G90 and G02 (speed and acceleration values and workpiece mass in initial state), as well as the positioning quality class set in the application data become valid the nominal value input is switched off (M12) all settings undertaken with M10, M11, M13 or M14 are reset to the defined standard values (parameter set for the axis, Nominal value specification" tab) preswitch off values defined with G25 are reset again direct control of the valve voltage (M39) is deactivated all settings undertaken with M40 and M41 are reset to the standard values all freely programmable outputs and the SYNC outputs are reset the set starting programs are made available any faults are acknowledged. Reset fault Prerequisites: there must be a 1signal at the ENABLE input With this command the fault code is reset to 0. Reset all data to the status as at delivery With this command all data are reset to the status as at delivery. All user data will be lost.
SYSTEM CONTROL RESET PROGRAMS ?
SYSTEM CONTROL RESET ERROR ?
SYSTEM CONTROL RESET DATA ?
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6.6
Displaying operands and system states

In order to check the program sequence you can permanently represent operands and system states in the display. The commands for this can be found in the menu Display. The following operands and system states can be displayed pro viding the appropriate modules are installed: Menu DISPLAY
TASK STATE TA:P00 N000 S00 Task Status Tn = task (A or B) Pn = current program no. Nn = NC record no. Snm = program/record status n = record status m = program status
*) 0 = inactive; 1 = active
A ... B 0 ... 99 0 ... 999 00 ... 11 *)
REFERENCE POS. X:+0000.00 CURRENT POS. X:+0000.00 POS. DIFFERENCE X:+0000.00 DIGITAL INPUT I0.00:0
Current position nominal value X, Y, Z, U = axis identifiers Current position actual value X, Y, Z, U = axis identifiers Control deviation X, Y, Z, U = axis identifiers Status display for digital inputs I = input I0.0 ... I5.15 Status display for field bus inputs I = input I10.0 ... I13.15 Status display for digital outputs Q = output Q0.0 ... Q5.15 Status display for field bus outputs Q = output Q10.0 ... Q13.15
FIELDBUS INPUT I10.00:0
DIGITAL OUTPUT Q0.00:0
FIELDBUS OUTPUT Q10.00:0
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Menu DISPLAY
MEMORY FLAG F00:0 Status display for flags F = flag F00 ... F63 Status display for registers R = register R00 ... R99 Fault number (see chapter 8.2) Status display for sensors of the electric axis If the cursor is positioned on LIM+ , you can switch between: LIM+ (positive limit switch) LIM (negative limit switch) REF (reference switch) SRDY (ready signal of the stepping motor controller) The status of the relevant input is shown by 0" or 1". If a stepping motor indexer module is not installed, the message NO STEP MOTOR" will appear.
REGISTER R00:+0000
ERROR no. 00000000 STEP MOTOR INPUT Y: LIM+ = 1
When checking the sensors note their different designs: LIM+, LIM: Limit switches: N.C. (normally closed) REF: Reference switches: N.O. (normally open)
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6.7
Set controller factors

The controller parameters for pneumatic axes are ascertained by the SPC200 from various basis parameters. The controller factors are standardized at 1.0. By means of these factors you can manually influence the ascertained controller para meters. A detailed description of the controller factors as well as instructions on optimizing the positioning behaviour can be found in appendix B.
Menu REGUL. PARAM
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Controller factors for pneumatic axes: Menu CONTROL. PARAM.

Pneumatic axis GAIN FACTOR X:+0001.00 Gain factor 0.1 ... 10.0 With the gain factor you can influence the sensitivity with which the positioning control circuit reacts to modifications of the variables" (position, speed, acceleration). Damping factor 0.1 ... 10.0 Damping is a measure for the transition behaviour of the system from the actual to the nominal status, especially when there are fast modifi cations to the nominal value. As a rule the system should guarantee lowoscillation behaviour with nominal value specifications and move ment into the target position without overswing. Signal filter factor 0.1 ... 10.0 Speed and acceleration are derived from the positioning signal and filtered to improve the signal quality. If in practice there is bad signal quality, e.g. due to electrical interference, filtering of the signal can be influenced by the signal filter factor. If filtering is too strong it may destabilize control. Positioning timeout 0.0 ... 99.99 s Monitors whether the positioning procedures are performed quickly enough. The SPC200 outputs an MC fault if: the drive is not put into motion within the specified positioning time out after receiving a positioning task the drive has exceeded the maximum permitted positioning time (sum of the internally calculated positioning time and positioning timeout). If there is an MC fault the drive will be stopped. The current position becomes the nominal position. The fault can be quitted with a new positioning task. Select the positioning timeout so that the positioning movements can be completed reliably within the time selected (e.g. 0.5 to 1.0 seconds). With the value 0.0" the monitoring of the positioning time can be switched off.
DAMPING FACTOR X:+0001.00
FILTER FACTOR X:+0001.00
POS. TIMEOUT X:01.00
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6.8
Test and diagnostic functions of the control panel

A readytooperate system is required for some of the commands in this menu. The following conditions must be fulfilled:
the positioning system must be set up completely, wired and supplied with power and compressed air the axis and application data must be set correctly the inputs ENABLE and STOP must supply a 1signal.
After opening the menu you can select whether you wish to test the: system functions (SYSTEM) or the axis functions (AXIS).
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Menu TEST/DIAG. (test and diagnosis)

Submenu SYSTEM SINGLE STEP P00 Program test in single steps P00 ... P99 (only supported in Start/Stop mode) With this function you can test an existing program in singlestep mode. Proceed as follows: 1. Set the program number. 2. Press the Enter button to confirm the selection. 3. Press the Enter button to start the NC record. 4. Repeat point 3 in order to start the next NC record. Input test 1) I = input I0.00 ... I5.15. With this command you can test the inputs of the system to make sure that they function. The input signal entered fades out the real signal and is taken into account for sequence control (e.g. Start/Stop) as well as for the program sequence. Thereafter the actual input signal is valid once again. Test field bus inputs 1) I = input I10.00 ... I13.15. Output test 1) Q = output Q0.00 ... Q5.15 The READY output and the ACK outputs used by the system are permanently updated by the operating system and cannot therefore be influenced. Test field bus outputs 1) Q = output Q10.00 ... Q13.15 Test flags 1) F = flag F00 ... F63 Test register 1) R = register R00 ... R99
INPUT TEST I0.00:0
FB INPUT TEST I10.00:0
OUTPUT TEST Q0.00:0
FB OUTPUT TEST Q10.00:0
FLAG TEST F00:0
REGISTER TEST R00:0
1) With this command the status of the relevant operand can be modified.
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Submenu AXIS: Pneumatic axis JOG AXIS X: CONT Position axis CONT ; position continuously STEP ; position in steps twice the set positioning tolerance Proceed as follows: 1. Select the desired axis (X or Y). 2. Positioning mode (CONT, STEP). 3. Press the Enter button to confirm the selection. 4. Select positioning direction (+ or ). 5. With positioning mode STEP: Press the Enter button in order to move one step. With positioning mode CONT: Hold the Enter button pressed down for as long as positioning is carried out. Movement test 00.00 ... 10.00 V Observe the note on compatibility in chapter 4.4.2. With this command you can check whether the proportional directional control valve is connected correctly with its axis. Instructions on this procedure can be found in chapter 4.4.2. System identification STATIC ; static identification DYNAMIC1 ; dynamic identification with workpiece DYNAMIC2 ; dynamic identification without workpiece The max. workpiece mass set with the application data is valid. Instructions on this procedure can be found in chapter 4.4.2.
MOVEMENT TEST X:05.00 V
IDENTIFICATION X:STATIC

Submenu AXIS: Electric axis JOG AXIS X: +0000.00 Position axis 1) + Emergency travel 1) Reference travel 1)
EXIT FROM LIMIT X:+0000.00 ? REFER. TRAVEL X:+0000.00 ?

1)
Explanations as well as instructions on carrying out these activities can be found in the manual for the stepping motor indexer module type P.BESPC200SMX1....
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Description of the commands
Chapter 7
71
7. Description of the commands
Contents
7.1 General instructions on programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.1 Parallel program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.2 Program organisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.3 Presetting for positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.4 New NC syntax and new NC commands . . . . . . . . . . . . . . . . . . . . . . Addressing, registers and axis status flags . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.1 Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Addressing the control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.3 Position register X [Y Z U] @n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.4 Register Rn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.5 Flag Fn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.6 Axis status flag Fn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Command syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Explanation of the NC commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 75 710 711 712 714 714 716 718 719 721 722 724 730
7.2
7.3 7.4
72
This chapter contains basic information on programming the SPC200 with the control panel. Both the coordinated and the autonomous mode of operation are explained and all the NC commands are described.
Further information
Before programming with the control panel, you should be familiar with the functions of the control panel. Chapter 6 describes how to create, start and edit NC programs with the control panel. WinPISA offers userfriendly editing functions. Information on this can be found in the WinPISA manual.
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7.1
General instructions on programming

You must take the following into account when creating NC programs: the operating mode in which you intend to use the SPC200. In Start/Stop mode all NC commands are supported. In Record Select mode only positioning commands, posi tioning conditions and commands for setting the posi tioning quality class are supported. the number of fixed starting programs. If a single or multiaxis system is controlled by an SPC200, only one starting program is usually defined. If two independent work stations are controlled, a separate starting program must be defined for each work station (autonomous operation of two work stations).
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7.1.1
Parallel program processing

The SPC200 possesses amultitaskingcapable operating sys tem. This can process two tasks parallel. For parallel proces sing two programs must be defined as starting programs. These will then be processed parallel as task A and task B. Accessed subprograms are processed instead of the relevant starting program, until the subprogram processing is com pleted and the starting program is continued. The parallel program processing supports the lowcost imple mentation of two independent work stations with one SPC200. Therefore certain I/O control signals (e.g. MC_A and MC_B) and settings for positioning are managed taskspecifi cally. However, task A and task B provide together: the control signals STOP, START/RESET, ENABLE and READY the freely programmable I/Os (only in Start/Stop mode) the flags, registers and position registers the positioning axes. They are each assigned during the processing of a positioning command of the accessing task.
75
Operands: F0 ... F63 (flag), R0 ... R99 (register), @0 ... @99 (position register) Control signals STOP, START/RESET, ENABLE, READY, freely programmable I/Os Axes: X, Y, Z, U Task A Task B N000 N001 N002 N003 N004 N005 N006 ... G62 X G00 X100 #TNI0.0 30 G01 X100 FX10 X300 G00 X500 G00 X400 N000 N001 N002 N003 N004 N005 N006 ... G62 Y G00 Y100 #TNI0.1 30 G01 Y100 FY10 Y300 G00 Y500 G00 Y400
Control signals: SYNC_IA / CLK_A MC_A / RC_A SYNC_OA / ACK_A Settings for positioning: Positioning quality class, positioning mode, stroke limit value, etc.
Control signals: SYNC_IB / CLK_B MC_B / RC_B SYNC_OB / ACK_B Settings for positioning: Positioning quality class, positioning mode, stroke limit value, etc.
1 Commonly managed operands,

control signals and axes
3 Subprograms (here of task A) 4 Taskspecifically managed control

signals and settings for positioning (see also chapter 7.1.3)
2 Starting program (here of task A)
Fig. 7/1: Common and taskspecific control signals and data
76
Please note Please observe the following instructions when using the parallel program processing: The control signals STOP, START/RESET, ENABLE and READY as well as the freely programmable I/Os serve both tasks together. Flags, registers and position registers are managed com monly by both tasks. The control signals SYNC_.../CLK_..., MC_.../RC_... and where applicable ACK_... are managed separately by the relevant task (A or B). Settings for positioning are managed separately by each task (taskspecific). All the presettings for positioning named in chapter 7.1.3 belong here. If a task accesses an axis, this axis will remain assigned until the relevant NC command has been processed or until the nominal position is reached. The axis will then be made available again. If a program wishes to access an assigned axis, it will remain in the waiting status until the axis is made avail able again. Exception 1: If the assigned axis processes an M10 or M39 command and another task tries to access the axis, an appropriate fault message will be triggered. Exception 2: The M12 command (Stop axes) will immediately stop all addressed axes, irrespective of the task which has as siged them. In such cases both tasks must be program technically synchronized, e.g. by the setting and interro gating of flags.
77
Multiaxis operation Coordinated operation In coordinated operation of several axes, the possibility of parallel program processing is not usually used. Only one program is defined as the starting program. The positioning tasks for all axes are programmed in this program. If a positioning task refers to all axes, it is not completed until all the axes have reached the target position. The movement sequence of all axes is thereby coordinated. The second starting program can be used for monitoring functions.
1 2
N000 N001 N002 N003 N004 N005 N006 ... G62 X Y G00 X100 Y150 #TNI0.0 30 G01 X100 FX10 X300 Y100 G00 X500 Y200 G01 Y400 FY20
4 1 Task A
5 4 Positioning command for the Xaxis 5 Positioning command for the Yaxis 6 Work station A (two coordinated axes)
2 Starting program of task A 3 Subprograms
Fig. 7/2: Coordinated operation (example twoaxis system)
78
Autonomous operation
In autonomous operation two independent work stations are controlled by one SPC200. For this special case, you must define two different programs as starting programs which are processed independently of each other (parallel). The two parallelrunning programs both have the output READY and the inputs ENABLE, STOP and START/RESET.
8 9
N000 N001 N002 N003 N004 N005 N006 ...
G62 X G00 X100 #TNI0.0 30 G01 X100 FX10 X300 G00 X500 G00 X400
N000 N001 N002 N003 N004 N005 ...
G62 Y G00 Y150 G01 Y300 FY10 #TNI0.1 40 G00 Y100 G04 500
aJ
Y
1 Task A 2 Starting program of task A 3 Positioning task for the Xaxis 4 Subprogram of task A 5 Task B
6 Starting program of task B 7 Positioning task for the Yaxis 8 Subprogram of task B 9 Work station A (Xaxis) aJ Work station B (Yaxis)
Fig. 7/3: Autonomous operation of two work stations (example)
79
In autonomous operation the program is processed indepen dently for each work station. Each work station can be con trolled independently of the other by means of the freely pro grammable I/Os (Start/Stop operation) or by the command I/Os (Record Select operation). Please observe the following when using parallel program processing in autonomous operation: Starting programs must not be accessed as subprograms. Subprograms, which contain positioning commands, may only be used by one starting program.
7.1.2
Program organisation
When programming for the SPC200 you can: create up to 100 NC programs in the SPC200 with a maxi mum total of 2000 NC records enter up to 1000 NC records (i.e. 1000 program lines) in one single program access each NC program as a subprogram. Four nested subprogram calls are therefore possible.
710
7.1.3
Presetting for positioning

The following settings are effective when the SPC200 is switched on or after a program reset and are managed for each task (task A and task B) independently of each other:
Presettings for positioning

G02 ... F...0 With pneumatic drives: Move smoothly to position at defined speed (G02); speed factor = 100 %. With stepping motor axes: Move to position at Start/Stop frequency Acceleration for approach ramp and braking ramp = 100 % The positioning quality class (1...6) set in the application data is valid Absolute positioning For first commissioning with the control panel the following factory settings apply: Channel no. no for all axes: channel 1 Acaling factor: 10.00 mm/V 00 mm Offset Offset: 0 0.00 Nominal value mode: 0 With commissioning i i i i in Wi WinPISA, PISA the th presettings tti are d defined fi d f for th the relevant l t axis i i in the register card Nominal value specification". Work item mass in basic status, see chapter 3.2.9. Stroke limit value: = 10.00 mm or 10.00 Speed limit value = 0.1 m/s or 100 /s
G08, G09 G61 G90 M10 M11 M13 M14 M37 1) M40 2) M41 2)
1)
This function is supported as from operating system version 4.82 only in conjunction with WinPISA as from version 4.41. 2) These commands are supported as from operating system version 4.6 only in conjunction with WinPISA as from version 4.3 (see also chapter 7.1.4).
711
7.1.4
New NC syntax and new NC commands

The operating system version 4.6 of the SPC200 offers, in conjunction with WinPISA as from version 4.3, an extended scope of functions due to the support of new NC commands and extended NC syntax. Furthermore, as from operating system version 4.6, position registers (@n) can also be used for saving speed and acceleration values.
New as from operating system version 4.6

...Rn ...@n The positioning speed (F...) can also be saved with the NC commands G01 and G02: as percent value in a register (Rn) as absolute value in a position register (@n). The acceleration can also be saved with the NC commands G08 and G09: as percent value in a register (Rn) as absolute value in a position register (@n). The preselect value can also be saved with the NC command G25: as percent value in a register (Rn) as absolute value in a position register (@n). The NC command M10 is now also permitted without a scaling factor. A preselect value defined with G25 can now be deleted with M12. New NC command: Output valve positioning value New NC command: Set stroke limit value for M39 New NC command: Set speed limit value for M39 The axis status flags F64 ... F127 are reserved for internal status information, see chapter 7.2.6.
M10 M12 M39 M40 M41 F64 ... F127
712
The operating system version 4.82 of the SPC200 offers, in conjunction with WinPISA as from version 4.41, an extended scope of functions for considering the mass load, the nominal value specification as well as the support of the DNCI drive.
New as from operating system version 4.82

...Rn ...@n The mass value can also be saved with the NC command M37: as percent value in a register (Rn) as absolute value in a position register (X [Y Z U] @n). The parameters Scaling Factor and Offset can also be saved with the NC commands M10 and M11: as absolute value in a position register (X [Y Z U] @n). Channel 5 has been introduced for the digital nominal value specification via the field bus Reference travel is required for the DNCI pneummatic drive. For this purpose, modes 0, 5, 6 and 7 have been introduced.
M14 G74
Detailed information can be found in the manual for the rel evant NC commands in chapter 7.4.
713
7.2
Addressing, registers and axis status flags

The SPC200 knows different operators, variables and flags which can be used in the program for controlling a position ing sequence. A distinction is made between 1bit, integer and real vari ables; between remanent and nonremanent variables. All the inputs and outputs of the SPC200 are treated like 1bit variables.
7.2.1
Addressing
The following operands are supported:
Operand
I Q F F R @
1) 2) 3)
Description
Input Output Flag 2) Axis status flag Register 2) 100 position register per axis 2)
Address range
I0.0 ... I13.15 1) Q0.0 ... Q13.15 1) F0 ... F63 F64 ... F127 R0 ... R99 @0...@99 3)
Value range
0/1 0/1 0/1 0/1 32768...+32767 9999.98...+9999.99 4)
Available address range see following table These operands are saved and protected against power failure (remanent) In the case of programming with WinPISA, symbolic names for positions can also be used (e.g. X@ABLAGE_POS). These are replaced by the position register numbers during Download. 4) The control panel the value 9999.99 (smallest permitted position value) with unused position registers.
714
I/O address range
The assignment of the I/O address range depends on the configuration of the SPC200. If a field bus module is fitted, the address range will remain 0.0 ... 0.9 unassigned. The assignment of the I/O addresses for configuration with and without field bus module is shown in the following table: Configuration with field bus module
1)
Configuration without field bus module

First I/O module
Max. address range
I0.0 ... I0.9 1) 2) I1.0 ... I1.15 I2.0 ... I2.9 I3.0 ... I3.15 I4.0 ... I4.9 I5.0 ... I5.9 I10.0 ... I13.15 2) 3)
Q0.0 ... Q0.7 1) 2) Q1.0 ... Q1.15 Q2.0 ... Q2.7 Q3.0 ... Q3.15 Q4.0 ... Q4.7 Q5.0 ... Q5.7 Q10.0 ... Q13.15 2) 3)
I/O module on the second axis interface string Third I/O module Fouth I/O module 3)
1) 2) 3)
Address range is not available if a field bus module is used Control inputs and outputs are reserved by preassigned functions Address range is not available without a field bus module
715
7.2.2
Addressing the control signals Record Select mode
Control sig nal

ENABLE RESET STOP CLK_A/B RECBIT1...5 RECBIT...
I/O module addresses

I0.9 I0.8 I0.7 I0.6 / I0.5 I0.0 ... I0.4
Address with fieldbus

I10.0 I10.1 I10.2 I10.3 / I10.4 I11.0 ... I11.15
Description
Controller enable (1 = controller enabled) Reset programs (in conjunction with STOP=0) Stop positioning task (0 = stopped) Start NC record from program A/B Bits for NC record number: RECBIT1 for2^0 etc. (record bit) RECBIT... with control via a field bus module as 2byte value from 0 to 999, see manual on the field bus module. System ready to operate Task accepted for program A/B (acknowl edge) NC record concluded by program A/B (re cord complete)
READY ACK_A/B RC_A/B
Q0.7 Q0.6 / Q0.5 Q0.4 / Q0.3
Q10.0 Q10.1 / Q10.2 Q10.3 / Q10.4
716
Startstop mode
Control sig nal
ENABLE START/RESET STOP SYNC_IA/IB READY SYNC_OA/OB MC_A/B
I/O module addresses

I0.9 I0.8 I0.7 I0.6 / I0.5 Q0.7 Q0.6 / Q0.5 Q0.4 / Q0.3
Address with fieldbus

I10.0 I10.1 I10.2 I10.3 / I10.4 Q10.0 Q10.1 / Q10.2 Q10.3 / Q10.4
Description
Controller enable (1 = controller enabled) Start/continue or reset programs (RESET in conjunction with STOP=0) Stop program sequence (0 = stopped) Synchronization input for M00 System ready to operate Synchronization output for M00 MC output for program A/B (motion com plete)
717
7.2.3
Position register X [Y Z U] @n
The SPC200 provides 100 position registers per axis. They have the identifier X [Y Z U] @n {n=0...99}, are decimal values with 2 decimal positions between 9999.98 and +9999.99. Position registers are saved remanently, i.e. they are saved in the event of Poweroff and loaded back into the work mem ory with Poweron. The registers can be parametrized with the MMI and WinPISA (with the position list), whereby the notes regarding limita tion on page XVI should be observed. The registers can be modified within a program or via the field bus 1), i.e. they can be read and overwritten.
1)
For PROFIBUS this applies only as from operating system version 4.63 together with the PROFIBUS software version 2.0. For DeviceNet as from operating system 4.90 together with the software version as from 2.01 (DN2). Interbus does not permit this feature.
The position registers are used in conjunction with the fol lowing NC commands for influencing the movement features of a positioning axis. NC command
G00 G01 G02 G08 G09 G90 G91
1) 2)
Function
The register contents may be

Position Position
Unit 1)
Ss from operating system

3.8 3.8 4.63 4.63 4.63 3.8 3.8
Positioning command Positio i command Positioning comma d Positioning parameter Positioning parameter Positioning parameter 2) Positioning parameter 2)
mm mm m/s m/s2 m/s2 mm mm
Speed Acceleration Acceleration Position Position
With rotary drives correspondingly , 103 /s, 103 /s2 With position specification functions as positioning command
718
NC command
G25 G28 G29 M38 M40 M41 M37
Function

Position
Unit 1)
As from operating system version

4.63 3.8 4.63 4.63 4.63 4.63
Switch to next record
mm mm
Register g operation p
After defining g
m/s m/s2
Positioning parameter Positioning parameter Positioning parameter
Limit value Limit value Tool load or mass moment of inertia Scaling factor Offset value
mm m/s
Kg 4.82 Kgm2 * 104 mm/V mm 4.82 4.82
M10 M11
1)
Positioning command Positioning parameter
With rotary drives correspondingly , /s, /s2
7.2.4
Register Rn
In the SPC200 100 Rregisters can be used within the pro grams. They have the identifier Rn {n=0...99}, are integer variables and can accept values from 32768 ... +32767. Rregisters are saved remanently, i.e. they are saved in the event of Poweroff and loaded back into the work memory with Poweron. The registers can be parametrized with the MMI and WinPISA, whereby the limiting instructions on page XVI must be observed.
719
These registers can be modified within a program or via the field bus 1), i.e. they can be read and overwritten. Rregisters must be initialized within a program or via the field bus (assign starting value).
1)
For PROFIBUS this applies only as from operating system version 4.63 together with the PROFIBUS software ver sion2.0. For DeviceNet as from operating system 4.90 to gether with the software version as from 2.01 (DN2). Inter bus does not permit this feature.
The Rregisters are used in conjunction with the following NC commands for influencing the movement features of a posi tioning axis or the control of the program sequence. NC command
G01 G02 G08 G09 G25 M39 M37 L E05 #LR #TR #AR
1)
Function

Speed Speed Acceleration Acceleration Position Valve setting value Tool load Program number Record number Integer value Integer value Integer value
Unit

3.8 3.8 3.8 3.8 3.8 4.63 4.82 3.8 3.8 3.8 3.8 3.8
Positioning command Positioning command Positioning parameter Positioning parameter Switch to next record Positioning command 1) Positioning parameter Subprogram Jump address Register operation Register operation Register operation
% value % value % value % value % value % value % value
By direct influence of the valve setting value functions as a positioning command
720
7.2.5
Flag Fn
In the SPC200 64 flags can be used for controlling the program sequence. They have the identifier Rn {n=0...63}, are 1bit variables and can accept the values 0 or 1. Flags are saved remanently, i.e. they are saved in the event of Poweroff and loaded back into the work memory with Poweron. The flags can be read and overwritten with the MMI and WinPISA. The flags can be modified within a program or via the field bus 1), i.e. they can be read and overwritten.
1)
For PROFIBUS this applies only as from operating system version 4.63 together with the PROFIBUS software ver sion2.0. For DeviceNet as from operating system 4.90 to gether with the software version as from 2.01 (DN2). Inter bus does not permit this feature.
The flags are used in conjunction with the following NC com mands for influencing the program sequence. NC command
#S #R #T #TN
Function
Register contents
1 0 1 or 0 1 or 0

3.8 3.8 3.8 3.8
Set flag Reset flag Test flag Test flag
721
7.2.6
Axis status flag Fn

The SPC200 generates various status flags for its internal monitoring. These are dynamic variables which are modified dynamically depending on the positioning procedure and represent a certain status of the axes. They have the identifier Fn {n=64...127}. They are 1bit vari ables and can accept the values 0 or 1. Status flags are not saved remanently like flags. The status flags can be used like 1bit variables by a running program in the SPC200, i.e. they can be read. They are used in conjunction with the following NC commands for influenc ing the program sequence. NC com mand Function Register con tents as from oper ating system version
4.63 4.63
#T #TN
Test flag Test flag
1 or 0 1 or 0
Axis status flags (flags 64 ... 87)

Name Meaning Flag number of the axis
X REF MC TOL MOV Reference set Motion Complete Axis in the tolerance window Axis moves 64 72 80 84 Y 65 73 81 85 Z 66 74 82 86 U 67 75 83 87
722
Description of the axis status flag REF Reference set The flag indicates that reference travel has been carried out successfully. Details on reference travel are described in command G74. The flags have the numbers F64 ... F67, ac cording to the table above. The flag shows the status of a positioning task of an axis. If the bit is set, the last positioning task is completed. Details can be found in chapter 5.2.1. The flags have the numbers F72 ... F75, according to the table above. The flag is set when the axis moves into the specified toler ance window or is in this window. When it leaves the toler ance window it will be reset. The tolerance window corre sponds to the positioning tolerance and is defined in the application data when an axis is planned, see chapter 4.3. The flags have the numbers F80 ... F83, according to the table above. The flag is set as soon as the axis moves and is reset as soon as the axis stops. The switching threshold between standing still and moving lies at 4 mm/s. The flags have the numbers F84 ... F87, according to the table above.
MC Motion Complete
TOL Axis is in the tolerance window
MOV Axis moves
System status flags (flags 88 ... 95)

The system status flags show non axisdependant states of the SPC200. Meaning
Status task A: 0 = Program in subsystem A is not running 1 = Program in subsystem A is running Status task B: 0 = Program in subsystem B is not running 1 = Program in subsystem B is running reserved
Flag number
88
89
90 ... 95
723
7.3
Command syntax
The programs for the SPC200 are based on the syntax as per DIN 66025. An NC record consists of a record number as well as an NC command with the relevant parameters. Example:
1
N010
2
G01
3
G90
4
X100.00
5
FX10
4
Y100.00
5
FY80
1 Record number 2 NC command 3 Type of positioning (optional)

Fig. 7/4: Example NC record
4 Positioning 5 Parameters
Record numbers
Each NC record is marked with a record number. Record numbers begin with the letter N (for NC record number). In the SPC200 the record numbers are numbered beginning with N000 and a step size of 1 (therefore N000, N001, N002, ...). The record numbers can be numbered as desired in ascending order in WinPISA. Fixed jump targets are adapted accordingly when the programs are translated and loaded into the SPC200. Take this into account when specifying jump targets by register (commands E05, #T, #TN, #TR).
724
Identifiers
The following identifiers are used during the NC programming of the SPC200: Identifier
N G M E L # X, Y, Z, U F ; .
Description
Identifier for record numbers Path conditions Help functions Jump functions Subprogram call Singlebit and multibit operations Axis conditions: Xaxis, Yaxis, etc. Positioning speed Start of comment, valid until end of line *) Decimal divider (point)
*) Only for programming with WinPISA
In NC programs the point is used as decimal divider (e.g.X300.50).
725
Overview of commands
The following characters are used in the overview tables for explaining the syntax: Identifier
[..]
Description
Parameters listed in brackets can be specified as an alternative or additionally 1) Parameters separated by vertical lines can be specified as an alternative Wildcard for numerical values Wildcard e.g. for: operands (e.g. Q0.0) positions speeds acceleration etc.
..|..
n <WILDCARD>
1)
In order to facilitate reading, axis identifiers are shown in simple form ( [Y.., Z.., U..] ). Additional parameters have been left out intentionally.
The following table contains an overview of the NC com mands arranged according to theme.
726
Com mand
Description and syntax
Positioning commands (permitted in Start/Stop and Record Select modes) G00 Move to position at highest possible speed G00 [G90|G91] X<Position> [Y.., Z.., U..] G01 Move to position at defined speed G01 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..] G02 Pneumatic axis: Move smoothly to position at defined speed Stepping motor axis: Move to position at Start/Stop frequency G02 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..] G74 Move to position in last positioning mode Start reference travel X<Position> [Y.., Z.., U..]
G74 X<Mode> [Y.., Z.., U..]
Positioning commands (permitted in Start/Stop and Record Select modes) G08 Pneumatic axis: Acceleration for approach ramp Stepping motor axis: Acceleration for approach ramp and braking ramp G08 X<Acceleration> [Y.., Z.., U..] G09 Pneumatic axis: Acceleration for braking ramp G09 X<Acceleration> [Y.., Z.., U..] G90 G91 Absolute dimension specification Relative dimension specification G90 X<Position> [Y.., Z.., U..]
G91 X<Position> [Y.., Z.., U..]
Position register (permitted in Start/Stop mode) G28 G29 M38 Load position value into the position register Add position value and position register Load actual value into the position register G28 @<Target> X<Source> [Y.., Z.., U..]
G29 @<Target> X<Source> [Y.., Z.., U..]
M38 @<Register> X [Y, Z, U]
727
Com mand
Sequence control (permitted in Start/Stop mode) G04 G25 E05 L M00 M02 M30 M12 Dwell time Positiondependent switch to next record Unconditional jump Call subprogram Programmed stop Subprogram end Program end with repeat Deactivate axis stop / nominal value input G04 <Dwell time> G25 X<Preselect> [Y.., Z.., U..]
E05 <Record number> L<Program number> M00 M02 M30 M12 X [Y, Z, U]
Positioning quality (permitted in Start/Stop and Record Select modes) G60 Pneumatic axis: Exact stop without damping time Pneumatic axis: Set positioning quality class Pneumatic axis: Fast stop without damping time G60 X [Y, Z, U]
G61
G61 X<Quality class> [Y.., Z.., U..]
G62
G62 X [Y, Z, U]
Analogue and digital nominal value specification (permitted in Start/Stop mode) M10 M11 Activate nominal value input Offset for analogue nominal value specification Set nominal value mode Assign nominal value inputs M10 X<Factor> [Y.., Z.., U..]
M11 X<Offset> [Y.., Z.., U..]
M13 M14
M13 X<Mode> [Y.., Z.., U..] M14 X<Input> [Y.., Z.., U..]
728
Com mand
Valve positioning value (permitted in Start/Stop mode) M39 Pneumatic axis: Output valve positioning value Pneumatic axis: Set stroke limit value Pneumatic axis: Set speed limit value M39 X<Positioning value> [Y.., Z.., U..]
M40 M41
M40 X<Limit value> [Y.., Z.., U..]
M41 X<Limit value> [Y.., Z.., U..]
Bit operations (permitted in Start/Stop mode) #S #R #T #TN Set singlebit operand Reset singlebit operand Test singlebit operand for 1signal Test singlebit operand for 0signal #S<Operand> #R<Operand> #T<Operand> <Record number>
#TN<Operand> <Record number>
Register operations (permitted in Start/Stop mode) #LR #AR #TR Load register Add to register Test register #LR<Register> = <Value> #AR<Register> = <Value> #TR<Register> = <Value> <Record number>
Special commands (permitted in Start/Stop mode) M37 Pneumatic axis: Set mass assessment M37 X<Mass> [Y.., Z.., U..]
729
7.4
Explanation of the NC commands

Identifying supported NC commands
Operating mode
In Start/Stop mode all NC commands are supported. NC commands, which are supported in the Record Select mode, are marked as follows: permitted in operating mode: Start/Stop, Record Select
Axis type
If the description refers to a particular axis type, this is also marked.This means:
Axis type
Pneumatic axis Stepping motor axis
Description
The description of the NC command refers to the pneumatic drives The description of the NC command refers to the stepping motor axes
If no identification is given for a particular axis type, the com mand description for both axis types is valid.
730
G00
Move to position at highest possible speed (point to point)

pneumatic axis; permitted in operating mode: Start/Stop, Record Select
Nn G00 [G90|G91] X<Position> [Y.., Z.., U..] <Position> n @n Effect Position in [mm] or [] Position in [mm] or [] saved in the position register @n n = 9999.99 n = 0 ... 99
The pneumatic drive moves as fast as possible from the current position to the defined position (absolute or relative, see under G90/G91). The automatically generated nominal values for speed and acceleration are limited to the maximum values ascertained during the system identification, in order e.g. to avoid overswing due to stressing (see Fig. 7/5). N000 G00 G91 X100 N001 G00 G90 X@2 N003 G00 X100 Y100 N004 G00 X@5 Y@1 ;Move 100 mm in a positive direction ;Move to position from position register 2 ;of the Xaxis ;Move to X100 and Y100 ;Move to position from position register 5 (X) ;and position register 1 (Y)
Example
Remark
Absolute positioning (G90) is preset when the system starts. Command G00 has a saving effect. It remains effective until it is cancelled by command G01 or G02. Example: N000 G00 X100 N001 X200 N002 G01 X300 FX10 With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N006 G00 X@ABHOL_POS N007 X@ABLAGE_POS
Command G00 can only be used after successful system identification, i.e. after static and dynamic identification tra vel. Nominal value sequences for path, speed and acceler ation, which enable reproducible, as fast as possible and overswingfree approach to the nominal position, are speci fied by the SPC200. The maximum speed and acceleration configured in the application data have no effect with com mand G00.
731
Fig. 7/5 shows as an example the time sequence of the nominal value specification.
1 2
v [m/s] s [m]
4 5
a [m/s 2]
t [s]
t [s]
t [s]
1 Nominal speed value 2 Identified maximum speed 3 Nominal position value
4 Nominal acceleration value 5 Identified maximum acceleration
Fig. 7/5: Nominal value specification with command G00 (pneumatic axis) Speed and acceleration can only be specified directly with the positioning commands G01 and G02. If no dynamic identification travel can be carried out due to application specific reasons, only the positioning commands G01, G02 or M10 are permitted.
732
G00
Move to position at highest possible speed (point to point)

stepping motor axis; permitted in operating modes: Start/Stop, Record Select
Nn G00 [G90|G91] X<Position> <Position> n @n Effect Position in [mm]
[Y.., Z.., U..] n = 9999.99 n = 0 ... 99
Position in [mm] saved in the position register @n
The stepping motor axis moves at the maximum speed and maximum acceleration specified in the application data from the current position to the defined position (absolute or relative, see under G90/G91). As with the pneumatic axes (see under G00 for pneumatic axis) As with the pneumatic axes (see under G00 for pneumatic axis)
Example Remark
With the stepping motor axis, the nominal speed value rises with command G00 at first in ramp form, until the maximum speed specified in the application data is reached. Before the nominal position is reached, the nominal speed value drops in ramp form again. The steepness of the approach and brak ing ramps is preset by the maximum acceleration defined in the application data.
733
1
v [m/s] s [m]
4
a [m/s 2]
t [s]
t [s]
t [s]
1 Nominal speed value 2 Configured maximum speed 3 Nominal position value
4 Nominal acceleration value 5 Configured maximum acceleration
Fig. 7/6: Nominal value specification with command G00 (stepping motor axis)
734
G01
Move to position at defined speed (nominal value ramp)

permitted in operating modes: Start/Stop, Record Select
Nn G01 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..] <Position> n @n <Speed> n Position in [mm] or [] Position in [mm] or [] saved in the position register @n Positioning speed in % of the configured maximum speed; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 9999.99 n = 0 ... 99 n = 0 ... 99 n = 0 ... 99 n = 0 ... 99
Rn 1) Positioning speed in % of the configured maximum speed saved in register Rn @n 1) Absolute value of the positioning speed in [m/s] or [103 /s] saved in position register @n; permitted: 0.01 Speed Configured maximum speed Effect
The drive moves at the defined speed and acceleration from the current position to the defined position (absolute or relative), see Fig. 7/7. Notes for pneumatic drives: The following applies with pneumatic drives: The programmed nominal values for speed and acceleraion are limited, if necessary, automatically to the maximum values ascertained during the dynamic identification travel. This is to prevent the axis from overswinging due to high nominal values. If dynamic identification is not carried out, the maximum permitted values for acceleration must be ascertained by the user. N000 G01 X100 FX10 N001 G01 X@2 FX@3 ;Move to position 100 at 10 % of the ;configured maximum speed ;Move to position 2 from register @2 at the ;speed from register @3
Example
Remark
The following are preset when the system starts: positioning mode = absolute positioning (G90) approach ramp = 100 % of the maximum acceleration (G08) braking ramp = 100 % of the maximum acceleration (G09). Command G01 has a saving effect. It remains effective until it is cancelled by command G00 or G02. With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example see G00.
1)
This syntax is only available as from operating system version 4.6. Programs which contain this syntax cannot be edited with control panel type SPC200MMI1... .
735
With command G01 the nominal speed value rises at first in ramp form until the maximum positioning speed programmed with FX or FY, FU or FZ is reached. Before the nominal position is reached, the nominal speed value drops in ramp form again. The steepness of the approach and braking ramps is preset by the maximum acceleration configured in the application data. With the commands G08 ad G09 you can specify the steep ness of the ramps by program independently of each other.
1 2 3
v [m/s] s [m]
5 6 7 8
a [m/s 2]
t [s]
t [s]
t [s]
1 Nominal speed value 2 Configured maximum speed 3 Programmed speed 4 Nominal position value
5 Nominal acceleration value 6 Configured maximum acceleration 7 Prog. acceleration for approach ramp
(G08)
8 Prog. acceleration for braking ramp

(G09)
Fig. 7/7: Nominal value specification with command G01 736

G02
Move smoothly to position at defined speed

Nn G02 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..] <Position> n @n <Speed> n Position in [mm] or [] Position in [mm] or [] saved in the position register @n Positioning speed in % of the configured maximum speed; 0 = 100 %, 1 = 1 % ... 99 = 99 % n = 9999.99 n = 0 ... 99 n = 0 ... 99 n = 0 ... 99 n = 0 ... 99
Rn 1) Positioning speed in % of the configured maximum speed saved in register Rn @n 1) Absolute value of the positioning speed in [m/s] or [103 /s] saved in position register @n; permitted: 0.01 Speed Defined maximum speed Effect
The drive moves smoothly at the defined speed and acceleration from the current position to the defined position (absolute or relative). The programmed nominal acceleration values are to be understood as medium values (see Fig. 7/8). With regard to the programmed nominal values and acceleration, you must observe the instructions for pneumatic drives with command G01. N010 G02 X90 FX0 N011 G02 X@2 FX30 ;Move to position X90 at 100 % of the ;defined maximum speed ;Move to position 2 from register @2 at 30 % of ;the defined maximum speed
Example
Remark
With this command sudden movements of the slide when arriving and braking can be reduced. The following are preset when the system starts: Absolute positioning (G90) Approach ramp = 100 % of the maximum acceleration (G08) Braking ramp = 100 % of the maximum acceleration (G09). Command G02 has a saving effect. It remains effective until it is cancelled by com mand G00 or G01. With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30
1)
737
With command G02 the nominal acceleration value has a sin2shaped curve. In this way, sudden modifications of the positioning signal and thereby sudden movements of the slide when arriving and braking can be reduced. As with command G01, the nominal speed value rises at maximum to the programmed speed. The programmed nom inal acceleration values of the approach and braking phases are however to be understood as medium values. The peak values lie by the factor 2 higher in order to achieve the same nominal positioning times as with G01.
2 3
v [m/s]
s [m]
5 6 7 8
a [m/s 2]
t [s]
t [s]
t [s]
1 Nominal speed value 2 Configured maximum speed 3 Programmed speed 4 Nominal position value
5 Nominal acceleration value 6 Effective nominal acceleration value 7 Prog. acceler. for approach ramp (G08) 8 Prog. acceler. for braking ramp (G09)
Fig. 7/8: Nominal value specification with command G02 (pneumatic axis)
738
G02
Move to position at Start/Stop frequency

Nn G02 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..] <Position> n @n <Speed> n Rn 1) @n 1) Position in [mm] Position in [mm] saved in the position register @n Reserved; the parameter must be specified, but it is ignored n = 9999.99 n = 0 ... 99 n = 0 ... 99
Effect Example
The stepping motor axis moves at the configured Start/Stop frequency from the current position to the defined position (absolute or relative). N010 G02 X90 FX0 N011 G02 X@2 FX0 N012 X100 ;Move to position X90 at the Start/Stop ;frequency ;Move to position from register 2 ;at Start/Stop frequency ;Move to position 100 at the Start/Stop ;frequency
Remark
A parameter F... must be specified in order to avoid syntax faults. The parameter value is however ignored, as positioning is made at Start/Stop frequency. Also ignored is the approach and braking ramp defined with G08 and G09. The following are preset when the system starts: absolute positioning (G90). Command G02 has a saving effect. It remains effective until it is cancelled by command G00 or G01. With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30
1)
739
G04
Dwell time
permitted in operating modes: Start/Stop
Nn G04 <Dwell time> <Dwell time> Effect Example n Dwell time in 10 ms n = 1 ... 9999
Switching to the next NC record is not made until the dwell time has expired. N010 G00 X100 N011 G04 250 N012 G00 X200 ;Move to position X100 ;Wait 2.5 seconds ;Move to position X200
740
G08
Acceleration for approach ramp

Nn G08 X<Acceleration> [Y.., Z.., U..] <Acceleration> n Rn 1) Acceleration in %steps of the configured maximum acceleration; 0 = 100 %, 1 = 1 % ... 99 = 99 % Acceleration in %steps of the configured maximum acceleration saved in register Rn; 0 = 100 %, 1 = 1 % ... 99 = 99 % Absolute value of the acceleration in [m/s2] or [103 /s2] saved in position register @n; permitted: 0.01 @n defined maximum acceleration n = 0 ... 99 n = 0 ... 99
@n 1)
n = 0 ... 99
Effect
With the following commands positioning is carried out at maximum with the acceleration specified here: G01 and G02 N020 G08 X50 Y50 N021 G01 X80 FX50 N022 G08 X0 ;Approach ramp = 50 % ;Move to position X80 ;Approach ramp with maximum acceleration
Example
The Xaxis is accelerated when approaching position X80 by only 50 % of the configured maximum acceleration. The acceleration for the Xaxis is then switched to maximum acceleration. Remark
1)
This command has a saving effect. It remains effective until a new approach ramp is defined.
741
G08
Acceleration for approach ramp and braking ramp

@n 1)
n = 0 ... 99
Effect
With the following command the stepping motor is moved and braked at maximum with the acceleration specified here: G01 N020 G08 X50 Y50 N021 G01 X80 FX50 N022 G08 X0 ;Approach ramp and braking ramp = 50 % ;Move to position X80 ;Approach ramp and braking ramp with ;maximum acceleration
Example
The Xaxis is accelerated and braked when approaching position X80 by only 50 % of the configured maximum acceleration. The acceleration for the Xaxis is then switched to maximum acceleration. Remark
1)
This command has a saving effect. It remains effective until a new approach ramp and braking ramp is defined.
742
G09
Acceleration for braking ramp

@n 1)
n = 0 ... 99
Effect
With the following commands positioning is carried out at maximum with the acceleration specified here: G01 and G02 N000 N001 N002 N003 G09 G01 G01 G09 X50 X100 FX50 X150 FX50 X0 ;Braking ramp = 50 % ;Move to position X100 ;Move to position X150 ;Approach ramp with maximum acceleration
Example
Remark
1)
This command has a saving effect. It remains effective until a new braking ramp is defined.
743
G25
Positiondependent switch to next record

Nn G25 X<Preselect> [Y.., Z.., U..] <Preselect> n Rn 1) Preselect value in % of the path to be traversed; 0 = 0 % (switch further immediately), 1 = 1 % ... 99 = 99 % Preselect value in % of the path to be traversed saved in register Rn permitted: 0 ... 100; 0 = 0 %; 100 = 100 % Absolute position specification of the preselect value in [mm] or [] saved in the position register @n; permitted: current nominal position @n new nominal position or current nominal position @n new nominal position n = 0 ... 99 n = 0 ... 99
@n 1)
n = 0 ... 99
Effect
If an axis is positioned, for which a positiondependent switch to the next record has been programmed, a switch will be made to the next NC record when the posi tion defined in the preselect is reached. The SPC200 is then in the position to pro cess further NC records, while the axis traverses the remaining path to the target position. The G25 command remains active until: the preselect value is reached with a positioning command G00, G01, G02 or M10 with mode 2 ... 4 the G25 command is deactivated with command M12 a fault occurs in executing G25. As subsequent commands after further switching to the next record, all NC commands are permitted, with the exception of the following NC commands for the same axis: M39 and G00. If after switching to next record (set mass evaluation) a M37 command occurs that concerns the moving axis, this becomes active only for the next traversing task. Positioning commands must not however demand a change of direction of the running positioning procedure. With stepping motor axes: If the G25 command refers to a stepping motor axis, the subsequent commands must not refer to the same stepping motor axis, except for: the M12 command. With multiaxis systems: You can program preselect values for several axes in one NC record. The preselect values of the individual axes remain valid until a position ing command is executed for the relevant axis and the preselect value is therefore reached. The further switching conditions of several axes can be linked by a positioning command (see example 4).
1)
744
G25
Positiondependent switch to next record

Example Remark
See below (examples 1...6) This command enables: the speed and acceleration in the current positioning procedure to be switched in the case of pneumatic drives obstructions to be bypassed timeoptimized in the case of multiaxis systems. If a stop is triggered when the preselect value is exceeded and a switch is made to the next record, the target position will be retained. If a stop is triggered before the preselect value is reached, the position of the pres elect value will also be retained. In the case of M10 with mode 0 or 1, G25 has no effect. In this case switching to the next record remains active until the next positioning command.
Speed/acceleration switching (only with pneumatic drives)

Transition to a new nominal speed takes place with the cur rently set values for approach acceleration or braking. Auto matic limiting to realistic acceleration values is not under taken.
Caution Unrealistically high nominal acceleration values can lead to heavy overswing and therefore to damage to the axis. When using command G25, make sure that realistic nom inal acceleration values are set with regard to the axis used as well as to the remaining path to be traversed. If the remaining positioning path is not sufficient for coming to a stand within the set delay, a stop will be triggered auto matically (fault no. nnn03x06). In this case shift the switching condition forward or set a steeper braking ramp. With G02 positioning commands, an automatic stop can also be triggered if the condition for further switching lies in the range of the delay phase. In this case, use positioning com mand G01.
745
Example 1
Modify speed; only permitted with pneumatic drives
N010 N011 N012 N013
G00 G25 G01 G01
X0 X60 X500 FX75 X500 FX50
After 60 % of the positioning path from position 0 to position 500, the SPC200 reduces the speed from 75 % to 50 % of the configured maximum speed.
75%
50%
25%
100
200
300
400
500 s [mm]
1 Speed in % of the configured maximum speed 2 Preselect value of the Xaxis

Fig. 7/9: Example: Modify speed (only permitted with pneumatic drives) Switching to the highest possible speed (NC command G00) in current operation is not supported.
746
Example 2
Timeoptimized bypassing
N010 N011 N012 N013
G00 G25 G00 G00
X100 Y100 X50 X400 Y300
The SPC200 processes the next NC record after 50 % of the positioning path from position X100 to position X400.
1
sy [mm]
300
200
100
100
200
300
400
500
sx [mm]
1 Positioning path of the Yaxis in mm 2 Preselect value of the Xaxis 3 Positioning path of the Xaxis in mm
Fig. 7/10: Example: Timeoptimized bypassing (example linear drive) The Yaxis therefore begins to move to position Y300, although the Xaxis has not yet completed the positioning procedure.
747
Example 3
Eventdependent further switching to next record
N010 N011 N012 N013 N014
G00 X0 G25 X1 G01 X500 FX60 #TNI0.0 13 G01 X500 FX10
When 1 % of the positioning path from X0 to X500 has been traversed, the SPC200 switches further to NC record N013. The program waits in this record until the event occurs (here 1signal at input I0.0). Only then, where applicable, switching is made to the next positioning task (here speed reduction) during the processing procedure. If the event occurs after the target position has ben reached, the following command in this example will have no effect, as the same target position (X500) has been programmed. Tip: If you use the G25 command together with the axis status flags (see chapter 7.2.6), it can be sensible to insert a waiting time of at least 10 ms after the positioning command. This applies particularly with the status flags MC and MOV. Note that with a pneumatic axis, there is always a delay be fore it responds to the start signal. Example 4 Further switching to generate its own MC signal
N010 N011 N012 N013 N014
G25 X0 G00 X200 #RQ0.1 G04 3 #TNF72 14
N020 #SQ0.1
;immediate further switching ;Move to position 200 ;Delete output Q0.1: MC_X=0 ;Wait 30 ms ;Positioning task not yet ;completed? ;Set Q0.1, MC_X=1
748
Example 5
Linked further switching condition
N010 N011 N012 N013 N014 N015
G01 X0 FX0 Y0 FY0 Z0 FZ0 G25 X10 Y10 Z10 G01 X100 FX10 #SQ0.0 G01 Y100 FY10 Z100 FZ10 .......
The SPC200 saves the preselect values for the axes X, Y and Z in NC record N011. In the next NC record only the Xaxis is moved. When the Xaxis reaches the preselect value, output Q0.0 will be set. The axes Y and Z are moved in NC record N014. Switching is made to the next NC record if both axes have reached the preselect value programmed under N011 (ANDlinking). If, beside the axis for which a preselect value has been pro grammed, other axes are also to be positioned with the same NC record, a preselect value of 100 % will apply to these axes.
N015 N016 N017 N018 N019 G01 X0 FX0 Y0 FY0 G25 X50 G01 X200 FX0 Y200 FY0 #SQ0.0 ...
Output Q0.0 will be set if the Yaxis has reached position Y200 and the Xaxis has reached the programmed preselect value (here X100).
749
Example 6
Linked further switching condition with correctly used com mand M37
N010 M37 X50 N011 G25 X20 N012 N013 N014 N015
N016 N017 N...
;50% of the workpiece mass ;switch to next record after 20% of ;traversing distance G01 X400 FX20 ;position 400 with 20% of the config. speed ;and 50% of workpiece mass #SQ0.0 ;Set ouput Q0.0 M37 X0 ;100% of the workpiece mass G01 X400 Fx50 ;Finish traversing task from N012 with ;50% of the config. speed Speed: ;and 50% of the workpiece mass. ;The new mass from N014 is not ;yet effective here! ... G00 X10 ;Position 10 with 100% workpiece mass
750
G28
Load position value into the position register

Nn G28 <Target> X<Source> [Y.., Z.., U..] <Target> <Source> @n n @n Number of the target position register @n Position value, speed value or acceleration value Position value, speed value or acceleration value saved in source position register @n n = 0 ... 99 n = 9999.99 n = 0 ... 99
Effect Example
Loads the position value or register value into the target position register. N010 G28 @0 X10 Y10 N011 G28 @1 X@99 ;Loads the value 10 into the position register 0 ;of the X and Yaxis ;Loads the value from position register 99 of the ;Xaxis into position register 1 of the Xaxis
Remark
Position registers are saved and protected against power failure (remanent). Each configured axis has its own position register record. The positions contained in the position list are saved here.
751
G29
Add position value and position register

Nn G29 <Target> X<Source> [Y.., Z.., U..] <Target> <Source> @n n @n Number of the target position register @n Position value, speed value or acceleration value Position value, speed value or acceleration value saved in source position register @n n = 0 ... 99 n = 9999.99 n = 0 ... 99
Effect Example
Forms the sum of position and register values or of two register values and saves the result in the target register. ;(Register @X10=20) N010 G29 @10 X+10.5 ;Add position value and ;position register value of the Xaxis
The position value 10.5 and the value from position register 10 of the Xaxis (here20) are added. The result (30.5) is saved in position register 10 of the Xaxis. Remark Position registers are saved and protected against power failure (remanent). Each configured axis has its own position register record. The positions contained in the position list are saved here.
752
G60
Exact stop without damping time

Nn G60 X [Y, Z, U] Effect Switches the specified axis to exact stop without damping time (positioning quality class 3, see also under G61). Output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the specified axis is within the range of the positioning tolerance for the complete duration of the monitoring time (see also Fig. 7/13). If the axis leaves the tolerance range before the monitoring time expires, the monitoring time will be reset. N000 G60 X N001 G00 X100 ;Activate exact stop without damping time ;Move to position X100
Example
(example: Positioning tolerance = 0.2 mm): When moving to position 100 mm, output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the Xaxis is within the range of the positioning tolerance (between 99.8...100.2 mm). Remark This command has a saving effect. It remains effective until a switch is made to Fast Stop with command G62 or to any other positioning quality class with command G61. With nominal value modes 0 and 1, the set positioning quality class has no effect (see NC command M13).
Monitoring time
With the rotary module and with linear drives with a length of < 300 mm the monitoring time is 20 ms. For linear drives with a length of > 300 mm the monitoring time can be calculated as follows: Formula for linear drives over 300 mm in length
T monitoring + L drive ) 100 B 20 Tmonitoring Ldrive = monitoring time in [ms] = stroke length of linear drive in [mm]
Example linear drive (stroke length 500 mm): Monitoring time in [ms] = (500 + 100) / 20 = 30
753
G61
Set positioning quality class

Nn G61 X<Quality class> [Y.., Z.., U..] <Quality class > Effect n Positioning quality class n = 0 ... 6
Switches the specified axis to the set positioning quality class. Output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the axis fulfils the criteria of the set positioning quality class (see following table). N005 G61 X1 N006 G00 X100 N007 G60 X ;Positioning quality class = 1, Fast stop ;Move to position 100 mm ;Exact stop without damping time
Example
When moving to position X100, output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the Xaxis enters the range of the positioning tolerance (fast stop without damping time). A switch is then made to exact stop without damping time. Remark Command G61 has a saving effect. The positioning quality class remains effective until a switch is made to another positioning quality class. The individual position ing quality classes are described in the following table. With nominal value modes 0 and 1, the set positioning quality class has no effect (see NC command M13).
754
Type
Positioning Description quality class

0 1 Switches to the positioning quality class (1...6) set in the applica tion data. Fast stop without damping time Output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the axis first enters the range of the positioning tolerance (see Fig. 7/11). Fast stop with damping time As 1, but there is still a damping time 2) after the axis enters the range of the positioning tolerance, before the relevant output supplies a 1signal (see Fig. 7/12). Exact stop without damping time Output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the specified axis is in the positioning tolerance for the com plete duration of the monitoring time 3) (see also Fig. 7/13). If the axis leaves the tolerance range before the monitoring time ex pires, the monitoring time will be reset. Exact stop with damping time As 3, but there is still a damping time 2) after the monitoring time3) expires, before the relevant output supplies a 1signal (seealso Fig. 7/14). Exact stop with end speed control As 3, but for the duration of the monitoring time 3) the drive must also stand almost still in the range of the positioning tolerance (end speed control) 4). Exact stop with damping time and end speed control As 5, but after the monitoring time 3) expires, there is still a damping time 2) before the relevant output supplies a 1signal.
Presetting Fast stop 1)
Exact stop
1) 2)
In positioning quality classes 1 and 2 the adaption has no effect, see appendix B. The damping time lasts 200 ms. If the tolerance range is left before the damping time expires, the damping time will not be reset. 3) The length of the monitoring time can be calculated (see under G60). If the tolerance range is left before the monitoring time expires, the monitoring time will be reset. 4) During the end speed control the speed tolerance is 8.0 mm/s (linear drive) or 8.0/s (rotary module).
755
1 Nominal position
value
s [m] s []
2 Range of the
positioning tolerance
3 Reaching the
tolerance range
t [s]
1 0
4 MC_A/MC_B or
RC_A/RC_B
Fig. 7/11: Fast stop without damping time
1 Nominal position
value
s [m] s []
2 Range of the
3 Reaching the
tolerance range
4 Damping time
period (200 ms)
t [s]
1 0
5 MC_A/MC_B or
RC_A/RC_B Fig. 7/12: Fast stop with damping time
756
1 Nominal position
value
2
s [m] s []
2 Range of the
1 5
3 Monitoring
period depending on drive
1 0 1 0
t [s]
4 Expiry of
monitoring time
5 Monitoring time 6 MC_A/MC_B or

RC_A/RC_B
Fig. 7/13: Exact stop without damping time
1 Monitoring
period depending on drive
s [m] s []
2 Expiry of
monitoring time
3 Expiry of
damping time
4 Monitoring time 5 Damping time 6 MC_A/MC_B or

RC_A/RC_B
4 5 6
1 0 1 0 1 0
t [s]
Fig. 7/14: Exact stop with damping time
757
G62
Fast stop without damping time

Nn G60 X [Y, Z, U] Effect Switches the specified axis to fast stop (positioning quality class 1). Output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the axis first enters the range of the positioning tolerance (see Fig. 7/11). N000 N001 N002 N003 N004 G60 G00 G62 G00 G00 X X200 X X100 X300 ;Activate exact stop without damping time ;Move to position X200 mm ;Activate exact stop without damping time ;Move to position X100 ;Move to position X300 mm
Example
When moving to position X100, output MC_A/MC_B or RC_A/RC_B always supplies a 1signal when the Xaxis enters the range of the positioning tolerance. The SPC200 is ready immediately to move to position X300. Remark This command has a saving effect. The fast stop remains valid until a switch is made to another positioning quality class. In positioning quality class 1 the adaption has no effect, see appendix B.
758
G74
Start reference travel 1)

Nn G74 X<Mode> [Y.., Z.., U..] <Mode> Effect Example Remark n Reference travel mode n = 0, 5, 6, 7
Starts reference travel of the axis in the mode specified (see Fig. 7/15). After successful reference travel the status flag REF is set. N000 G74 X5 ;Move to reference point, direction: ;retracted piston rod"
Defining the reference point and the reference position see chapter 3.4. The reference mode is defined in the application data when each pneumatic axis is configured. If a different mode is selected with command G74, fault zzz1Ax06 will be generated (zzz = program line, x = axis number) at the beginning of the execution of the command. Exception: Reference travel mode 7 can always be used irrespective of the definition in the application data. If the modes 1, 2, 3 and 4 are activated for a pneumatic axis, fault zzz1Ax06 will be generated (zzz = program line, x = axis number). A pneumatic axis cannot execute positioning commands without successful reference travel. Exception: NC command M39 or reference travel with mode 7.
1)
This function is only effective as from operating system version 4.82. It is not supported by the control panel.
In the case of a pneumatic axis with an incremental measur ing system, referencing is always carried out against a fixed stop. Depending on its position, it will be approached from the left or the right. This stop can be fitted externally or it can be the end stop of the cylinder itself. The reproducibility of the reference point depends exclusively on the accuracy of the stop. For commissioning, the offset of the reference position and reference travel mode must be defined in the application data. The offset reference position specifies the offset of the axis zero point from the reference point. It is always a posi tive variable. This offset value also influences the controller optimization of the SPC200, even small values (a few mm) must be specified as accurately as possible (see chapter 3.4, Fig. 3/5).
759
Mode
0
Description
The reference point is set at the current position. The status flag REF will be set immediately. There are no restrictions as regards the speed and acceleration limit values (compare with mode 7). This mode may only be used if you can be sure that the axis actually stands at the planned reference position. For example, you can move programcontrolled to the defined end stop with NC com mand M39, monitor the reaching of the position with the aid of a proximity switch and finally accept the reference point with mode 0. Example N000 #TF64 7 ;REF flag of the Xaxis set? N001 M40 X0 ;Cancel all limit value monitorings re. M39 ;(stroke and speed limit ;values) N002 M39 X45 ;Switch off controller and open valve ;statically in the direction smaller ;position values. N003 #TNI0.0 3 ;Test input I0.0 (reference switch) ;for 0, until stop is reached ;(I0.0 = 1) N004 G04 50 ;Wait 500 ms N005 M12 X ;Activate controller again N006 G74 X0 ;Set reference point N007 ... Reference travel in negative direction (retract piston rod up to rear stop or cylinder cover). As soon as the axis stands still, the reference point is set. The status flag REF will be set immediately. Reference travel in positive direction (extend piston rod up to front stop or bearing cover). As soon as the axis stands still, the reference point is set. The status flag REF will be set immediately.
760
Mode
7
Description
This mode serves exclusively for moving the pneumatic axis slowly and program controlled, providing referencing has not taken place. When mode 7 is activated with command G74, the axis can be moved with the positioning commands G01 or G02. The speed is limited in each case to the referencing speed (see application data). The acceleration values are clearly reduced. The status flag REF will not be set. After completion of the movement in mode 7, reference travel must take place with mode 0, 5 or 6 in accordance with the application data. Only then can the maximum dynamics of the axis be reached again. This mode can be used, e.g. for moving an axis manually but programcontrolled into a defined starting position, if this cannot take place automatically due to obstructions in the positioning path.
1 Rear stop
here: bearing cover
2 Current position
starting position for reference travel
3 Front stop
here: fitted externally
4
Mode 0:
4 position accepted as
reference point
5
Mode 5:
5 Starting position 6 Interim reference

point: the restricted movement starts here
Mode 6:
6
Mode 7:
Fig. 7/15: Reference travel modes for the pneumatic axis
761
G74
Starting reference travel

Nn G74 X<Mode> [Y.., Z.., U..] <Mode> Effect Example Remark n Reference travel mode n = 0...4
Starts reference travel of the axis in the mode specified (see Fig. 7/16). N000 G74 X0 ;Accept current position as ;reference point
All positions refer indirectly to reference point. The exact position of the switching point of the reference switch depends on the selected reference travel mode.
Mode
0 1 2 3 4
Description
Accepting the current axis position as reference point Reference travel in negative direction to reference switch (REF) with acceptance as reference point Reference travel in negative direction to negative limit switch (LIM) with acceptance as reference point Reference travel in positive direction to reference switch (REF) with acceptance as reference point Reference travel in positive direction to positive limit switch (LIM+) with acceptance as reference point
762
1 Starting position 2 Position accepted

as reference point
LIM
REF
LIM+
3 Switching ranges
of limit and reference switches
Mode 0: Mode 1: Case a: Case b: Mode 2:
1 2
Mode 3: Case a: Case b: Mode 4:
Fig. 7/16: Reference travel modes of the electric axis Detailed instructions on carrying out reference travel can be found in the manual for the stepping motor indexer module type P.BESPC200SMX.... If the SPC200 enable is removed (ENABLE = 0), the stepping motor axes lose the reference.
763
G90
Absolute dimension specification

Nn G90 X<Position> [Y.., Z.., U..] <Position> n @n Effect Position in [mm] or [] Position in [mm] or [] saved in the position register @n n = 9999.99 n = 0 ... 99
Switches to absolute positioning and moves absolutely at the current speed and, if applicable, with ramp to the specified position. All the subsequent positions in the program will be interpreted as absolute dimensions. The positioning mode remains valid until a new positioning mode is set (see also under G00/G01/G02). N000 G00 G90 X200 N001 X100 N002 X@5 Y@1 N003 G90 Y100 N004 G91 X100 ;Move absolutely at highest possible ;speed to position X200 ;Move absolutely at highest possible ;speed to position X100 ;Move to position from register 5 and register 1 ;Move absolutely to position Y100 ;Move 100 mm in a positive direction
Example
Remark
The following is set during positioning: absolute positioning (G90) Command G90 has a saving effect. It remains effective until it is cancelled by command G91. Example: N010 G90 X100 N011 X200 N012 G91 X300 With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N010 G90 X@ABHOL_POS N011 X@ABLAGE_POS
764
G91
Relative dimension specification

Nn G91 X<Position> [Y.., Z.., U..] <Position> n @n Effect Position in [mm] or [] Position in [mm] or [] saved in the position register @n n = 9999.99 n = 0 ... 99
Switches to relative positioning and moves relatively at the current speed and, if applicable, with ramp to the specified position. All the subsequent positions in the program will be interpreted as relative dimensions. The positioning mode remains valid until a new positioning mode is set (see also under G00/G01/G02). N000 G00 G91 X200 N001 X100 N002 G90 X@5 Y@1 N003 G91 X100 N004 X200 ;Move relatively at highest possible ;speed 200 mm further ;Move relatively at highest possible ;speed 100 mm further ;Move to position from register 5 and register 1 ;Move 100 mm in a negative direction ;Move 200mm in a positive direction
Example
Remark
The following is set during positioning: absolute positioning (G90) Command G91 has a saving effect. It remains effective until it is cancelled by command G90. Example: N010 G91 X100 N011 X200 N012 G90 X300 With WinPISA programming, positions can also be specified symbolically. For this purpose, the position values and position names are entered in the position list. Example: N013 G91 X@ABHOL_POS N014 X@ABLAGE_POS
765
M00
Programmed stop
Nn M00 Effect The program sequence will be stopped with command M00 and continued when a synchronization signal is received. In the operating mode Start/Stop a negative edge at input SYNC_IA/IB will be interpreted as a synchronization signal. N005 M00 N006 G00 X100 ;Wait for SYNC signal ;Move to position X100
Example Remark
In Start/Stop mode you can synchronize with this command the program sequence with other devices.
M00
G00/G01/G02
M00
G00/G01/G02
1
SYNC_IA/IB
1 0 1 0
SYNC_OA/OB
MC_A/B
1 0
3 1 Externally controlled process 2 Programmed stop

Fig. 7/17: Programmed stop
3 3 Program sequence
766
M02
Subprogram end
Nn M02 Effect The end of subprograms must be marked with this command. If the program is accessed as the main program, it will be executed once and will remain stopped with M02. It can only be restarted with a Program Reset. See under L See also under M30
Example Remark
767
M10
Activate the nominal value input

Nn M10 X<Factor> [Y.., Z.., U..] <Factor> n Scaling factor in [mm/V] or [/V] (see Fig. 7/18) No specification of a scaling factor 1) @n Effect Scaling factor saved in position register @n 2) n = 0.1 ... 9999.9 n = 0 ... 99
The effect of command M10 depends on the syntax. Without specification of a scaling factor (e.g. M10 X"): All settings undertaken with M10, M11, M13 or M14 will be reset to the confi gured standard values (parameter set for the axis, register card Nominal value specification"). The input for the direct nominal value specification will be acti vated with the configured standard values. With specification of a scaling factor (e.g. M10 X200.5"): The input for analogue nominal value specification is activated with the specified scaling factor. Settings for offset, mode or analogue channel assignment defined with the commands M11, M13 and M14 are valid. Otherwise the configured standard settings are used. With the scaling factor, you can specify the position ing path which is to be covered by the analogue nominal value specification (0 ... 10 V) (e.g. factor = 20, possible positioning path = 200 mm). The scaling factor has no effect with the digital setpoint value specification (input 5). In this case, the setpoint values are absolute position values that refer to the project zero point. PROFIBUS: The setpoint values are specified by the PLC in m. (Example: Target position 88.24 mm > output data of the PLC = 882400 presented as decimal) DeviceNET: The setpoint values are specified by the PLC in m. See following pages The reference point of the positioning range is the project zero point. By specifying the offset (command M11") you can shift the reference point (see Fig. 7/18). With modes 0 and 1 (see command M13), the analogue input must be deacti vated with M12 before it can be activated again with M10. The command G25 has no effect in these modes. With stepping motor axes: modes 0 and 1 are not supported.
Example Remark
1)
This syntax is only available as from operating system version 4. The value 0000.00 is represented or entered on the control panel. 2) This syntax is only available as from operating system version 4.82. It is not supported by the control panel.
768
The selected nominal value input is deactivated again with command M12. It is deactivated automatically: during a stop status (controlled stop) if enable is missing (0signal at ENABLE input).
If there is a 1signal again at the relevant input after a stop or missing enable, the nominal value input will be activated again automatically. Example mode 0 Constant position adjustment
.... N010 M11 X100 N011 M13 X0
;Offset 100 mm ;Set mode 0 ;Move constantly N012 M10 X30 ;Activate nominal value input ;Scaling factor = 30 mm/V N013 #TNI0.0 013 ;Wait until I0.0 supplies a ;1signal N014 M12 X ;Deactivate nominal value ;input ... N020 M30 ;Program end with ;repeat
In this example the analogue input remains active until input I0.0 supplies a 1signal. If the input supplies a 1signal, the program will be continued in line N014 and the analogue input therefore deactivated.
769
Example mode 3
Analogue nominal value specification without adjustment, ramp

N001 M11 X100 N002 M13 X3 ;Offset 100 mm ;Set mode 3 ;Move once N003 G01 G91 X0 FX30 ;Move relative 0 mm ;Speed ramp = 30% N004 G61 X1 ;Fast stop N005 M10 X30 ;Factor = 30, move ;once to analogue ;specified position N006 G00 G90 X300 ;Move absolute ;to position 300 ... ... N020 M30 ;Program end with repeat
The speed ramp can be set with the aid of commands G01 and G02. Programming is made here for movement to be made relatively by 0 mm (see line N003). The speed ramp specified in this record is therefore valid without a positioning procedure.
770
M11
Offset for analogue nominal value specification

Nn M11 X<Offset> [Y.., Z.., U..] <Offset> n @n Effect Example Remark Offset in [mm] or [] Offset saved in position register @n 1) n = 9999.98 n = 0 ... 99
Equalizes the voltage/position assignment (see Fig. 7/18). Example see under M10 The preset reference point for the analogue nominal value specification is the project zero point. By specifying the offset you can shift the reference point. The possible positioning range is limited by the set software end positions. The command M11 must be issued before M10. The offset has no effect with the digital nominal value specification (input 5). 1)
1)
This syntax is only available as from operating system version 4.82. It is not supported by the control panel.
1 Project zero point 2 Measuring

system length
U [V]
10V
5 4 3
3 Scal. factor = 30,

Offset = 100

Offset = 0

Offset = 0
0V 0 100 200 300 s [mm]
2
Fig. 7/18: Scaling factor and offset with bei analogue nominal value specification (example linear drive)
771
M12
Axis stop 1)
Nn M12 X [Y, Z, U] Effect Command M12 stops all addressed axes. Active positioning commands (G00, G01, G02, M10) or the output of valve positioning values (M39) of these axes will be discontinued. Any nominal positions will be lost. With pneumatic drives: The current actual positions will be accepted as new positions. Depending on the current speed of the drive there may be overswing. With stepping motor axes: The axes stop as soon as possible (braking ramp with the configured maximum acceleration). The actual positions at the end of the stop will be accepted as new positions. Command M12 also causes the following: With active nominal value specification via analogue input or field bus (digital nominal value specifcation 2)): The relevant nominal value inputs analogue or digital will be deactivated. With active output of the valve positioning value (M39): 1) The output of the valve positioning value will be deactivated, the actual position will become the nominal position and the controller will be activated. A preselect value defined with G25 will be deleted and further record switching (G25) will have no effect. 1) When the axes stop, the relevant output MC_A or MC_B (motion complete) will be set and the next NC record processed. Example see under M10 With modes 0 and 1 (see command M13) of the nominal value specification, the relevant nominal value input must be deactivated with M12 before it can be activated again with M10. Note that the constant repetition of the axis stop command (M12) (eg. in a program loop) can cause the drive to drift (see following instructions). In monitoring programs command M12 can also be used for stopping axes which hsve been reserved by another task (see also chapter 7.1.1).
Example Remark
1) 2)
This function is only effective as from operating system version 4.6. This syntax is only available as from operating system version 4.82. It is not supported by the control panel.
772
During an axis stop with the M12 command the actual posi tion will be accepted as the new nominal position.
Warning If an interfering variable causes a deviation between the actual and nominal positions, the constant repetition of the axis stop command (M12) can cause the drive to drift. Each time the M12 command is accessed, the new actual position will be accepted again as the new nominal posi tion. Avoid the drifting by programming a locking which will prevent the constant repetition of the axis stop command (M12).
M13
Set nominal value mode

Nn M13 X<Mode> [Y.., Z.., U..] <Mode> Effect Example n Mode; explanation see table below. n = 0...4
Switches to the specified mode (see following table). Example see under M10
773
Type
Position adjustment
Mode
0 1)
Description
This mode is only supported by pneumatic drives. Constant position adjustment Constant parallel program processing possible This mode is only supported by pneumatic drives. As mode 0 but without MC monitoring 2) Current nominal value is read once A move is made as fast as possible to the new position, identical to G00 Current nominal value is read once Move with current ramp, identical to G01 Current nominal value is read once Only with pneumatic drives: Smooth movement with current ramp, identical to G02 Only with stepping motor axes: Move to position at Start/Stop frequency, identical to G02
1 1) Onetime positioning 2 3)
3 3) 4 3)
1)
Fast stop as positioning quality class is always effective in this module (see Fig. 7/11). The set positioning quality class and the positioning timeout have no effect in this mode. Stepping motor axes are not supported in this mode. . 2) Signal at output MC_A or MC_B is not influenced by the relevant axis, the current positioning quality class is effective (see under G61). 3) In this mode all the last defined or valid movement parameters are used (approach and braking ramps, positioning quality class, etc.).
774
M14
Assign nominal value inputs

Nn M14 X<Input> [Y.., Z.., U..] <Input> n Number of the analogue or digital 1) nominal value input n = 1 ... 4 n = 1 ... 5 1)
Effect
Withanalogue nominal value specification: The analogue input module type SPC2002AIU possesses two nominal value inputs (differential inputs). Nominal value module no. 1: Nominal value inputs 1 and 2 Nominal value module no. 2: Nominal value inputs 3 and 4 With command M14 one or several axes can be assigned to each analogue input channel. With digital nominal value specification, only in conjunction with field bus: 2) Nominal value input 5 A separate digital nominal value is provided for each axis [X, Y, Z, U] at the same time via the field bus. This value corresponds to a position specification (see under M10) and is related to the project zero point. The nominal values must lie within the permitted limits of the relevant drive. N007 M14 X2 Y5 U1 ;Anal. nominal value input 2 is assigned to the Xaxis, ;digital nominal value input 5 is assigned to the Yaxis ;and analogue nominal value input 1 is assigned to the ;Uaxis
Example
1)
This syntax is only available as from operating system version 4.82. It is not supported by the control panel. 2) For Profibus this applies only as from operating system version 4.82 together with the Profibus software version 2.0. For DeviceNet as from operating system 4.90 together with the software version as from 2.01 (DN2). Interbus does not permit this feature.
M30
Program end with repetition

Nn M30 Effect Example Remark The end of programs must be marked with this command. This command causes the program to be continued at the first NC record. N007 G00 X100 N008 M30 Subprogram end see under M02 ;Move to position X100 ;Program end
775
M37
Set mass assessment

pneumatic axis; permitted in operating mode: Start/Stop
Nn M37 X<Mass> [Y.., Z.., U..] <Mass> n Mass assessment of the load in % of the configured work item mass or of the configured mass moment of inertia of the work item; 0 = 100 %, 1 = 1 %.....99 = 99 % Absolute value of the work item mass in [kg] or of the mass moment of inertia in [kgcm2], saved in register @n 1) Permitted value range: 0.0 ... max. work item mass n = 0 ... 99
@n
n = 0 ... 99
Effect
Sets the controller to the specified mass load (see chapter 3.2.9). The following applies with relative assessment of the work item mass: Mass load = work item mass * n [%] + total moveable mass without work item The following applies with absolute specification of the work item mass: Mass load = @n + total moveable mass without work item N001 M37 X50 N002 M37 X@88 ;50 % of the configured work item mass considered ;work item mass from register @88 considered
Example Remark
The work item mass is a parameter of the application data. This command has a saving effect and supports the procedure with different work item masses. With rotary drives the mass moment of inertia of the work item and the other moving parts apply here. Recommendation: Carry out dynamic identification travel with minimum and maximum masses if you wish to use this NC command optimally.
1)
Please note If the work item mass in its basic status does not corre spond to the max. work item mass, you must make sure that before a positioning command the mass load is adapted to the actual work item mass. Remember the sav ing effect of the command and that after every PowerOn, Data, System or Program Reset the basic status is acti vated again.
776
M38
Load actual value

Nn M38 @<Register> X [Y, Z, U] <Register> Effect Example n Register number n = 0 ... 99
The current position is loaded into the specified position register N003 G00 G91 X100 N004 M38 @1 X N005 G29 @0 X@1 N006 G00 G90 X@0 ;Move relatively 100 mm further ;Load current position into position register 1 ;of the Xaxis ;Form the sum of the two position registers 0 ;and 1, save result in position register 0 ;Move to position in register 0
777
M39
Output valve positioning value 1)

Nn M39 X<Positioning value> [Y.., Z.., U..] <Positioning value> l n 1) Rn 1) Valve positioning value in % of the range 0...10 V: 1 = 1 % ... 99 = 99 % Valve positioning value in % saved in register Rn n = 1 ... 99 n = 1 ... 99
Effect
With command M39, the controller of the SPC200 will be deactivated and the pro portional directional control valve will be controlled directly. Whilst the drive is standing still, a pressing force, e.g. against a work item, may be generated. With the positioning value you can specify the valve nominal voltage (0.1 ... 9.9 V) which is to be output. At approx. 5 V (50 %) the valve slide is in the midposition (see following table). The positioning value controls the flow of the valve and deter mines the pressure increase time up to the maximum pressure (supply pressure). Command M39 remains active until it is deactivated with command M12 or until the stroke limit value (M40), the software end positions or the speed limit value (M41) are exceeded. N018 N019 N020 N021 N022 N023 N024 N025 ... N030 G01 X400 FX0 G01 X420 FX5 #TI2.0 30 M40 X2.00 M41 X0.15 M39 X60 #TNI2.1 24 M12 X G01 X100 FX10 ;Move quickly to preholding position ;Move slowly to clamping position ;Jump output of valve positioning value ;Stroke limit value for M39 = 2 mm ;Speed limit value for M39 = 0.15 m/s ;Valve nominal value voltage = 4 V ;Wait for input signal ;Switch off M39 ; ... ;... Further program sequence
Example
Remark
Command M39 may only be accessed if no positioning command has been carried out. Otherwise an appropriate fault will be triggered. In order to avoid an uncontrolled movement, e.g. during incorrect programming, the SPC200 monitors the position and the speed of the drive. Presetting for monitoring: Stroke limit value = 10.00 [mm] or 10.00 [] Speed value = 0.10 [m/s] or 0.1 [103 /s] The presettings can be modified with commands M40 and M41. The monitoring of the software end positions remains active.
1)
778
Valve position ing value [%]

1 2 ... 49 50 51 ... 98 99
Positioning signal 1)
2) 0.98 0.96 ... 0.02 0.00 0.02 ... 0.96 0.98
Valve voltage [V]

2) 9.9 9.8 ... 5.1 5.0 4.9 ... 0,2 0.1
Effect
Proportional directional control valve pressurizes connection 4 } Effect of force in the direction of the measuring system zero ero point (smaller p g values) positioning Midposition Mid iti range of f the th valve l ( ) flow blocked (covered),
Proportional directional control valve pressurizes connection 2 } Effect of force in the direction away from the measuring system zero point (larger positioning values)
1) Standardized valve positioning signal 2) Specification not possible
The valve voltage can be calculated as follows: Formula

V valve + 10 < 1 * n 100 V valve n
= valve voltage in [V] = valve positioning value in [%]
779
M40
Set stroke limit value 1)

Nn M40 X<Tolerance> [Y.., Z.., U..] <Limit value> n 1) Stroke limit value in [mm] or []; 0 Z Stroke limit value isswitched off permitted: 0 Limit value stroke length or angle Stroke limit value in [mm] or [] saved in the position register @n n= 0 ... 9999.99 n = 0 ... 99
@n 1)
Effect
If the drive exceeds the defined stroke limit value when command M39 is accessed (in positive or negative direction), M39 will be deactivated, an appropriate fault will be shown and the axis will be stopped (controlled stop). If 0 is specified as the stroke limit value, the drive can move freely between the software end positions. In the case of drives with an incremental measuring system (e.g. B. DNCI...) without reference travel carried out, the axis can move freely without limits. Please note When the stroke limit value (e.g. M40 X0) is switched off, the monitoring of the speed limit value (M41) will also be switched off. See M39 This command has a saving effect. It remains effective until a new stroke limit value is defined.
Example Remark
1)
780
M41
Set speed limit value 1)

Nn M41 X<Tolerance> [Y.., Z.., U..] <Limit value> n 1) @n 1) Speed limit value in [m/s] or [103 /s]; permitted: 0,01 Limit value defined maximum speed Speed limit value in [m/s] or [103 /s] saved in position register @n n= 0.01 ... 9.99 n = 0 ... 99
Effect
If the speed of the drive exceeds the defined speed limit value when command M39 is accessed, M39 will be deactivated, an appropriate fault will be shown and the axis will be stopped (controlled stop). Please note When the stroke limit value (e.g. M40 X0) is switched off, the monitoring of the speed limit value (M41) will also be switched off. See M39 This command has a saving effect. It remains effective until a new speed limit value is defined.
Example Remark
1)
781
Access subprogram (load subroutine)

Nn L<Program number> <Program number> b n Rn Effect Example Remark Program number Program number saved in register Rn n = 0 ... 99 n = 0 ... 99
Accesses the specified program as subroutine. See below The program number can be specified directly (n) or indirectly via a register (Rn). Maximum nesting depth = 4.
Example
Palletizing
1 Distance between
rows
2 Positions
0 mm 200 mm 250 mm
1 2
Fig. 7/19: Palletizing
782
Program 0
... N003 N004 N005 N006 N007 N008 N009 ... ... N080
G28 @1 X200 G28 @2 X50 #LR0=6 L1 #AR0=1 #TR0=0 10 E05 6
;Load top row of pallets ;Load distance between rows ;Initialize number of rows ;Access program 1 ;Update counter ;Gap filled? ;Jump to N006 ;further commands ;Program end
M30
Subroutine 1: Fill pallet gap
N000 N001 N002 N003 N004 N005 ... ... N016
#TNI0.0 0 G00 X0 #SQ0.0 G00 X@1 #RQ0.0 G29 @1 X@2
;Wait for part ;Fetch part, position 0 mm ;Close gripper ;Move to pallet position ;Open gripper, place part ;Calculate next position ;further commands ;Subroutine end
M02
Position register @1 contains the current pallet position. Position register @2 contains the distance between the rows. These position registers are initialized in lines N003 and N004 (program 0). Register R0 serves as loop counter and is initialized with the number of rows. Subroutine 1 is accessed 6 times and the current pallet gap is then filled.
783
E05
Unconditional jump
Nn E05 <Record number> <Record number> b n Rn Effect Example NC record number NC record number saved in register Rn n = 0 ... 999 n = 0 ... 99
The program sequence is always continued at the specified jump target. N005 #TNI1.1 5 N006 G00 X100 N007 E05 5 ;Wait for 1signal at input I1.1 ;Move to position X100 ;Jump to NC record 5
In NC record 7 the program always branches to NC record 5.
784
#S
Set singlebit operand

Nn #S<Operand> <Operand> Fn Qn.n Flag with number Fn Outputs: all freely programmable outputs n = 0 ... 63 n.n = 0.0 ... 13.15
Effect
The specified singlebit operand is set. Permitted operands are all singlebit operands, but not inputs. See also chapter 7.2.1. N010 #SQ0.0 ;Set output Q0.0
Example
Output Q0.0 supplies a 1signal when this record is processed. Remark Certain outputs are reserved for preassigned functions. Flags are remanent.
#R
Reset singlebit operand

Nn #R<Operand> <Operand> Fn Qn.n Effect Flag with number Fn Outputs: all freely programmable outputs n = 0 ... 63 n.n = 0.0 ... 13.15
The specified singlebit operand is reset. Permitted operands are all singlebit operands, but not inputs. See also chapter 7.2.1. N010 #RQ0.0 ;Reset output Q0.0
Example
Output Q0.0 supplies a 0signal when this record is processed. Remark Certain outputs are reserved for preassigned functions. Flags are remanent.
785
#T
Test singlebit operand for 1signal

Nn #T<Operand> <Record number> <Operand> Fn Fn In.n Qn.n <Record number> b n Rn Effect Flag with number Fn Axis status flag 1) Permitted inputs: all existing inputs Permitted outputs: all existing outputs Record number Record number saved in register Rn n = 0 ... 63 n = 64 ... 127 n.n = 0.0 ... 13.15 n.n = 0.0 ... 13.15 n = 0 ... 999 n = 0 ... 99
A branch is made to the specified NC record if the singlebit operand supplies a 1signal. Otherwise the following NC record will be processed. Permitted operands are all singlebit operands. See also chapter 7.2. See below See also under Test register"
Example Remark
1)
Axis status flag

Name REF MC TOL MOV Meaning Reference set Motion Complete Axis in the tolerance window The axis moves
Flag number of the axis

X 64 72 80 84 Y 65 73 81 85 Z 66 74 82 86 U 67 75 83 87
786
Example
The following applies for this example: Operating mode: Start/Stop In the following example binarycoded position numbers are sent to the axis controller via the inputs I0.0 and I0.1. Four position numbers can therefore be specified: I0.1
0 0 1 1
I0.0
0 1 0 1
Positions
Po_1 Po_2 Po_3 Po_4
At the beginning of the program the programmed stop for synchronization with the higherorder PLC/IPC is used. With the SYNC signal, the outputs of the PLC/IPC for the binary coded position number can be controlled at the same time. A debouncing time of 30 ms is provided for this in NC record 1.
N000 N001 N002 N003 N004 N005 N006
;Wait for SYNC signal ;Debounce time 30 ms ;Po_3 or Po_4, if 1signal ;Po_2, if 1signal ;Po_1, if both inputs 0 ;Jump back ;Po_2, if 1signal ;only at I0.0 N007 E05 0 ;Jump back N008 #TI0.0 11 ;Po_4, if both inputs 1 N009 G00 X@Po_3 ;Po_3, if 1signal ;only at I0.1 N010 E05 0 ;Jump back N011 G00 X@Po_4 ;Po_4, if both inputs 1 N012 E05 0 ;Jump back
M00 G04 3 #TI0.1 8 #TI0.0 6 G00 X@Po_1 E05 0 G00 X@Po_2
787
#TN
Test singlebit operand for 0signal

Nn #TN<Operand> <Record number> <Operand> Fn Fn In.n Qn.n <Record number> b n Rn Effect Flag with number Fn Axis status flag 1) Permitted inputs: all existing inputs Permitted outputs: all existing outputs Record number Record number saved in register Rn n = 0 ... 63 n = 64 ... 127 n.n = 0.0 ... 13.15 n.n = 0.0 ... 13.15 n = 0 ... 999 n = 0 ... 99
A branch is made to the specified NC record if the singlebit operand supplies a 0signal. Otherwise the following NC record will be processed. Permitted operands are all singlebit operands. See also chapter 7.2. N030 #TNI0.0 30 See also under Test register" ;Wait until I0.0 supplies a 0signal
Example Remark
1)
Axis status flag

Name REF MC TOL MOV Meaning Reference set Motion Complete Axis in the tolerance window The axis moves
Flag number of the axis

X 64 72 80 84 Y 65 73 81 85 Z 66 74 82 86 U 67 75 83 87
788
#LR
Load register
Nn #LR<Register> = <Value> <Register> n Number of the register into which the value is loaded Value which is loaded into the specified register Register Rn contains the value which is loaded into the specified register n = 0 ... 99 n= 32768 ... 32767 n = 0 ... 99
<Value>
Rn
Effect Example Remark
The value specified with n is loaded into the register. N011 #LR1=100 Registers are remanent. ;Load value 100 into register 1
#AR
Add to register
Nn #AR<Register> = <Value> <Register> n Number of the register into which the value is loaded Value which is loaded into the specified register Register Rn contains the value which is loaded into the specified register n = 0 ... 99 n= 32768 ... 32767 n = 0 ... 99
<Value>
Rn
Effect Example Remark
The contents of the register are added with the specified value. N010 #LR0=0 N011 #AR0=1 Registers are remanent. ;Delete register 0 ;Increase register 0 by 1
789
#TR
Test register
Nn #TR<Register> = <Value> <Record number> <Register> n Number of the register, the contents of which are to be compared Value which is to be compared with the contents of the specified register Register Rn contains the value which is to be com pared with the contents of the specified register Specification of the record number as numerical value Register Rn contains the record number n = 0 ... 99 n= 32768 ... 32767 n = 0 ... 99 n = 0 ... 999 n = 0 ... 99
<Value>
Rn
<Record number>
Rn Effect Example
A branch is made to the specified NC record if the register contains the specified value. N010 #TR0=100 350 ;If register 0 = 100, jump to NC record 350
A branch is made to NC record 350 if register 0 contains the value 100.
790
Diagnosis and error treatment
Chapter 8
81
8. Diagnosis and error treatment
Contents
8.1 8.2 Onthespot diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault messages on the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.2 Fault classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Eliminating faults in the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.1 Faults when switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.2 Faults when positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 89 812 813 833 833 835
8.3
82
The SPC200 offers extensive and userfriendly options for diagnosis and fault treatment. The following possibilities are available and are described in this chapter: The LEDs on the SPC200 and on the connected field de vices show directly configuration faults, hardware faults, string faults, etc. The control panel displays detailed fault messages coded in the form of a hexadecimal number. These fault mess ages describe in detail the fault class, fault number and additional information on localizing the fault (see sec tion8.2)
Further information
In online mode WinPISA shows fault messages in clear text. Information on the LED functions of the field bus module and stepping motor indexer module can be found in the manual for the relevant module. A description of the time reaction of the I/O signals when faults are quitted can be found in chapter 5.1.
83
8.1
Onthespot diagnosis
The LEDs on the power supply module, the axis interface and the I/O modules (optional) supply information on the operat ing status of the system. The tables below show how the vari ous operating states are represented by the LEDs. The LEDs indicate the following: LED Meaning
LED lights up LED out LED flashes permanently without break or several times with a break (flashing sequence corresponds to fault class which has occurred with a 1second break, see also section 8.2)
LED on the SPC200 Smart Positioning Controller

Power supply module type SPC200PWRAIF Reaction
POWER LED
ON OFF ON OFF
Sequence
Operating status
Eliminating faults
Operating voltage applied
None
Operating voltage not applied
Check operating voltage
connection of the electronics (pin 2).
84
Reaction
ERROR LED
Sequence
Operating status
Eliminating faults
ON OFF
Switchon phase (3...4 seconds) or Hardware fault, SPC200 is not ready for communication No internal fault registered Lights up briefly once when the device is switched on Flashing sequence according to the fault class with a 1second break Flashes once (fault class 1) Initialization fault Flashes twice (fault class 2) reserved Flashes three times (fault class 3) User data damaged Flashes four times (fault class 4) Hardware fault during running time Flashes five times (fault class 5) Sequence control fault Flashes six times (fault class 6) Fault in positioning task Flashes seven times (fault 7) Preparametrizing fault Does not flash (fault class 8) Flashes nine times (fault class 9) Trace fault Flashes continuously without break Firmware deleted by user
None Servicing required
ON OFF
None None
ON OFF
Install components and
modules correctly or replace defective module 1) 2) (Reserved)

Carry out Data Reset and
enter or load data again 1) 2)

Read out fault message and
eliminate fault 1)
eliminate fault 1)
eliminate fault 1)
eliminate fault 1)
None Carry out Data Reset and
enter or load data again 1) 2)

Load firmware
1) 2)
Read out fault message and eliminate fault (see section 8.2) Or servicing required
85
LED on the axis interface Reaction

POWER LED
ON OFF ON OFF
Sequence
Operating status
Eliminating faults
Operating voltage applied Operating voltage not applied
None Check operating voltage connec tion and load voltage connection on the SPC200 (pin 1 and pin 2).
ERROR LED
ON OFF
Switchon phase (3...4 seconds) or Hardware fault, SPC200 is not ready for communication No internal fault registered
None Servicing required
ON OFF
None
ON OFF
Lights up briefly once when the device is switched on Flashes at 1 second intervals: Once (fault no. 1) Axis interface not initialized Twice (fault no. 2) A CANmodule on the bus is in the OFF status Three times (fault no. 3) Incorrect type ID read Four times Emergency stop activated Five times Linear potentiometer is in end position or is not connected; cable between axis interface and measuring system defective; measuring head (DNCI) not con nected to axis interface. Six times Timeout Seven times Load voltage too low
None
Switch system on again, or
replace defective axis interface

Switch system on again, or
replace defective CP module

Remove nonpermitted
module or servicing required

None Bring linear potentiometer out
of the end position or connect; DNCI: Install measuring head and connect to axis interface; for correct fitting see operat ing instructions for the DNCI
Check SPC200 and AIF cable,
if there are faults see section 8.2, or servicing required Check load voltage
86
Tip: Use the movement test to check the function of the measur ing system, including the transmission of measured values to the SPC200. During the movement, at the same time observe the actual position displayed on the MMI control panel or in WinPISA in the status display / axes does the position value change as expected? Here you can also shift the axis by hand only permitted when the compressed air is turned off!
LED on the function I/O module Status LED The operating status of the input module is shown by the status LED (POWER/DIAG) on the function I/O module. Meaning: Sequence Operating status Fault treatment
Reaction
POWER/DIAG (Status LED)

ON OFF
Operating voltage applied
None
ON OFF
Operating voltage not applied or No connection to SPC200
Check the CP cable as well as
the operating voltage and load voltage connections on the SPC200 (pins 1 and 2), switch on the SPC200 again or carry out a System Reset.
None
ON OFF
Test phase when the power supply has been switched on or Short circuit in the sensor supply
or
Eliminate short circuit and quit
the fault1)
1)
The fault is deleted when the power supply is switched on again on the SPC200.
87
Short circuit sensor supply
If there is a short circuit, the input module will switch off the power supply to the sensors selflocking and communicate the fault to the SPC200. The status LEDs will be switched off and the inputs of the module supply a 0signal. After elimin ating the short circuit, delete this fault by quitting.
Status display
Next to the sensor connections there are green LEDs. These show the status of the signal at the relevant input. The LEDs indicate the following:
Status LED
Sequence
ON OFF ON OFF
Status
Logical 1 (signal present)
Logical 0 (no signal) Only in the switchon phase, if: there is a 1signal and there is an assignment fault on the axis interface string.
ON OFF
88
8.2
Fault messages on the control panel

If faults occur, the control panel will display detailed fault messages (fault codes) coded in the form of a hexadecimal number. The coded fault messages contain information on: the fault class the fault number in some cases additional information.
Composition of the fault messages

The control panel displays fault messages in the form of an eightfigure hexadecimal number. The individual positions of this hexadecimal number contain the following information:
1 Fault class (0...9) 2 Axis identifier

(0...4)
3 Fault number 4 Additional

information
Fig. 8/1: Composition of the fault messages (fault codes)
89
Fault class
The fault class reflects the type of fault which has occurred (e.g. hardware fault, configuration fault etc.) as well as the time the fault occurred. If the SPC200 is ready for communi cation, the ERRORLED will flash according to the fault class. Fault class
1 2 3
Fault time
Description
Initialization phase
Faults in initializing the components and modules Reserved User data damaged Hardware fault in the operating phase Sequence control fault (e.g. due to fault in the NC program) Fault in positioning task or identification travel Fault in preparametrizing NC Editor, Upload/download or operation execution fault Trace fault
Operating phase
4 5
Operating or commis sioning phase Commissioning phase
6 7 8 9
810
Axis identifier
With axisrelated faults the axis identifer indicates the axis on which the fault has occurred. Meaning: Axis identifier
0 1 2 3 4
Description
Fault is not axisrelated (system fault) Fault with the Xaxis Fault with the Yaxis Fault with the Zaxis Fault with the Uaxis
Fault number and additional information
The fault number describes the source of the fault. With some fault numbers, additional information is output in the form of a threefigure hexadecimal number which contains further important instructions on localizing the fault.
811
8.2.1
Fault stages
All faults are assigned to a certain fault stage (A ... D). The fault stage specifies how the fault can be quitted and how the system reacts to the occurrence and quitting of the fault.
Fault stage
A
Fault class
1, 3
Fault reaction 1)
Reaction to quitting 2)
Serious system fault in the initialization phase Controller remains switched off The following outputs are reset: READY, ACK_A/B Initialization phase It is necessary to switch on again, or System Reset is possible
Serious system fault in the operating phase Controller is switched off The following outputs are reset: READY, ACK_A/B Controller is switched on Status of the outputs is restored Fault must be eliminated and quitted 3)
4, 5, 6, 7
System fault or user fault in the operating phase Sequence is stopped The following outputs are reset: READY, ACK_A/B Sequence can be started Status of the outputs is restored Fault must be eliminated and quitted 3)
4, 8, 9
Simple user faults, Upload/download or operation execution faults Fault code is entered System remains fully operational Fault code is deleted
1) 2) 3)
With stages A to C: ERROR LED flashes and fault code is entered With stages A to C: Fault code and ERROR LED are deleted Fault quitting by starting signal (Start/stop mode) or CLK signal (Record Select mode) or by Reset command (Reset Error, Reset Program, Reset System)
The following sections describe all the fault messages sorted according to fault class and show the assigned fault stages.
812
8.2.2
Fault classes
No fault
Operating status / fault explanation Eliminating faults
Fault class 0:
Fault stage Fault message
00000000 No fault registered
Fault class 1:
Fault stage A Fault message zzz01x01
Initialization phase Fault in the initialization of components and modules

Internal system fault zzz = 001, 002: System memory fault; perhaps the basic unit is defective
Servicing required If the fault occurs more than once, replace basic unit
zzz02x01
Faults in initializing the axis interface string Check and if zzz = Fault location and fault type: necessary replace Fault location: modules or com 0zz: Fault on 1st. AIF string ponents on the 1zz: Fault on the 2nd AIF string AIF string Check operating Type of fault: system version in z00: Active fault could not be acknowledged SPC200. Is it per z01, z0B: Fault on the first measuring system missible for the z02, z0C: Fault on the second measuring system z03, z09: Fault on the 1st. AIF axis interfaces z04, z0A: Fault on the 2nd. AIF used? (see also z05: Fault on the 1st. CP module page XVI) z06: Fault on the 2nd. CP module z07, z08, z0D: Bus error Defective or nonpermitted component zzz = Location number, in ascending order from left to right (000...003 for 4, and 000...005 for 6 locations) Replace or remove component
zzz03x01
zzz yy x AIF
= = = =
Additional information Fault number Axis identifier (0 = fault is not axisrelated) Axis interface
813
Fault class 1:
Fault stage A Fault message
Initialization phase Fault in the initialization of components and modules

00004x01 Actual configuration not the same as nominal configuration (axis configuration and I/O assignment checked)
Check and if
necessary correct the configuration of the internal components and string assignment and switch the SPC200 on again or carry out a System Reset. or
Save the actual
configuration as the nominal con figuration (menu SET CONFIGUR.) or load project (with WinPISA) zzz05x01 Initialization fault with an intelligent component 1) x = 0: Initialization fault x = 1...4: Axis 1 (x)...4 (U) x = 5: Field bus module zzz = Location number, in ascending order from left to right (000...003 for 4 and 000...005 for 6 locations)
Check stepping
motor indexer module, subcon troller or field bus module and switch on the SPC200 again or carry out System Reset, or Servicing required
Servicing required,
zzz06x01
The firmware versions of the basic unit and subcontroller module are not compatible
carry out firmware update
zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axisrelated) 1) Stepping motor module, field bus module or axis interface module
814
Fault class 2:
Fault stage Fault message zzzyyx02
Reserved
Reserved
Fault class 3:
Fault stage A Fault message zzz01x03
Initialization phase User data damaged

User program damaged zzz = program number
Carry out Data Reset and
00002x03 Position list damaged 00003x03 Configuration data damaged 00004x03 System data damaged 00005x03 Dynamic identification data damaged 00006x03 Static identification data damaged 00007x03 Faulty PROFIBUS configuration data 00008x03 Faulty Interbus configuration data 00009x03 Faulty CANbus configuration data zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axisrelated)
enter or load data again or Servicing g required q If the h fault f l occurs more than h once, check and if necessary replace basic unit
815
Fault class 4:
Fault stage C Fault message zzz01x04
Hardware fault in the operating phase

Internal system fault (Watchdog fault) zzz = Fault type (see following description)
Switch system off/on again; Check level and stability of
power supply If this fault occurs again, return for servicing 001: Fault in the switchoff phase; when the system was switched off, certain sys tem functions (Power Down functions) were not carried out. perhaps the power supply module is defective 002: Fault whilst monitoring the power sup ply during operation; unstable power supply or environment subjected to strong interference; or the power sup ply module is defective. 003/004: Fault in monitoring the memory range of the firmware (memory protec tion violation); environment subjected to strong interference or basic unit is defective. 005: Fault in monitoring the memory range of the user programs (memory protec tion violation); environment subjected to strong interference or basic unit is defective. 006: Fault in accessing adaptation data The data have not been initialized. zzz = yy = x = Additional information Fault number Axis identifier (0 = fault is not axisrelated)
If necessary replace power
supply module
If necessary replace power
supply module
If necessary eliminate inter
ference
Carry out Data Reset If necessary eliminate inter
ference
If necessary replace basic
unit
Carry out Data Reset If necessary eliminate inter
ference
If necessary replace basic
unit
Carry out Data Reset.
816
Fault class 4:
Fault stage B Fault message zzz02x04

AIF string no longer functions 1) (zzz as with fault class 1, fault number 2)
Check and if necessary
replace modules or compo nents on the AIF string 1)

Check module on AIF string
zzz03x04
Fault in measuring system z00: Measuring system in the end position or Measuring system defective or AIF string no longer functions 1) z01: Reference position is invalid 0zz: Concerns the 1st AIF string (on the power supply module 1zz: Concerns the 2nd AIF string (on the subcontroller module Fault on first I/O module zzz = short circuit at input (E) or output (A) or undervoltage: 000: short circuit at E and A and undervolt. 001: short circuit at E and A 002: short circuit at E and A and undervolt. 003: short circuit at E 004: short circuit at A and undervoltage 005: short circuit at A 006: undervoltage Fault on second I/O module zzz = short circuit at input or output or undervoltage 000...006: Additional information as with fault no. zzz04004
and string assignment or bring measuring system out of end position or replace measuring system cable 1) Replace AIF Repeat reference run
zzz04x04
Eliminate undervoltage or
short circuit 2)
zzz05x04
short circuit
zzz = Additional information, yy = fault number, x = axis identifier (0 = fault is not axisrelated) 1) When this fault has been eliminated and quitted, the system tries at first to commission the axis interface string. If this is not possible, the axis interface string will be initialized again. This procedure can take a certain amount of time (max. 10 seconds), depending on the system configuration used. 2) If there is a short circuit at the input, the operating voltage must be switched on again.
817
Fault class 4:
Fault stage B Fault message

00006x04 Load voltage for field devices and propor tional directional control valve is too low. zzz07x04 Fault in monitoring the field bus module (PROFIBUS, Interbus, DeviceNet, etc.); field bus module cannot be addressed. Location in the basic unit or field bus module defec tive or field bus module not fully inserted. zzz = fault time point 001: Fault in initialization phase 000: Fault in the operating phase Fault on analogue input module zzz = channel number and fault number Channel number 1 ... 4): 11z: analogue channel 1, 12z: analogue channel 2 etc. Fault number (1 ... 3): 1z1: timeout when reading the analogue value from channel z 1z2: upper software end position violated when reading from channel z 1z3: lower software end position violated when reading from channel z Fault on the V.24 interface (X4); zzz = fault type 001: Overrun 002: Parity fault Fault on the V.24 interface for the control panel (X3) zzz = fault type 001: Overrun 002: Parity fault
Eliminate undervoltage on
the operating voltage con nection (X2).

Make sure that the field bus
module is fully inserted.

Check location; if necessary
select different location

Switch system off/on again
If this fault occurs again, return for servicing

Replace analogue input
zzz08x04
module
Adapt voltage range to
defined positioning range
zzz09x04
Check diagnostic module or
connecting cable; if necess ary set lower baud rate

Check diagnostic module
zzz0Ax04
and control panel or connec tion
zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axisrelated)
818
Fault class 4:
Fault stage C zzz0Bx04 zzz0Cx04 Fault message

Fault on: Third I/O module (B) Fourth I/O module (C) (zzz as with fault class 4, fault numbers 4 and 5) Fault on subcontroller module (second AIF string) Fault on stepping motor module zzz = fault type: 001: Stepping motor controller not ready
short circuit 1)
zzz0Dx04 zzz0Ex04
Insert module fully or
replace
Check voltage supply at
002: No reference travel carried out 003: Positive limit switch activated
004: Negative limit switch activated
005: Reference travel interrupted 008: Both limit switches active zzz0Fx04 zzz10004 Reserved Configured assignment of a local I/O range to the specified field bus I/O range in the SPC200 is not permissible because the local module itself is not present. zzz = I/O word no.: 000: Assignment to IW11 faulty 001: Assignment to IW12 faulty 002: Assignment to IW13 faulty 003: Assignment to QW11 faulty 004: Assignment to QW12 faulty 005: Assignment to QW13 faulty
signal connector (X31) of the stepping motor module. Check stepping motor con troller or connecting cable Carry out reference travel Bring drive out of end posi tion and carry out reference travel Bring drive out of end posi tion and carry out reference travel Carry out reference travel again Check limit switches
Correct the configuration;
see description of the field bus module or the configur ation menu of WinPISA from version 4.41.
819
Fault class 4:
Fault stage Fault message

zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axisrelated) C zzz11x04 The AIF x has detected undervoltage on the load voltage. The valve moves automatically to the midposition, the axis is no longer in closedloop control. zzz = String number: 000: Concerns the 1st AIF string (on the power supply module 100: Concerns the 2nd AIF string (on the subcontroller module A CP module has detected undervoltage on the load voltage. zzz = String number: 000: Concerns the 1st AIF string (on the power supply module 100: Concerns the 2nd AIF string (on the subcontroller module
Reapply load voltage and
acknowledge fault
zzz12004
Reapply load voltage and
acknowledge fault Please note: Fault message s0011x04 was possible also triggered at the same time.
820
Fault class 5:
Fault stage C Fault message
Sequence control fault

ppp01x05 Starting program does not exist
Correct starting program
number or load/enter starting program nnn02x05 Subprogram does not exist (L command) nnn03x05 NC record does not exist nnn04x05 Program no. with L command is identical to number of the accessing program nnn05x05 Permitted nesting depth with L command exceeded nnn06x05 Direct nominal value specification (M10) or direct control of the valve voltage (M39) active with new nominal value (NC com mand: G00, G01, G02, M10, M39)
Correct NC record or load/
enter program
Correct NC record Correct NC record
Correct NC record
Correct the NC record, first
conclude direct nominal value specification or direct control of the valve voltage with M12.
Correct NC record Conclude NC programs with
nnn07x05 Arithmetical overrun with a register (R) nnn08x05 Record overrun nnn09x05 Reserved nnn0Ax05 zzz0Bx05 NC command cannot be processed. Either it is not supported by the firmware or the axis specification is not valid.
command M02 or M30
Check axis specification Check firmware version
zzz yy x ppp nnn
= = = = =
Additional information Fault number Axis identifier (0 = fault is not axisrelated) Program number NC record number of the accessing NC command
821
Fault class 5:
Sequence control fault

0050Cx05 Conversion for this nominal value has already taken place.
Analogue nominal value
input must be deactivated with M12, before it is acti vated again with M10.
Correct NC record
zzz0Dx05 zzz0Ex05 zzz0Fx05 zzz10x05
Reserved The programmed nominal value input does not exist. Reserved Programmed input or output is not avail able. Input/output address or I/O module does not exist. Register index is not valid (index > 99) The absolute preselection value (G25) in the selected register @n is not between the last nominal position or the last switchover position and the new nominal position.
Correct NC record.
Correct input/output address

Correct NC record Correct NC record or register
zzz11x05 zzz12x05
contents. Please note: If the axis was stopped by a stop signal during the movement command and was then supposed to continue moving, the current actual position no longer corresponds to the original one.
Check type and software ver
zzz13x05
The nominal value specification via field bus (M10, channel 5) cannot be activated, since no field bus card is present or the field bus card used does not support this function.
sions of the field bus card, replace if necessary. permitted: SPC200COMPDP from version 2.0 SPC200COMDN2 SPC200COMCO2
822
Fault class 6:
Fault in positioning task or identification travel

nnn01x06 Positioning timeout: The reference position and/or the position of the last movement task could not be reached quickly enough (MC error)
Eliminate obstruction in
positioning range or check supply pressure or increase positioning timeout or optimize the controller.
Correct NC record, position
nnn02x06 Nominal position outside the software end positions; the positioning process is not started nnn03x06 Nonpermitted positioning task with posi tiondependent further record switching (G25) nnn04x06 Required speed cannot be reached zzz yy x nnn = = = = Additional information Fault number Axis identifier (0 = fault is not axisrelated) NC record number of the accessing NC command
list or software end positions

Correct NC record or position
list (see under NC command G25").

Correct maximum speed or
speed factor
823
Fault class 6:
Fault stage C Fault message ssz05x06

Fault in identification travel ss = Service information specifies the identification step in which the fault occurred. z = Fault type (see following description) ss0: Fault in precalculating the control parameters (x10, x50, x90) or timeout (x20, X60, XA0) The system identification was aborted with Stop. The stop can be triggered by the user or by a system fault.
(See following description)
Check controller, axis and
application data
ss1:
Check I/O coupling; Check fault stack (with
WinPisa) and if necessary eliminate the cause of the fault.

ss2:
No sensible parameters were found during system identification
application data
Check general conditions
Construction susceptible to vibration? Supply pressure stable? Is the driver of the measur ing system fastened cor rectly, etc? ss4: A fault occurred when the original parametrizing was restored Check controller, axis and application data Check controller, axis and application data
ss8: A fault occurred when the identifica tion step was initialized zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axisrelated)
824
Fault class 6:

nnn06x06 NC command G00 is not possible as a dynamic identification travel has not been carried out nnn07x06 The controller in the SPC200 cannot be initialized nnn08x06 A task for this axis is already active (position ing, identification ...). A new task can only be accepted when the old task is concluded. nnn09x06 Contents of a position register are not valid nnn0Ax06 Violation of stroke limit value (M40) with M39
Carry out dynamic identifica
tion travel
application data
Correct the NC record or stop
the system before carrying out the activity

Correct NC record Check stroke limit value and
variable value with com mand M39; if necessary correct NC record

Set ENABLE input and start
0000Bx06 System identification aborted as enable signal is missing B 0000Cx06 Reserved 0000Dx06 Reserved C 0000Ex06 Identification data not valid nnn0Fx06 zzz = yy = x = nnn = Nonpermitted positioning quality class
identification travel again

Carry out system identifica
tion again
Correct NC record
Additional information Fault number Axis identifier (0 = fault is not axisrelated) NC record number of the accessing NC command
825
Fault class 6:

nnn10x06 Controller is inactive, as enable signal for first commissioning or after movement test is missing or the configuration is faulty. Only with stepping motor axis: No Ready signal from the power controller nnn11x06 Command is not supported by this axis type: With pneumatic axes: Command Reference travel (G74) With electric axes: Activate analogue input in modes 0 and 1 (M10) Command M39 nnn12x06 Reference position for this axis unknown nnn13x06 Violation of software end positions with command M39
Generate rising edge at
ENABLE input or check con troller, axis and application data

Correct fault on stepping
motor controller
Correct NC program
Carry out reference travel Check software end posi
tions and variable value with command M39; if necessary correct NC program
Check speed limit value and
nnn14x06 Violation of speed limit value (M41) with M39
variable value with com mand M39; if necessary correct NC program
nnn15x06 Reserved ... nnn19x06 zzz = yy = x = nnn = Additional information Fault number Axis identifier (0 = fault is not axisrelated) NC record number of the accessing NC command
826
Fault class 6:

nnn1Ax06 The specified reference run mode is not permissible for this axis.
Correct the command Check reference run mode in
the application data, com pare with that currently being used. Permitted: Stepping motor axis: Modes 0 to 4 Pneum. Axis: Modes 0, 5 to 7 nnn1Bx06 The reference run for the pneumatic axis was carried out in mode 7. Mode 0, 5 or 6 is necessary for the desired command.
The reference run must be
carried out in mode 0, 5 or 6 before the command in question. Only the following are permiss ible in mode 7: G01, G02 and M39, see also command G74
Correct NC program Check the nominal values
nnn1Cx06 Parameter outside the permitted tolerance zzz1Dx06 Fault in the digital nominal value specifica tion via field bus. zzz = Fault type: 001: The nominal value transferred is smaller than the lower software end position. 002: The nominal value transferred is greater than the upper software end position.
generated in the field bus master (PLC) and if necess ary adapt to the permissible movement range.
Check limit values in the
application data, adapt if necessary.
zzz = yy = x = nnn =
Additional information Fault number Axis identifier (0 = fault is not axisrelated) NC record number of the accessing NC command
827
Fault class 7:
Fault in the preparametrizing

00001x07 Software end position lies outside the possible positioning range 00002x07 Mass load lies outside the permitted range 00003x07 Gain factor not permitted 00004x07 Damping factor not permitted 00005x07 Filter factor not permitted 00006x07 Measuring system length not valid or measured value outside the set cylinder length 00007x07 Parameter limit violated 00008x07 Measuring system type not permitted 00009x07 Reserved 0000Ax07 Max. permitted step frequency (positioning frequency) exceeded (>40000 Hz) 0000Bx07 Reserved 0000Cx07 Adaptation data incorrect
Correct parameter
(permitted value ranges see chapter 6.2) 6 2)
Check resolution or reduce
positioning speed
Carry out Data Reset
828
Fault class 7:
Fault stage C Fault message zzz0Dx07
Fault in the preparametrizing

Configured assignment of a local I/O range to the specified field bus I/O range in the SPC200 is not permissible because the local module itself is not present. zzz = I/O word no.: 000: Assignment to IW11 faulty 001: Assignment to IW12 faulty 002: Assignment to IW13 faulty 003: Assignment to QW11 faulty 004: Assignment to QW12 faulty 005: Assignment to QW13 faulty Configured assignment of a local I/O range to the specified field bus I/O range in the SPC200 is not permissible because the field bus I/O range is already occupied. zzz = I/O word no.: 000: Assignment to IW11 faulty 001: Assignment to IW12 faulty 002: Assignment to IW13 faulty 003: Assignment to QW11 faulty 004: Assignment to QW12 faulty 005: Assignment to QW13 faulty
see description of the field bus module or the configur ation menu of WinPISA from version 4.41.
zzz0Ex07
see description of the field bus module or the configur ation menu of WinPISA from version 4.41. Please note: Each local I/O range may be assigned only once.
829
Fault class 8:
Fault stage D Fault message
NC Editor, Upload/download or operation execution fault

nnn01x08 Syntax fault or nonpermitted program ppp01x08 number entered ppp02x08 When using the control panel: Nonpermitted program number selected, program cannot be created as it already exists or program cannot be opened as it does not exist. No free memory space When using WinPISA: Program could not be loaded When the fault is deleted, the memory of the SPC200 will be reassigned. nnn03x08 Nonpermitted record number ppp04x08 No free memory space for new program ppp05x08 Test sum fault 00006x08 Fault in Upload/Download with WinPISA to 0000Ax08 0000Bx08 Enable signal missing 0000Cx08 System has stopped, there is a 0signal at the STOP input 0000Dx08 Starting program does not exist 0000Ex08 Command not permitted in this operating mode
Correct entry
Correct entry
If the maximum number of NC records is not yet reached: Carry out program modifica tion with WinPISA; if necess ary the memory will be reassigned. Load the program again when the memory has been reassigned.
Correct entry Delete unnecessary
programs and NC records

Servicing required Check connecting cable and
diagnostic module; if necess ary set lower baud rate

Apply a 1signal at the
ENABLE input
Apply a 1signal at the STOP
input
Correct the number of the
starting program
Do not use this command in
the current operating mode or modify the operating mode
zzz = yy = x = ppp = nnn =
Additional information Fault number Axis identifier (0 = fault is not axisrelated) Program number NC record number of the accessing NC command
830
Fault class 8:
Fault stage D Fault message 0000Fx08

Command or operating function not permitted with active NC program
Stop the system and access
the command or operating function again

Generate rising edge at
00010x08 Controller is inactive, as enable signal for first commissioning is missing or the configuration is faulty Only with stepping motor axis No Ready signal from the power controller
ENABLE input or check con troller, axis and application data Correct fault on stepping motor controller
Use WinPISA as from version
ppp11x08 The NC program contains new NC commands and extended NC syntax which is not supported by control panel type SPC200MMI1... (see also chapter 7.1.4). ppp12x08 Movement test cannot be started as the ENABLE input supplies a 1signal. ppp13x08 Valve voltage cannot be modified as the ENABLE input supplies a 0signal. ppp14x08 Movement test is interrupted as ENABLE input supplies a 0signal. ppp15008 Compatibility error between WinPISA, MMI and the operating system version of the SPC200. A program present in the SPC200 cannot be processed with the WinPISA version being used. ppp = program number
4.3, in order to edit such NC programs. Apply a 0signal at the ENABLE input Apply a 1signal at the ENABLE input None
Use the latest WinPisa
version.
If necessary, delete all pro
grams and reload them into the SPC200. Please note: You can find the current WinPISA version in Festos download area < festo.com>.
zzz = yy = x = ppp =
Additional information Fault number Axis identifier (0 = fault is not axisrelated) Program number
831
Fault class 8:
Fault stage D Fault message zzz16x08

Compatibility error between WinPISA and the operating system version of the SPC200. zzz = 001: The function Calibration of operating system version 4.82 requires at least WinPISA 4.41.
Use the latest version of
WinPISA; if necessary down load it from Festos down load area < festo.com> and use it to carry out the calibration. Adapt measuring system length in the Axis data" dialogue.
zzz yy x ppp
= = = =
Additional information Fault number Axis identifier (0 = fault is not axisrelated) Program number
Fault class 9:
Fault stage D Fault message 00001x09
Trace fault
Too many trace variables defined. Max. 10 trace variables per axis are permitted Reserved
Check measured value
configuration
00002x09 to 00005x09 00006x09
Trace memory reserved for another axis Unknown trace variable defined (caused by the use of different firmware versions) Trace not configured
Create default measured value con
figuration for all axes. Then specify desired configuration again

Create and confirm default
00007x09
measured value configuration. Then set the desired configuration again

Carry out System Reset
00008x09
832
8.3 8.3.1
Eliminating faults in the system Faults when switching on 1) No display on the SPC200
Cause
Supply voltage is not correct or SPC 200 is defective
Remedy
Check supply voltage or servicing required
Remarks
See section 3.2.1
2) Axis makes small movements backwards and forwards

Cause
Axis or application data not correct System identification has not been carried out System is not earthed correctly Measuring system or measur ing system cable is defective
Remedy
Check axis or application data Carry out system identification Check earthing measures Check measuring system and measuring system cable and replace if necessary
Remarks
See section 6.2 See section 6.8 See section 3.5 Check by shifting manually or carry out movement test, see section 4.4.2
833
3) Axis moves against end positions

Cause
Cables not connected correctly (incorrect polarity) Measuring system is defective or not connected Proportional directional control valve is defective
Remedy
Check Check Check proportional directional control valve
Remarks
See section A See section 3.6.1 Carry out movement test, see section 4.4.2
834
8.3.2
Faults when positioning 1) Drive does not move
Cause
No supply pressure Valve cable is not connected correctly Proportional directional control valve is defective
Remedy
Check Check Check and, if necessary, replace.
Remarks
See section 3.6.1 Carry out movement test, see section 4.4.2
2) Axis moves against end positions

Cause
Cables not connected correctly Measuring system is defective or not connected Proportional directional control valve is defective
Remedy
Check Check Check
Remarks
See section A See section 3.6.1 Carry out movement test, see section 4.4.2
Tip: Use the movement test to check the function of the measur ing system, including the transmission of measured values to the SPC200. During the movement, at the same time observe the actual position displayed on the MMI control panel or in WinPISA in the status display / axes does the position value change as expected? Here you can also shift the axis by hand only permitted when the compressed air is turned off!
835
3) Axis has bad positioning behaviour

Cause
System is not fitted correctly
Remedy
Check mechanical parts
Remarks
Check measuring system and cylinder for parallelism, mechan ical play and sluggishness See section 3.5.2 See section 6.2 See section 4.4.2 See section B
System is not earthed correctly Application data are not set optimally (mass, work stroke) System identification has not been carried out Controller data are not set optimally (gain, damping)
Check Check application data Carry out system identification Optimize controller data
836
Notes on installing the pneumatic components
Appendix A
A1
A. Notes on installing the pneumatic components
Contents
A.1 A.2 A.3 A.4 A.5 Axis structure with drive type DGP(L)... and type DGPI(L)... . . . . . . . . . . . . Axis structure with standard cylinder type DNC... . . . . . . . . . . . . . . . . . . . . Axis structure with standard cylinder type DNCM... . . . . . . . . . . . . . . . . . . . Axis structure with rotary module type DSMI... . . . . . . . . . . . . . . . . . . . . . . Axis structure with standard cylinder type DNCI... . . . . . . . . . . . . . . . . . . . . A3 A10 A17 A24 A31
A2
A.1
Axis structure with drive type DGP(L)... and type DGPI(L)...

The following diagram shows as an example the axis struc ture in conjunction with a positioning drive type DGP(L)....
SPC200
2 1
6 1 Drive (here type DGP(L)...) 2 Measuring system

(here external measuring system type MLOPOT...TLF)
5 5 Proportional directional control valve

type MPYE5...010B
6 Service unit with 5 m filter, without

lubricator
3 Shock absorber (optional) 4 Axis interface (here type SPCAIFPOT)
7 Compressed air source (4 to 8 bar)
Fig. A/1: Axis structure with positioning drive type DGP(L)...
A3
Valvedrive combination with DGP(L)... and DGPI(L)...

Recommendation: Use only suitable valvedrive combina tions. The following diagram shows valvedrive combinations for type DGP(L)... and DGPI(L)... .
MPYE53/8010B
63
50 MPYE51/4010B
[mm]
40
32 MPYE51/8HF010B MPYE51/8LF010B 25 800 1000 1200 1400 1600 1800 2000
200
400
600
L [mm]
3 2 Drive diameter 3 Stroke length of the drive
1 Proportional directional control valve

type MPYE5...010B
Fig. A/2: Suitable valvedrive combination with DGP(L)... and DGPI(L)... The limits related to stroke length and valve types are to be regarded as flowing. If you wish for a system with higher dy namics, you should use the valve with the higher flow in the limit range. If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics.
A4
Installation instructions for drives DGP(L)... and DGPI(L)...
Any mounting position is permitted (horizontal, vertical or diagonal) Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke reduction
1 Permitted work
stroke = (stroke length minus stroke reduction)
1 2
2 Stroke reduction
Fig. A/3: Permitted working stroke On each side of the drive positioning must not take place in the range of the stroke reduction (see also section 3.4). The best possible positioning behaviour can be achieved if you use only 80 % of the stroke length of the drive, symmetrically to the two end positions. If demands placed on the positioning behaviour are only slight, observe at least the following stroke re ductions in both end positions: 25
25
Pistonj [mm]
Stroke reductionper end position [mm]
32
25
40
35
50
35
63
35
A5
In order to use the end position cushioning as minimum stop protection, tighten completely the adjusting screws for the internal end position cushioning. Recommendation: Limit the permitted work stroke by shock absorbers, also on drives with adjustable cushion ing. In this way you can avoid damage in the event of operating and system faults. Arrange the tubing between the valve (MPYE5...) and the drive (DGP(L)...or DGPI(L)...) symmetrically and as short as possible. Maximum tubing length Drive length With DGP(L) cylinders, provide air supply on both sides as from a cylinder length of 600 mm, in order to ensure good positioning behaviour (type identifier D2). Lubricate the guide of the cylinder at maintenance intervals as specified in the operating instructions for the cylinder.
Measuring systems for the DGP(L)...
Use only measuring systems of types MLOPOT...TLF or MMEMTS...AIF or use cylinder with integrated measur ing system type DGPI(L)...AIF. If you wish to use a linear potentiometer with a slide under difficult ambient conditions (dusty atmosphere), fitit so that the side with the actuator slide faces down wards. The drip edge on both sides prevents excessive dirt from forming on the running surface. If you are using a linear potentiometer, fasten it with the aid of the clamping brackets supplied so that it is electri cally insulated from the mounting surface.
A6
Caution If the positioning range of the drive is longer than the posi tioning range of the measuring system: Limit the positioning range by means of shock absorbers, so that the measuring system covers the complete posi tioning range. In this way you can protect the measuring system against damage.
Note here the general instructions on measuring systems in sections 3.2.7 and 3.4.
1 Positioning range
of the drive
1 2 3
2 Permitted
positioning range
3 Shock absorber
(optional)
4 Positioning range
of the measuring system
Fig. A/4: Limits of the positioning range
A7
Tubing with slide and yoke operation with the DGP(I)(L)...

The DGP(I)(L)... is suitable both for slide and yoke mode. When compressed air is applied to port 4 of the proportional directional control valve, the slide must move in the direction of the measuring system zero point (electrical connection of the potentiometer). If compressed air is applied to port 2, the slide must move away from the measuring system zero point.
1 Electrical
connection
Fig. A/5: Tubing for the slide mode
1 Electrical
connection
Fig. A/6: Tubing connection for yoke mode with measuring system
A8
Drives with unilateral air supply
1 Electrical connection (measuring system zero point) 2 Identifying the direction of movement
Fig. A/7: Tubing on the side with the measuring system zero point
1 Electrical connection (measuring system zero point) 2 Identifying the direction of movement
Fig. A/8: Tubing on the side opposite the measuring system zero point A9
A.2
Axis structure with standard cylinder type DNC...

The following diagram shows the axis structure in conjunction with standard cylinder type DNC... and measuring system type MLOPOT...LWG:
SPC200
aJ 1 Guide 2 Backlashfree coupling 3 Measuring system

(here type MLOPOT...LWG)
6 Axis interface type SPCAIFPOTLWG 7 Proportional directional control valve

type MPYE5...010B

lubricator
4 Drive (here type DNC...) 5 Earth strap
9 Compressed air source (4 to 8 bar) aJ Shock absorber (optional)
Fig. A/9: Axis structure with standard cylinder type DNC...
A10
An operating system as from version 4.6 is required for operating this drive.
Please note The following DNC variants are not permitted for use with the SPC200: constant run variant S10 (slow speed) light run variant S11 (low friction) temperatureresistant variant S6 (only on demand). Use only: DNC drives with permitted maximum piston speed Vmax > 1 m/s. permitted valvedrive combinations.
A11
Valvedrive combinations with DNC...

Recommendation: Use only suitable valvedrive combina tions. The following diagram shows valvedrive combinations for type DNC... .
1 Proportional
directional control valve type MPYE5...010B
MPYE51/8LF010B MPYE5M5010B MPYE53/8010B
1
80 MPYE51/4010B 63 50 MPYE51/8HF010B 40 32 [mm]
2 Drive diameter 3 Stroke length of

the drive
50
150
250
350
450
550
650
750
L [mm] Fig. A/10: Suitable valvedrive combinations with DNC...
The limits related to stroke length and valve types are to be regarded as flowing. If you wish for a system with higher dy namics, you should use the valve with the higher flow in the limit range. If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics.
A12
Installation instructions for standard cylinder DNC...
Any mounting position is permitted (horizontal, vertical or diagonal). Note that in conjunction with the SPC200, the complete stroke of the drive must not be used. Permitted work stroke = stroke length minus stroke reduction
On each side of the drive positioning must not take place in the range of the stroke reduction (see also chapter 3.4). The best possible positioning behaviour can be achieved if you use only 80 % of the stroke length of the drive, symmetrically to the two end positions. If demands placed on the positioning behaviour are only slight, observe at least the following stroke re ductions in both end positions: 32
10 25
Piston j [mm]
Stroke reductionper end position with pneumatic cushioning [mm] Stroke reduction per end position with PPV cushioning [mm]
40
10 25
50
15 30
63
15 30
80
15 35
Drives with adjustable end position cushioning (PPV): In order to use the end position cushioning as minimum stop protection, tighten completely the adjusting screws for the internal end position cushioning. Recommendation: Limit the positioning range by shock absorbers, also in the case of a cylinder with adjustable cushioning. In this way you can avoid damage in the event of operating and system faults.
A13
Arrange the tubing between the valve (MPYE5...) and the drive (DNC...) symmetrically and as short as possible. Maximum tubing length Cylinder stroke length + 50 mm. Lubricate the external guide at suitable maintenance intervals (note manufacturer specifications). Use only fastening elements which can permanently resist the acceleration forces.
Recommendation: Use the following fastening elements from Festo: Fastening elements
Base fastening Flange fastening
Type
HNC... FNC...
Use a suitable guide for absorbing lateral forces.
The cylinder, guide, measuring system and load must be rigid in the direction of movement, have very little play and must be connected flush with each other. In positioning applications, use only the following elements approved by Festo for coupling the mass load to the drive: Connecting element
Articulated head Swivel journal kit Bearing block
Type
SGS... ZNCM... LNZG...
Check the play of the coupling. The following applies here: Coupling play 0.05 mm
A14
Please note If there is too much coupling play this may cause: noise due to knocking on the coupling increased wear on the coupling bad running behaviour bad positioning accuracy in some cases to faults in identification travel. Make sure that the play of the coupling is as small as possible.
Warning Lateral loadings produce false measuring results and may damage the measuring system.
Use an external guide for the mass load in order to
prevent lateral loads on the connecting rod of the measuring system.
Measuring system for the DNC...
In conjunction with a DNC... , use measuring system type MLOPOT...LWG (connecting rod potentiometer).
Caution If the positioning range of the cylinder is longer than the working stroke of the measuring system: Limit the positioning range by means of shock absorbers, so that the measuring system covers the complete posi tioning range. In this way you can protect the measuring system against damage.
Note here the general instructions on measuring systems in chapter 3.2.7.
A15
In order to earth the device, connect the earth strap to the flat plug of the measuring system and to the earth con nection of the axis interface (see Fig. A/9).
The earth strap in included with the measuring system.
Please note If the measuring system bends or vibrates during oper ation, use additional support for the measuring system. Use suitable measures to cushion the vibrations.
Tubing of the DNC...

When compressed air is applied to port 4 of the proportional directional control valve, the slide must move in the direction of the measuring system zero point (electrical connection of the potentiometer). If compressed air is applied to port 2, the slide must move away from the measuring system zero point.
1 1 Electrical connection
Fig. A/11: Tubing of the DNC...
A16
A.3
A xis structure with standard cylinder type DNCM...

The following diagram shows the axis structure in conjunction with the standard cylinder with builton measuring system type DNCM...:
3 4
SPC200
aJ 1 Guide 2 Backlashfree coupling 3 Builton measuring system
9 8
6 Axis interface type SPCAIFPOT 7 Proportional directional control valve

type MPYE5...010B
4 Drive with builton measuring system

(here type DNCM...)

lubricator
5 Earth strap
Fig. A/12: Axis structure with standard cylinder type DNC...POT
Festo P.BESPC200E N en 0901d
A17
An operating system as from version 4.6 is required for oper ating this drive.
Caution The standard cylinder and the measuring system are mounted symmetrically at the factory. Do not loosen the mechanical connections between the standard cylinder housing and the measuring system housing. When fitting the coupling plate, observe the operating instructions for the DNCM...POT.
Fig. A/13: Do not loosen the mechanical connection
A18
Valvedriv e combinations with DNCM...

Recommendation: Use only suitable valvedrive combina tions. The following diagram shows valvedrive combinations for type DNCM... .
1 Proportional
MPYE5M5010B MPYE51/8LF010B
MPYE51/8HF010B
[mm]

the drive
100 200 300 L [mm] 400 500
50 32
2 3
Fig. A/14: Suitable valvedrive combinations with DNCM... The limits related to stroke length and valve types are to be regarded as flowing. If you wish for a system with higher dy namics, you should use the valve with the higher flow in the limit range. If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics.
A19
Installation instructions for standard cylinder type DNCM...PO T
10
Piston j [mm]
Stroke reduction per end position [mm]
50
15
Drives with adjustable end position cushioning (PPV): In order to use the end position cushioning as minimum stop protection, tighten completely the adjusting screws for the internal end position cushioning. Recommendation: Limit the positioning range by shock absorbers, also in the case of a cylinder with adjustable cushioning. In this way you can avoid damage in the event of operating and system faults. Arrange the tubing between the valve (MPYE5...) and the drive (DNCM...) symmetrically and as short as possible. Maximum tubing length = cylinder stroke length + 50 mm.
A20
Lubricate the external guide at suitable maintenance intervals (note manufacturer specifications). Use only fastening elements which can permanently resist the acceleration forces.
Recommendation: Use the following fastening elements from Festo: Fastening elements
Type
H NC... F NC...
Use a suitable guide for absorbing lateral forces.
The cylinder, guide, measuring system and load must be rigid in the direction of movement, have very little play and must be connected flush with each other. In positioning applications, use only the following elements approved by Festo for coupling the mass load to the drive: Connecting element
Articulated head
Type
SGS...
A21
Please note If there is too much coupling play this may cause: noise due to knocking on the coupling increased wear on the coupling bad running behaviour bad positioning accuracy in some cases to faults in identification travel. Make sure that the play of the coupling is as small as possible.
Warning Lateral loadings produce false measuring results and may damage the measuring system.
Use an external guide for the mass load in order to
prevent lateral loads on the connecting rod of the measuring system.
Tubing of the DNCM...

When compressed air is applied to port 4 of the proportional directional control valve, the slide must move in the direction of the measuring system zero point (electrical connection of the potentiometer). If compressed air is applied to port 2, the slide must move away from the measuring system zero point.
A22
1 1 Electrical connection
Fig. A/15: Tubing of the DNCM...
A23
A.4
Axis structure with rotary module type DSMI...

The following diagram shows as an example the axis struc ture in conjunction with the rotary module type DSMI... .
3 2
4
SPC200
7 1 Shock absorber (optional) 2 Rotary module with integrated

measuring system type DSMI...... (rear view)
6 5 Axis interface type SPCAIFPOTLWG 6 Proportional directional control valve

type MPYE5...
3 Shock absorber (optional) 4 Earthing cable
7 Service unit
(without lubricator, with 5 m filter)
8 Compressed air source (4 to 8 bar)
Fig. A/16: Axis structure with rotary module type DSMI...
A24
For this drive an operating system as from version 4.6 and WinPISA as from version 4.3 are required.
Valvedrive combinations with DSMI...

Recommendation: Use only suitable valvedrive combina tions. The following table shows valvedrive combinations for type DSMI... as well as the dimensions of the compressed air tubing and tube connectors. Horizontal mounting position
Type DSMI DSMI... DSMI25... DSMI40... Valve type MPYE... Screw connectors for MPYE... MPYE5M5010B MPYE51/8LF010B QSMM56 QS1/88 DSMI... QSMM56 QS1/88 PUN6x1 PUN8x1.25 Tube type PUN
Permitted mounting positions

In the application data you must always specify 0 [] for the rotary module under Mounting position" (see also chap. 6.2). The mounting position which is permitted depends on the position of the mass centre of gravity. A distinction is made between the following cases:
A25
Case A: The centre of gravity of the mass load lies outside the rotary axis (output drive shaft of the DSMI...)
Only the vertical mounting position is permitted. The out put drive shaft points vertically upwards or downwards. The load is moved only in a horizontal plane.
1 Centre of gravity
of the mass load
1
Fig. A/17: Permitted mounting position for case A
Case B: The centre of gravity of the mass load lies in the rotary axis (output drive shaft of the DSMI...) Any mounting position is permitted (horizontal, vertical or diagonal).
1 Centre of gravity
of the mass load
Fig. A/18: Any mounting position for case B A26

Installation instructions for rotary module typeDSMI...
Note that in conjunction with the SPC200, the complete swivel range of the rotary module must not be used. Permitted swivel range = max. swivel range minus stroke reduction
On each side of the drive positioning must not take place in the range of the stroke reduction (see also chapter 3.4). The best possible positioning behaviour can be achieved if you use only 80 % of the swivel range, symmetrically to the two end positions. If demands placed on the positioning behaviour are only slight, observe at least the following stroke reductions in both end positions: 25
5
Pistonj [mm]
Stroke reduction per end position []
40
5
Arrange the tubing between the proportional directional control valve (MPYE5...) and the rotary module (DNC...) symmetrically (equal tube lengths). Recommendation: tubing length = max. 300 mm Use only fastening elements which can permanently resist the acceleration forces.
A27
Please note Observe the operating instructions for the DSMI... . Make sure that: the permitted lateral force the permitted longitudinal force and the maximum permitted swivel frequencies are observed.
Make sure that the cushioning plate is fitted on the stop lever of the DSMI... . Recommendation: Limit the swivel range by means of shock absorbers. In this way you can avoid damage in the event of operating and system faults. In order to earth the device, connect the earth connection of the DSMI... and the earth connection of the axis inter face with an earth strap or an earth cable (crosssectional area min. 2.5 mm2, length max. 0.5 m; see Fig. A/16).
Mass load
In conjunction with the SPC200, operation of the DSMI... is regulated electronically. Special mass moments of inertia therefore apply (see chapter 3.2.9).
Please note Make sure that the permitted mass moment of inertia is observed during operation. The mass moment of inertia must not change during the movement.

Fit the mass load free of play. Avoid a mass load with unfavourable internal vibrations.
A28
Please note Internal vibrations of the mass load can lead to malfunc tioning. Fasten the mass load so that vibration is kept to a minimum. Avoid masses on long, flexible lever arms.
1 Favourable
internal vibration behaviour
2 Unfavourable
internal vibrations are not permitted
Fig. A/19: Example: Favourable and unfavourable internal vibration behaviour of the mass
Tubing of the DSMI...

Work connection 2 of the proportional directional control valve must be connected to the connection which moves the stop lever in the direction of end position 1.
A29
1 Shock absorber
for end position 1
2 Stop lever 3 Shock absorber

for end position 2
2 1 3
4 Work connection
has effect in direction of end position 1
5 Work connection
has effect in direction of end position 2
Fig. A/20: Work connections and fixed stops on the DSMI......
Fig. A/21: Tubing of the DSMI...
A30
A.5
Axis structure with standard cylinder type DNCI...

The following diagram shows the axis structure in conjunction with the standard cylinder type DNCI... with integrated incre mental measuring system:

, 1
SPC200
aJ 1 Guide 2 Playfree coupling 3 Measuring system in the piston rod
9 8
6 Axis interface type SPCAIFINC 7 Proportional directional control valve

type MPYE5...010B
and sensor head in the bearing cover

lubricator
4 Drive with integrated incremental

measuring system (type DNCI...)
5 Earth strap
Fig. A/22: Axis structure with standard cylinder type DNCI...
A31
An operating system as from version 4.82 is required for operating this drive. For commissioning, WinPISA from version 4.41 is additionally recommended.
Warning There is a danger of injury caused by pressure forces which can eject the sensor if the connecting screws are loosened under pressure.
Make sure that the following sources of power are
switched off: operating voltage compressed air (drive vented on both sides). The sensor projects into the pressure chamber of the DNCI... .
Fig. A/23: Sensor connection
A32
Please note The piston rod of the DNCI is flat on both sides the double piston rod. The incremental magnetic measuring tape is integrated into the piston rod on one side. Do not damage this side of the piston rod; the measuring tape could be damaged and thus falsify the measuring signal. This can disable the function of the measuring system. The double piston rod is used exclusively to secure the measurement system against rotation; it is not suitable for absorbing external moments. Further information on oper ating and connecting the DNCI can be found in the operat ing instructions for the DNCI.
Please note The function of measuring system in the DNCI is based on magnetism. Excessively strong magnetic fields in the area of the sensor head can hinder the measuring function or falsify the measurement results. Be sure to observe the mounting conditions described in the operating instructions.
A33
Valvedrive combinations with DNCI...

Recommendation: Use only suitable valvedrive combina tions, see the following illustration.
1 Proportional
MPYE51/8LF010B MPYE5M5010B MPYE51/4010B 63 50 MPYE51/8HF010B 40 32 50 150 250 350 450 550 650 750 [mm]

the drive
L [mm] Fig. A/24: Suitable valvedrive combinations with DNCI...
The limits related to stroke length and valve types are to be regarded as flowing. If you wish for a system with higher dy namics, you should use the valve with the higher flow in the limit range. If you attach great importance to control accu racy, you should use the valve with the lower flow, providing this fulfills your requirements as regards the dynamics.
A34
Installation instructions for standard cylinder typeDNCI...
10
Piston j [mm]
Stroke reduction per end position [mm]
40
10
50
15
63
15
Recommendation: Limit the movement range by means of shock absorbers. In this way you can avoid damage in the event of operating and system faults. Arrange the tubing between the valve (MPYE5...) and the drive (DNCI...) symmetrically and as short as possible. Maximum tubing length = cylinder stroke length + 50 mm. Lubricate the external guide at suitable maintenance in tervals (be sure to note manufacturer specifications). Use only fastening elements which can permanently resist the acceleration forces.
A35
Recommendation: Use the following fastening elements from Festo: Fastening element
Type
HNC... FNC...
Use a suitable guide for absorbing lateral forces and external torques.
Recommendation: If necessary, use standard cylinder type DNCI from Festo in the variant with builton guide unit type FENG. The cylinder, guide, measuring system and load must be rigid in the direction of movement, have little play and must be connected flush with each other. In positioning applications, use only the following elements approved by Festo for coupling the mass load to the drive: Connecting element
Articulated head Swivel journal kit Bearing block
Type
SGS... ZNCM... LNZG...
A36
Please note If there is too much play in the coupling between the mass load and the drive this may cause: noise due to knocking on the connecting elements high wear on the connecting elements bad running behaviour bad positioning accuracy in some cases to faults in identification travel. Make sure that there is as little play as possible between the connecting elements.
Warning Lateral loads and torques produce incorrect measured results and can even damage the measuring system.
Use an external guide for the mass load in order to pre
vent lateral loads and torques on the double piston rod.
A37
Tubing of the DNCI...

When compressed air is applied to port 4 of the proportional directional control valve, the piston must retract, and the mass load then moves to the right in the depiction shown here (see Fig. A/25). When compressed air is applied to port2, the piston must advance, and the mass load then moves to the left here.
1 Electrical
connections
2 Compressed air
source (4...8 bar)
2
Fig. A/25: Tubing of the DNCI...
A38
Optimizing the positioning behaviour
Appendix B
B1
B. Optimizing the positioning behaviour
Contents
B.1 B.2 B.3 Basic information on control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B3 Description of the controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B7 Optimize positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B10 B.3.1 Proceed as follows if the compressed air supply is unstable . . . . . B16
B2
B.1
Basic information on control

The basis for control of the pneumatic axes is a model control path stored in the SPC200. This model assumes a pneumatic axis which is built up in accordance with specifications, e.g. with regard to: the compressed air provided the valvecylinder combination used the permitted mass load tubing sizes and lengths, etc.
The basic parameters of this control path are: the axis and application data to be entered internal data ascertained by the system identification and by adaptation.
System identification
During commissioning, variables such as the maximum achievable speed, acceleration ability, static friction and valve characteristics of the axis are ascertained based on a dynamic and static system identification run.
Adaptation
With adaptation, the positioning behaviour is continuously monitored during operation.. Internal controller data are adapted here to the actual state of the axis, e.g. in order to compensate for system wear etc. during the service period.
B3
In addition to pointtopoint positioning (G00), the SPC200 controller also enables profile travel (G01/G02) of the pneu matic axes. Pointtopoint With pointtopoint positioning, nominal value curves for path, speed and acceleration are generated by the SPC200. These should enable reproducible, if possible fast and overswingfree movement towards the nominal position (seechapter 7.4, command G00). With profile travel, the nominal value curves are calculated on the basis of the nominal positions programmed by the user for position, speed and acceleration (see chapter 7.4, commands G01, G02). The nominal positioning time is here the sum of the individ ual times of the following phases (see following diagram): acceleration phase braking phase the phase of consistent movement.
Profile travel
Note that the programmed speed and acceleration values are automatically limited to implementable values depending on the positioning stroke. The implementable maximum values are ascertained by the SPC200 individually for each axis dur ing dynamic identification travel.
B4
4 3 2 1
aJ 1 Programmed speed 2 Identified maximum speed 3 Configured maximum speed 4 Approach ramp (G08) 5 Braking ramp (G09)
8 6 Nominal value curve with G02 7 Nominal value curve with G01 8 Braking phase (t2) 9 Consistent movement (t3) aJ Acceleration phase (t1)
Fig. B/1: Nominal speed value curve (G01/G02)
B5
Please note With dynamic identification, the maximum speed and the maximum acceleration values of the positioning system concerned are ascertained. When NC commands G01, G02 and G08, G09 are used, these values must not be ex ceeded.
Calculation Phases of a positioning process formulae

Acceleration phase v t1 + a s1 + Braking phase
Description
a1 2 @ t1 2
2
v t2 + a
a s 2 + 2 @ t2 2 2 Consistent movement s 3 + s ges(s 1 ) s 2) s t 3 + v3
v a1 a2 t1 t2 t3 s1 s2 t3 s1
= programmed speed = acceleration for approach ramp = acceleration for braking ramp = approach time = braking time = time with constant speed = approach path = braking path = path with constant speed = complete path
B6
B.2
Description of the controller factors

From the basic parameters the SPC200 ascertains various controller parameters. These determine the dynamics (speed) as well as transition behaviour (damping) of the con troller. The aim is to guarantee fast, overswingfree position ing with little contouring fault (dynamic control deviation). The controller data ascertained by the SPC200 are usually therefore the optimum values. The (real) pneumatic axes used, however, do not always correspond to the axes used as a basis for the control process (ideal axes). In order that possible deviations can be taken into consideration, you can influence the control parameters by entering factors. Instructions on optimizing the positioning behaviour can be found in section B.3. The factors are standardized to 1.0 by the SPC200. If the factors are increased (> 1), the parameters will be increased accordingly; if the factors are reduced (< 1), the parameters will be reduced accordingly.
Gain factor
With the gain factor you can influence the sensitivity with which the positioning control circuit reacts to modifications of the variables" (position, speed, acceleration).
B7
Behaviour of the axis

The drive tends towards instability (tendency to vibrate during positioning, up to continuous vibration around the nominal position). Bad positioning accuracy or high contouring fault as well as long positioning time. The positioning process is carried out quickly and accurately.
Factor
Reduce
Increase Optimal
Permitted: 0.1 ... 10.0 Damping factor Damping is a measure for the transition behaviour of the system from the actual to the nominal status, especially when there are fast modifications to the nominal value. As a rule the system should guarantee lowoscillation behaviour with nominal value specifications and movement into the target position without overswing. By modifying the factor for damping, you can influence the transition behaviour of the system. Behaviour of the axis
Bad positioning quality, nominal position is approached only slowly (underswing). The drive tends towards instability (tendency to vibrate during positioning, up to continuous vibration around the nominal position, heavy overswing). The positioning process is carried out quickly and accurately.
Factor
Reduce Increase
Optimal
Permitted: 0.1 ... 10.0
B8
Signal filter factor
Speed and acceleration are derived from the positioning signal and filtered to improve the signal quality. If in practice there is bad signal quality, e.g. due to electrical interfer ence, filtering of the signal can be influenced by the signal filter factor. If filtering is too strong it may destabilize control. Behaviour of the axis
The drive tends towards instability (despite low gain and good damping). Noise" or loud valve noises (observe gain; this may be too high). The positioning process is carried out quickly and accurately, low valve noises.
Factor
Reduce Increase Optimal
Permitted: 0.1 ... 10.0
B9
B.3
Optimize positioning behaviour

The following problems can occur during positioning: the axis stops prematurely on several occasions swinging around the nominal position stability problem, very frequent swinging around the nominal position overswing underswing.
However, before you begin to optimize the positioning behav iour of your axis, proceed at first as follows:
Make sure that the pneumatic axis is built up in accordance with the regulations (see chapter 3.2 and appendixA). Make sure that all axis and application data are set correctly. Always carry out the static identification and at least one of the dynamic system identifications. Now carry out several positioning cycles. This is to guarantee that the adaptation is effective. The adaptation is only effective with position quality classes 3, 4, 5 and 6; in positioning quality classes 1 and2 the adaptation is not effective.
B10
If problems still occur, proceed as follows: 1. Observe the positioning behaviour. If possible, use the WinPISA software package here. With WinPISA you can record and represent graphically nominal and actual values for e.g. path, speed and acceleration. Detailed information on this can be found in the WinPISA user manual. 2. Compare the positioning behaviour or the graph compiled with WinPISA with the following examples. 3. In order to optimize the positioning behaviour, proceed as described in the table of the corresponding example. Check first from top to bottom the most probable causes and their remedial measures.
B11
Effect
Premature stop several times
Cause
Remedy
System identification has not been carried out Adaptation is not yet com pleted Bad running behaviour of cylinder/guide (stickslip) Incorrect mass Incorrect valve type confi gured
tion
Carry out some positioning
cycles (adaptation)
Carry out test or mainten
ance or replace components

Correct mass Correct configuration
Swinging around the nominal position with standstill times
Static identification travel not carried out Incorrect mass load confi gured or programmed (M37) High performance of cylinder (friction has changed) Gain factor set too low
Carry out static identification
travel
Correct configuration or
program
tion again (static or dynamic)

Correct parameters
1 Nominal position 2 Actual position
B12
Effect
Cause
Remedy
Stability problem, very frequent swinging around the nominal position
Incorrect mass load confi gured or programmed (M37) Gain factor set too high Damping factor set too low
Correct configuration or
program
Correct parameters Correct parameters Reduce signal filter factor
Signal filter factor set too high (smooth acceleration/ speed signal but continuous swinging) Or very noisy acceleration signal with high amplitude Minimum mass load not reached Too small tolerance demanded
Increase signal filter factor
Increase basic load
(see chapter 3.2.9)

Increase tolerance
1 Nominal position 2 Actual position 3 Speed
B13
Effect
Cause
Remedy
Overswing (no or minimum standstill time before MC)
Drop in the static supply pressure below the per mitted tolerance limit during operation
Stabilize supply pressure or
carry out new system identification with low supply pressure (see section B.3.1)
Correct mass load
Mass load too high (or confi gured mass load too low) Overstressing (nominal acceleration too high)
Reduce nominal values
(especially acceleration) or carry out dynamic identification travel (automatic limiting)

Correct parameters
Signal filter factor set too high Gain factor set too high Damping factor set too low
Correct parameters Correct parameters
B14
Effect
Cause
Remedy
Overswing (no or minimum standstill time before MC)
1 2
Too high mass load entered (in some cases causes over dampened controller) Overstressing (too high, fast" nominal values)
Reduce mass load
(see chapter 3.2.9)
Adapt nominal values or
carry out dynamic identifica tion travel (automatic limiting)
B15
B.3.1 Proceed as follows if the compressed air supply is unstable

If your compressed air supply does not reliably fulfil the requirements (tolerance of +/ 1 bar in operation), although a compressed air reservoir has been installed (see chapter 3.2.3), the maximum values for acceleration and delay ascertained during system identification may, under some circumstances, not be reached. This may result e.g. in overswing, if the operating pressure required for delay is not available. In order to avoid such overstressing, you can reduce the dynamics of the system. In order to do this proceed as follows: 1. Ascertain the lowest static supply pressure available for positioning in your compressed air network. 2. Lower the supply pressure statically to this level. 3. Now carry out the dynamic identification travel again. 4. When system identification is concluded, increase the supply pressure again to the value set in the application data.
B16
Technical appendix
Appendix C
C1
C. Technical appendix
Contents
C.1 Sequence plans for the programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Creating readiness to operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Start NC record in Record Select mode . . . . . . . . . . . . . . . . . . . . . . C.1.3 Start program or NC record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.4 Carry out fault acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . Cable length and crosssectional area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Internal layout of the inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.4.1 Technical specifications for the SPC200 . . . . . . . . . . . . . . . . . . . . . . C.4.2 Technical specifications of axis interface type SPCAIF... . . . . . . . . C.4.3 Technical specifications of the I/O function module type SPCFIO... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.4.4 Technical specifications of control panel type SPC200MMI1 . . . . C.4.5 Technical specifications of control panel type SPC200MMI1F . . . C3 C3 C7 C9 C10 C14 C18 C22 C22 C28 C30 C31 C32
C.2 C.3 C.4
C2
C.1
Sequence plans for the programmer

The following sequence plans will support you in program ming a higherorder PLC/IPC. They show you how to: create readiness to operate start NC records in Record Select mode start NC programs in Start/Stop mode quit fault.
The signal names are printed in uppercase letters. For example: READY stands for READY signal, 1 stands for 1signal, 0 stands for 0signal.
C.1.1
Creating readiness to operate

When the operating voltage is switched on, the SPC200 carries out the initialization and selftest of the connected modules. This initialization phase can take a certain amount of time (max. 10 seconds), depending on the equipment fitted on the system.
Please note During this initialization phase no further rising signal edge may be created at the Start/Reset input. After the initialization phase there may be a fault (e.g. hard ware fault) even if the READY output supplies a 1signal for a brief period. Therefore when the 1signal is first recognized at the READY output, you must wait another 100 ms. The sig nal at the READY output must then be scanned again for a 1signal (see sequence plan Create readiness to operate").
C3
The following signal states must exist at the control inputs before the readiness to operate can be created: Record Select mode
Control input ENABLE STOP RESET CLK_B CLK_A Signal 0signal 0signal 0signal Not relevant Not relevant
Start/Stop mode
Control input ENABLE STOP START/RESET SYNC_IB SYNC_IA Signal 0signal 0signal 0signal Not relevant Not relevant
C4
Create readiness to operate
Reset: ENABLE STOP RESET or START/RESET
1 2
Yes Switch on the operating voltage and load voltage at the same time Switch on operating and load voltage supplies at the same time? No
Switch on the operating voltage Wait 10 s
Wait 10 s
Initialization phase Switch on the load voltage
Wait 1 s
Set ENABLE
1 Operating and load voltage supplies of the SPC200 2 Each voltage must be stable 24 V DC 5/+25 %
Fig. C/1: Create readiness to operate
C5
Start timer 2 s
Wait for the readiness of the stepping motor and the pneumatic axes to operate (reaction time max. 2 s). No No Timer expired? Yes Waiting for faults
READY =1?
Yes Wait 100 ms
READY =1?
No
Yes Set STOP
Wait 10 ms
Debounce time
SPC200 is ready for operation
SPC200 is faulty
End
Fig. C/2: Create readiness to operate (continued)
C6
C.1.2
Start NC record in Record Select mode
Start NC record in Record Select mode
ACK_A/B =0? Yes
No
Create NC record number
RECBIT1...10
Wait 10 ms
Set CLK_A/B
Start timer 2 s No No Timer expired? Yes
ACK_A/B =1? Yes Reset CLK_A/B
Fault
Fig. C/3: Start NC record in Record Select mode
C7
Start timer 2 s No No Timer expired? Yes
ACK_A/B =0? Yes Start timer
Fault
Time requirement depends on the application No
RC_A/B= 1?
No
Timer expired?
Yes
Fault
Yes
End
Fig. C/4: Start NC record in Record Select mode (continued)
C8
C.1.3
Start program or NC record

Prerequisites
The program must already be saved in the program memory The axis, application and system data must be set correctly The operating mode must be set The SPC200 is ready to operate (1signal at ENABLE and STOP inputs and at READY output)
Start NC program in Start/Stop mode

In the operating mode Start/Stop the sequence is started or continued with a rising signal edge at the START input. There must be a 1signal here at the STOP input. If there is a 0signal at the STOP input, a Program Reset will be triggered by a rising edge at the START input.
Process NC program in Start/Stop mode
Set START
NC program will be started
Wait 10 ms
Debounce time
Reset START
Prepare new start
End
Fig. C/5: Start NC program in Start/Stop mode
C9
C.1.4
Carry out fault acknowledgement

When serious faults have been quitted, the SPC200 carries out the initialization and selftest of the connected modules again. This initialization phase can take a certain amount of time (max. 10 seconds), depending on the equipment fitted on the system.
Please note During this initialization phase no further rising signal edge may be created at the Start/Reset input. When a fault has been quitted, there may still be faults (e.g. hardware faults). In this case, fault acknowledgement should be repeated up to three times (see sequence plan Fault treatment"). If the SPC200 is then still not ready to operate (READY signal = 0), the fault cannot be quitted, as the cause of the fault must first be eliminated. A diagnosis can be carried out with WinPISA or with the control panel. When the load voltage supply is switched off (e.g. after Emergency Stop), an appropriate fault message will be dis played. When the load voltage is switched on again, you must wait 1 second before the fault is quitted (see Fig. C/1 Create readiness to operate").
C10
The following signal states must exist at the control inputs before the readiness to operate can be created: Record Select mode
Control input ENABLE STOP Signal 1signal When acknowledging with the RESET signal: 0signal When acknowledging with the CLK signal: 1signal 0signal 0signal 0signal
RESET CLK_B CLK_A
Tab. C/1:
Necessary signal states in Record Select mode
Start/Stop mode
Control input ENABLE STOP START/RESET SYNC_IB SYNC_IA
*)
Signal 1signal 1Signal *) 0signal not relevant not relevant
If there is a 0signal at the STOP input, a Program Reset will be triggered by a rising edge at the START/RESET input.
Tab. C/2:
Necessary signal states in Start/Stop mode
C11
Fault treatment
Yes
READY =1?
No Acknowledgem. counter = 0
Carry out fault acknowledge ment (see Fig. C/7)
Increment acknowledge ment counter No Acknow ledgem. counter >3? Yes Fault cannot be quitted Diagnosis required
READY =1?
No
Yes SPC200 is ready for operation
End
Fig. C/6: Fault treatment
C12
Fault acknowledgement
Create necessary signal states
The necessary signal states depend on the operating mode used (see Tab. C/1 and Tab. C/2). Debounce time
Wait 10 ms
Set START or CLK
Rising edge starts the fault acknowledgement
Wait 10 ms
Debounce time
Reset START or CLK
Restore standard setting
Start timer 10 s
Max. waiting time until READY signal is applied No No Timer expired? Yes Wait for next fault
READY =1?
Yes Wait 100 ms
End
Fig. C/7: Carry out fault acknowledgement C13
C.2
Cable length and crosssectional area
Please note In the following section it is assumed that the reader is familiar with the information in the chapter 3 Installation" in this manual. This section is directed exclusively at personnel trained in electrotechnology. A loaddependent drop in voltage occurs on all three supply cables of the SPC200. This can lead to the voltage at pin 1 (24L) or pin 2 (24 V) of the operating voltage connection (X2) lying outside the permitted tolerance. Recommendation:
Avoid long distances between the power unit and the SPC200. Ascertain the most suitable crosssectional area and the maximum cable length for the operating voltage cable in accordance with the following formula.
Please note The following formula assumes that the crosssectional areas of the operating voltage supply (pins 1, 2 and 3) are the same.
C14
Ascertain by formula
Proceed as follows: 1. Calculate the maximum current consumption of the inter nal electronics, the connected modules and measuring systems (I1) as well as the load supply for outputs, field devices and proportional directional control valves (I2) (see also chapter 3.5.1). 2. Ascertain the lowest voltage to be expected during oper ation (VBmin) on the power unit. Take the following into account:

the load dependency of the power unit the fluctuations in the primary mains voltage the operating temperature of the devices.
3. Enter the values in the relevant formula. The equivalent circuit diagram as well as the example explain the correla tions.
C15
Switch on
Equivalent circuit diagram
VB
I1: Electronics etc. (24 V) I2: Outputs/valves etc. (24 L) I1 AC DC I2 I0
RL1 SPC200
Pin 1 Pin 2
VL1
RL2
VL2
I1 RI1 RI2
1
I2 VOUT/VAL
Pin 3
L
RL0 VL2+VL1 0V
1 Line resistor (outgoing) RL1 + RL2 2 Line resistor (returning) RL0 3 L = distance (cable length)
Fig. C/8: Equivalent circuit diagram for power supply
C16
Formula for maximum cable length:
Lv
V Bmin * V OUTVALmin @ A @ CU
{2 @ I 2 ) I 1}
Meaning

VOUT/VALmin w 22.8 V VBmin = minimum operating voltage supply (on the power unit) Current I1 = current for electronics etc. (24 V) Current I2 = current for outputs, field devices and proportional directional control valves etc. (24 L) A = crosssectional area (uniform e.g. 1.5 mm2)
= conductance value of the cables

(uniform e.g. CU = 56 m ) mm2 @
Example: SPC200CPU4 with basic components and field devices for 2axes: I1 = I2 = VBmin = VOUT/VALmin = 1A 2.3 A 24 V 22.8 V m mm2 @
CU = 56
Result: L 18 m for A = 1.5 mm2 L 9 m for A = 0.75 mm2

C17
C.3
Internal layout of the inputs/outputs

Internal layout of type SPC200DIO (PNP inputs)
24V +10/15 %
5 2 3
0...9 *)
0V
0V
1 Diagnosis (shortcircuit, overload,

protection against incorrect polarity)
3 Logic recognition 4 24 V sensor supply

(not with separate potential)
2 SPC200, inputs 0...9
*)
Designation on plug X5/X7 (inputs 0...9)
Fig. C/9: Internal layout of type SPC200DIO (PNP inputs)
C18
Internal layout of type SPC200DIO (PNP outputs)
24V +10/15 %
3 5 4
0...7 *)
0V
0V
1 Load voltage connection 2 SPC200, outputs 0...7 3 Electrical isolation
4 Diagnosis (short circuit, overload, load

voltage failure)
*)
Designation on plug X6/X8 (outputs 0...7)
Fig. C/10: Internal layout of type SPC200DIO (PNP outputs)
C19
Internal layout of type SPCFIO2E/2A (PNP inputs)
+24V
Pin 1
2 3 5
0V
Pin 4
Pin 3
1 Sensor supply via AIF string 2 SPCFIO..., input 1.0 or 1.1 3 Electrical isolation
4 Diagnosis (short circuit, overload,

protection against incorrect polarity)
5 green LED
Fig. C/11: Internal layout of type SPCFIO2E/2A (PNP inputs)
C20
Internal layout of type SPCFIO2E/2A (PNP outputs)
Pin 4 (n.c.)
3 4
Pin 1
0V
Pin 3
1 Load supply via AIF string 2 Diagnosis (short circuit, overload,

load voltage failure)
3 SPCFIO..., output 1.0 or 1.1 4 Electrical isolation
Fig. C/12: Internal layout of type SPCFIO2E/2A (PNP outputs)
C21
C.4 C.4.1
Type
Technical specifications Technical specifications for the SPC200

SPC200CPU...
Locations 4 120 mm 126 mm 96.5 mm Approx. 675 g 5 ... + 50 C 20 ... + 70 C 95 %, noncondensing IP20 Program saving without batteries DIN 66025 Max. 100 Max. 2000 Max. 1000 100 per axis Max. 4 Tested as per DIN/IEC 68 part 26: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Tested as per DIN/IEC 68 part 227: 30 g at 11 ms duration; 5 shocks per direction In accordance with EU EMC Directive 6 120 mm 167 mm 96.5 mm Approx. 850 g
Dimensions Height Width Depth Weight Not fitted Temperature range: Operating temperature storage/transport Relative humidity Protection class as per EN 60529, locations occupied or sealed with blanking plugs NC programming Based on Number of programs Number of NC records Number of NC records per program Position register, Nesting depth of subprograms Vibration and shock Vibration
Shock
CE symbol (declaration of conformity) www.festo.com The component is intended for industrial use.
C22
Type
Temperature range Operation Storage/transport Weight Relative humidity Operating voltage at pin 1 (load voltage) Rated value Tolerance 1) Residual ripple Current consumption (SPC200CPU4 and SPC200CPU6) Operating voltage at pin 2 (internal electronics) Rated value Tolerance Residual ripple Power failure bridging time Current consumption with: SPC200CPU4
SPC200PWRAIF
5 ... + 50 C 20 ... + 70 C 82 g 95 %, noncondensing 24 V DC 5 ... +25 % (22.8...30.0 V DC) 2% 500 mA + 1.2 A per pneumatic axis
24 V DC 5 ... +25 % (22.8...30.0 V DC) 2% 10 ms 400 mA + current requirement of the components connected to the sensor supply 2) + sum of cur rent consumption on the AIF string 3) 600 mA + current requirement of the components connected to the sensor supply 2) + sum of cur rent consumption on the AIF string 3) In accordance with EU EMC Directive
SPC200CPU6
CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
Shock
1) 2) 3)
Tested as per DIN/IEC 68 part 26: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Tested as per DIN/IEC 68 part 227: 30 g at 11 ms duration; 5 shocks per direction
Observe the tolerance of the modules connected to the axis interface string. Maximum 0.5 A be made available for each I/O module type SPC200DIO. See technical specifications of the connected modules. The component is intended for industrial use.
C23
Type
Temperature range Operation Storage/transport Weight Relative humidity Serial interface (RS232C) Baud rates Data bits Stop bits Parity Protocol CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
SPC200MMIDIAG
5 ... + 50 C 20 ... + 70 C 68 g 9%, noncondensing 9600, 19200, 38400, 57600, 115200 Baud 8 bits 1 Straight No handshake In accordance with EU EMC Directive
Shock
C24
Type
Temperature range Operation Storage/transport Weight Relative humidity Digital inputs Design Logic level:
SPC200DIO (PNP)
5 ... + 50 C 20 ... + 70 C 62 g 95 %, noncondensing 10 inputs as per IEC 11312 type 2 inputs 24 V DC positiveswitching (PNP) > 11 V <5V At logical 1"; typ. 8 mA Typ. 5 ms 0V 8 outputs as per IEC 11312 24 V DC; positiveswitching 250 mA >2A Max. 1.5 ms Max. 0.5 A (electronic shortcircuit protection) No Yes In accordance with EU EMC Directive
ON OFF Current consumption (at 24 V) (input current from sensor to input) Response delay (at 24 V) Reference potential Digital outputs Design Load capacity per output Electronic fuse (short circuit, overload) Trigger current Response time Sensor supply VD 24 V 25 % Electrical isolation Inputs Outputs CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
Shock
C25
Type
Temperature range Operation Storage/transport Weight Relative humidity Analogue nominal value input Input voltage Resolution Input resistor CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
SPC2002AIU
5 ... + 50 C 20 ... + 70 C Approx. 55 g 95 %, noncondensing 0...10 V 12 bits > 200 k In accordance with EU EMC Directive
Shock
C26
Type
Temperature range Operation Storage/transport Weight Relative humidity Current consumption CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
SPC200SCUAIF
5 ... + 50 C 20 ... + 70 C Approx. 80 g 95 %, noncondensing Typ. 100 mA In accordance with EU EMC Directive
Shock
C27
C.4.2
Type
Technical specifications of axis interface type SPCAIF...

SPCAIF...
...POT/LWG/MTS Width: appr. 100 mm Height: appr. 42 mm Length: appr. 66 mm ...POT/LWG/MTS approx. 300 g 0 ... + 50 C 20 ... + 70 C 95 %, noncondensing IP65 ...INC appr. 91 mm appr. 46 mm appr. 66 mm ...INC approx. 240 g
Dimensions (plug exit on top, without cable; incl. fastening bracket) Weight Temperature range Operating temperature Storage/transport Relative humidity Protection class as per EN 60529 plug connectors inserted or fitted with protective cap Power supply Rated value Tolerance 1) Current consumpt. of load voltage incl. MPYE... Current consumption of internal electronics Residual ripple Valve output (MPYE5......) Power supply Output voltage Potentiometer (only SPCAIFPOT and ...LWG) Reference voltage VOUT Rmin Digital measuring system (only SPCAIFMTS) VOUT
1) 2)
24 V (DC) 25 ... + 25 % 1) ...POT/LWG ...MTS 1.1 A 1.2 A 2) 100 mA 200 mA 2) max. 6 % max. 6 % 24 V (DC) 0 ... +10 V + 10 V 2.5 K + 24 V
...INC 1.1 A 60 mA max. 5 %
Observe the tolerance of the connected valve type MPYE... Current consumption incl. digital measuring system
C28
Continued type
CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
SPCAIF...
In accordance with EU EMC Directive
Shock
The device is intended for use in industrial applications
C29
C.4.3
Type
Technical specifications of the I/O function module type SPCFIO...

SPCFIO2E/2AM8 1) (PNP)
5 ... + 50 C 20 ... + 70 C 42 g 95 %, noncondensing
Temperature range Operation Storage/transport Weight Relative humidity Protection class as per EN 60529 plug connectors inserted or fitted with protective cap CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration Shock Digital inputs Design Protection against incorrect polarity Logic level: ON OFF Reference potential Current consumption (at 24 V) (input current from sensor to input) Response delay (at 24 V) Sensor supply 2) VD 24 V 25 % Digital outputs Design Load capacity per output 1) Electronic fuse (short circuit, overload) Trigger current Electrical isolation Internal current consumpt. of electronics 2)
1) 2)
IP65 In accordance with EU EMC Directive
Tested as per DIN/IEC 68 part 26: 30 g at 11 ms duration; 5 shocks per direction Tested as per DIN/IEC 68 part 227: 30 g at 11 ms duration; 5 shocks per direction 2 inputs as per IEC 11312 type 2 inputs 24 V DC, positive switch. PNP, status display by LED 30 ... + 30 V > 11 V <5V 0V At logical 1" typ. 7 mA Typ. 3 ms Max. 0.5 A (electronic shortcircuit protection) 2 outp. as per IEC 11312; 24 V DC positive switching 250 mA
Min. >500 mA None < 40 mA
External load voltage supply type SPCAIFSUP24V required Is provided by module SPC200PWRAIF (internal electronics, pin 2)
C30
C.4.4
Type
Technical specifications of control panel type SPC200MMI1

SPC200MMI1
Approx. 67 mm Approx. 59 mm Approx. 52 mm Approx. 90 g 5 ... + 50 C 20 ... + 70 C 95 %, noncondensing IP20 Tested as per DIN/IEC 68 part 26: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Tested as per DIN/IEC 68 part 227: 30 g at 11 ms duration; 5 shocks per direction
Dimensions Height Width Depth Weight Temperature range Operating temperature Storage/transport Relative humidity Protection class as per EN 60529 Control panel inserted Vibration and shock Vibration
Shock
C31
C.4.5
Type
Technical specifications of control panel type SPC200MMI1F

SPC200MMI1F
Approx. 102 mm Approx. 102 mm Approx. 37 mm Approx. 225 g 0 ... + 50 C 20 ... +70 C 95 %, noncondensing On front side: IP65 (fitted) On rear: IP20 In accordance with EU EMC Directive
Dimensions Height Width Depth Weight Temperature range Operating temperature Storage/transport Relative humidity Protection class as per DIN 40050 (DIN EN 60529) CE symbol (declaration of conformity) www.festo.com Vibration and shock Vibration
Shock Electric power supply Rated voltage Voltage range Current consumption Protected against incorrect polarity Protection against electric shock (protection against direct and indirect contact acc. to IEC/DIN EN 602041) Interface to SPC200 Specification
Tested as per DIN/IEC 68 part 26: 0.15 mm path at 10...58 Hz; 2 g acceleration at 58...150 Hz Tested as per DIN/IEC 68 part 227: 30 g at 11 ms duration; 5 shocks per direction Phoenix Combicon 3x3.81 24 V 18...36 V Approx. 100 mA Yes By means of PELV power units (Protected ExtraLow Voltage) RS232 port 8 bits, 1 stop bit, even parity, no handshake, baud rate 9600 bits/s; 9pin Dsubsocket 10 m Pin 2: Received Data (RxD) Pin 3: Transmitted Data (TxD) Pin 5: Signal Ground (SGND) Clean with a soft cloth
Connection Max. cable length Pin assignment Care and maintenance
C32
Index
Appendix D
D1
D. Index
D2
D. Index
A
Absolute dimension specification with positioning commands (NC command G90) . . . . . . . . 764 Acceleration switching (example) . . . . . . . . . . . . . . . . . . 745 Acceleration, maximum Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736 Determining (dynamic identification) . . . . . . . . . . . . . . B3 Setting with the control panel (pneumatic axis) . . . . . 622 Setting with the control panel (stepping motor) . . . . 623 ACK_A/B signal (Record Select mode) Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 Sequence diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519 Acknowledging a fault (time behaviour) . . . . . . . . . . . . . . 58 Actual configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426 Save as nominal configuration with the control panel 624 Actual position (explanation) . . . . . . . . . . . . . . . . . . . . . 115 Adaptation (explanation) . . . . . . . . . . . . . . . . . . . . . . . . . . B3 Add to register (NC command #AR) . . . . . . . . . . . . . . . . 789 Additional information (for fault messages) . . . . . . . . . . . 89 Address assignment, Example . . . . . . . . . . . . . . . . . . . . 132 Address assignment (I/O modules) . . . . . . . . . . . . . . . . 341 Basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714 Address ranges . . . . . . . . . . . . . . . . . . . . . . . . . . 341 , 714 Basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 Operands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714 Analogue Connecting sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 Input module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Nominal value specification . . . . . . . . . . . 348 , 728 , 775 Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 771
D3
D. Index
Angle measuring system . . . . . . . . . . . . . . . . . . . . . . . . . 324 Angle of rotation of the drive . . . . . . . . . . . . . . . . . . . . . . 325 Application data For electric axes (setting with control panel) . . . . . . . 623 for pneumatic axes (setting with control panel) . . . . . 618 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 Ascertain acceleration, Maximum (dynamic identification) . . . . . . . . . . . . . . . 732 Autonomous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Axis data Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418 Setting with control panel electric axes . . . . . . . . . . 617 Setting with control panel pneumatic axes . . . . . . . . 616 Axis identifier (for fault messages) . . . . . . . . . . . . . . . . . 811 Axis identifiers, Assignment . . . . . . . . . . . . . . . . . . . . . . 120 Axis interface Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Installing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 Manual override cover . . . . . . . . . . . . . . . . . . . . . . . . . 216 Onthespot diagnosis (LEDs) . . . . . . . . . . . . . . . . . . . . 86 Axis interface string Basic rules for installation . . . . . . . . . . . . . . . . . . . . . . 353 Definition, structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 External load voltage supply . . . . . . . . . . . . . . . . . . . . 353 Installing the modules . . . . . . . . . . . . . . . . . . . . . . . . . 352 Max. cable lengths on string . . . . . . . . . . . . . . . 354 , 355 Maximum string length . . . . . . . . . . . . . . . . . . . . . . . . 353 Axis status flag Fn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General information . . . . . . . . . . . . . . . . . . . . . . . . . . . MC (motion complete) . . . . . . . . . . . . . . . . . . . . . . . . . MOV (axis moves) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . REF (Reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . TOL (axis in the tolerance window) . . . . . . . . . . . . . . . 722 714 722 722 722 722
Axis stop (NC command M12) . . . . . . . . . . . . . . . . . . . . . 772
D4
D. Index
Axis structure of the pneumatic drives DGP(I)(L)... (drive without piston rod) . . . . . . . . . . . . . A3 DNC... (standard cylinder, piston rod drive) . . . . . . . A10 DNCI... (standard cylinder, measuring system integrated) . . . . . . . . . . . . . . . . . A31 DNCM... (standard cylinder, measuring system built on) . . . . . . . . . . . . . . . . . . . A17 DSMI... (rotary drive, measuring system integrated) . . . . . . . . . . . . . . . . . A24 Axis type, Supported NC commands . . . . . . . . . . . . . . . 730
B
Base fastening (drives) . . . . . . . . . . . . . . . A14 , A21 , A36 Basic rules for installation . . . . . . . . . . . . . . . . . . . . . . . . 353 Basic setting on the control panel . . . . . . . . . . . . . . . . . . . 66 Basics of controlling pneumatic axes . . . . . . . . . . . . . . . . B3 1bit operands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714 Buttons, Operating functions of the control panel . . . . . . 64
C
Cable crosssectional area, Calculation . . . . . . . . . . . . . C14 Cable length (permissible), Calculation . . . . . . . . . . . . . C14 Checking the pneumatic tubing . . . . . . . . . . . . . . . . . . . 427 CLK_A/B signal (Record Select) Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Sequence diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
D5
D. Index
Commissioning Calibrating (WinPISA) . . . . . . . . . . . . . . . . . . . . . . . . . . 435 Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 Enter test program . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439 Explanation of the control signals . . . . . . . . . . . . . . . . 411 First commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Multipleaxis systems (overview) . . . . . . . . . . . . . . . . 442 Of a pneumatic axis . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 Pneumatic axis (overview) . . . . . . . . . . . . . . . . . . 46 , 427 Proceed as follows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Singleaxis system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Steps for commissioning . . . . . . . . . . . . . . . . . . . . . . . . 46 Switch on the power supply . . . . . . . . . . . . . . . . . . . . 415 With the control panel . . . . . . . . . . . . . . . . . . . . . . . . . 423 Commissioning and programming possibilities . . . . . . . 126 Compatibility violation . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII Components of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . 19 Basic modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Dismantling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Extension modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Fitting and removal (overview) . . . . . . . . . . . . . . . . . . . 25 I/O module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Power supply module (PWR) . . . . . . . . . . . . . . . . . . . . 329 Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Range of devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Subcontroller module . . . . . . . . . . . . . . . . . . . . . . . . . 350 Compressed air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Compressed air filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Compressed air reservoir . . . . . . . . . . . . . . . . . . . . . . . . . 37 Compressed air supply . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Unstable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B16 Compressed air tubing . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Conclude entry (programming with the control panel) . 634
D6
D. Index
Connecting a differential signal . . . . . . . . . . . . . . . . . . . . 349 Connecting a potentiometer . . . . . . . . . . . . . . . . . . . . . . 349 Connection assignment Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 , 345 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346 digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 Connection diagram for the first commissioning . . . . . . 410 Control deviation, Display with the control panel . . . . . 648 Control panel Basic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Delete program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641 Design and functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Edit existing program . . . . . . . . . . . . . . . . . . . . . . . . . . 639 Manual override cover . . . . . . . . . . . . . . . . . . . . . . . . . 212 Menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Operating functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Store of commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 635 Supported operating system versions . . . . . . . . . . . . XVII Type SPC200MMI1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 Type SPC200MMI1F . . . . . . . . . . . . . . . . . . . . . . . . . . 214 Control signals (Record Select mode) . . . . . . . . . . . . . . . ACK_A/B output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CLK_A/B input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ENABLE input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RC_A/B output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . READY output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RECBIT... input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RESET input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . STOP input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519 524 522 523 524 524 522 523 522
Control signals (Start/Stop mode) . . . . . . . . . . . . . . . . . 510 ENABLE input . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 , 512 MC_A/B output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513 READY output . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 , 513 START/RESET input . . . . . . . . . . . . . . . . . . . . . . 414 , 512 STOP input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 , 511 SYNC_OA/OB output . . . . . . . . . . . . . . . . . . . . . . . . . . 513
D7
D. Index
Controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422 Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 Controller factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B7 Controller factors for pneumatic axes, Setting with the control panel . . . . . . . . . . . . . . . . . . . 651 Coordinated mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Cylinder diameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418 Setting with the control panel . . . . . . . . . . . . . . . . . . . 617 Cylinder length Electric axis, Setting with the control panel . . . . . . . . 617 Pneumatic axis, Setting with the control panel . . . . . 617 Cylinder type (design), Setting with the control panel . . 617
D
Damping factor Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B8 Definition (controller data) . . . . . . . . . . . . . . . . . . . . . . 422 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B13 , B14 Setting on the control panel . . . . . . . . . . . . . . . . . . . . 651 Data Reset (with the control panel) . . . . . . . . . . . . . . . . 647 Decimal number operands (real variables) . . . . . . . . . . 714 Define starting programs, Setting with the control panel 625 Defining the starting program (control panel) . . . . . . . . 441 Design/designation (cylinder type) . . . . . . . . . . . . . . . . 418 DGP(I)(L)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 , 318 , A3 Diagnosis Axis interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 I/O function module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Onthespot (overview) . . . . . . . . . . . . . . . . . . . . . . . . . 84 Power supply module (PWR) . . . . . . . . . . . . . . . . . . . . . 84 With the control panel . . . . . . . . . . . . . . . . . . . . . 652 , 89 Diagnostic module . . . . . . . . . . . . . . . . . . . . . . . . . 110 , 335 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Programming cable . . . . . . . . . . . . . . . . . . . . . . 336 , 365 D8
D. Index
Digital I/O module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Nominal value specification . . . . . . . . . . . . . . . . 728 , 775 Dimensional reference system (definitions) . . . . . . . . . . DGP(I)L) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC(M) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317 318 320 322 324
DIN 66025 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 , 724 DNC(M)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320 DNC... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 , A10 DNCI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 , 322 , A31 DNCM... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 , A17 Drives DGP(I)(L)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A3 DNC... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A10 DNCI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A31 DNCM... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A17 DSMI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A24 Instructions for fitting . . . . . . . . . . . . . . . . . . . . 220 , 221 Performance limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Planning notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Supported drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 DSMI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 , 324 , A24 Dwell time (NC command G04) . . . . . . . . . . . . . . . . . . . . 740
E
Earth/ground connection . . . . . . . . . . . . . . . . . . . . . . . . 331 Editing lines (with the control panel) . . . . . . . . . . . . . . . 633 Elements of a pneumatic positioning axis . . . . . . . . . . . 113 Eliminating faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833 Emergency stop Additional pneumatic circuits . . . . . . . . . . . . . . . . . . . 316 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330 Emergency travel (stepping motor axis), Starting with the control panel . . . . . . . . . . . . . . . . . . 654
D9
D. Index
ENABLE input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 ENABLE signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 ENABLE signal (Record Select) . . . . . . . . . . . . . . . . . . . . 523 Enter test program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439 Exact stop Setting parameters with control panel . . . . . . . . . . . . With damping time . . . . . . . . . . . . . . . . . . . . . . . . . . . . With end speed monitoring . . . . . . . . . . . . . . . . . . . . . Without damping time . . . . . . . . . . . . . . . . . . . . . . . . . 622 754 754 753
Exact stop without damping time (NC command G60) . 753 Examples of circuitry Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Outputs X6/X8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Extension modules (SPC200) . . . . . . . . . . . . . . . . . . . . . 111 External load voltage supply . . . . . . . . . . . . . . . . . . . . . . 353
F
Fast stop Setting parameters with control panel . . . . . . . . . . . . With damping time . . . . . . . . . . . . . . . . . . . . . . . . . . . . With end speed monitoring . . . . . . . . . . . . . . . . . . . . . Without damping time . . . . . . . . . . . . . . . . . . . . . . . . . 622 754 754 758
Fast stop without damping time (NC command G62) . . 758 Fault class . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 , 810 , 813 Fault Messages, Display on the control panel . . . . 65 , 649 Fault messages Additional information . . . . . . . . . . . . . . . . . . . . . . . . . 811 Axis identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 811 Composition of the fault messages . . . . . . . . . . . . . . . . 89 Fault classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 810 Fault number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 811 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812 On the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 D10
D. Index
Fault number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 , 811 Display on the control panel . . . . . . . . . . . . . . . . . . . . 649 Fault quitting Reset with the control panel . . . . . . . . . . . . . . . . . . . . 647 Time behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Fault stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812 Field bus module (see separate manuals) . . . . . . . . . . . . XVI First commissioning (notes) . . . . . . . . . . . . . . . . . . . . . . . 35 Fitting Fitting onto a wall (I/O function module) . . . . . . . . . . 218 General instructions for the control panel Control panel MMI1F . . . . . . . . . . . . . . . . . . . . . . . . 214 MMI1 control panel . . . . . . . . . . . . . . . . . . . . . . . . . 212 General instructions for the SPC200 . . . . . . . . . . . . . . . 25 Basic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Fitting modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Fitting onto a wall (basic unit) . . . . . . . . . . . . . . . . . . 29 Instructions for fitting the pneumatic axes . . . . . . . 220 On a hat rail . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 , 218 Removing modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Proportional directional control valve type MPYE . . . . 38 Fitting onto a hat rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 Dismantling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 I/O module type SPCFIO... . . . . . . . . . . . . . . . . . . . . . 218 Fitting onto a wall, I/O function module . . . . . . . . . . . . . 218 Fitting position (of the axis) . . . . . . . . . . . . . . . . . . . . . . . . 17 Fitting the basic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Flag Fn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721 Flags Fn, Testing with the control panel . . . . . . . . . . . . . 653 Flange fastening (drives) . . . . . . . . . . . . . . A14 , A21 , A36 Flow factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
D11
D. Index
G
Gain factor Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B7 Definition (controller data) . . . . . . . . . . . . . . . . . . . . . . 422 Examples . . . . . . . . . . . . . . . . . . . . . . . . . B12 , B13 , B14 Setting on the control panel . . . . . . . . . . . . . . . . . . . . 651
I
I/O address range . . . . . . . . . . . . . . . . . . . . 131 , 341 , 715 I/O function module type SPCFIO... . . . . . . . . . . . 15 , 361 Diagnosis (LEDs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Installing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 , 362 Manual override cover . . . . . . . . . . . . . . . . . . . . . . . . . 216 I/O module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Basic rules for commissioning . . . . . . . . . . . . . . . . . . . 342 I/O modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 I/O signals In Record Select mode . . . . . . . . . . . . . . . . . . . . 519 , 522 In Start/Stop mode . . . . . . . . . . . . . . . . . . . . . . . 57 , 511 Identification of components and modules . . . . . . . . . . 123 Identification travel (system identification) Carry out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432 With the control panel . . . . . . . . . . . . . . . . . . . . . . . . . 434 Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . XIII Initial state, Mass load . . . . . . . . . . . . . . . . . . . . . . . . . . . 314 Initialization phase after switching on . . . . . . . . . . C3 , C10 Inputs (field bus module) Display status with the control panel . . . . . . . . . . . . . 648 Testing with the control panel . . . . . . . . . . . . . . . . . . . 653
D12
D. Index
Inputs (I/O module) . . . . . . . . . . . . . . . . . . . . . . . . 339 , 340 Address range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714 Circuitry example . . . . . . . . . . . . . . . . . . . . . . . . 339 , 340 Display status with the control panel . . . . . . . . . . . . . 648 External supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Inputs with control function . . . . . . . . . . . . . . . . . . . . . 343 Inputs without control function . . . . . . . . . . . . . . . . . . 345 Internal structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C18 Load supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Outputs with control function . . . . . . . . . . . . . . . . . . . 344 Outputs without control function . . . . . . . . . . . . . . . . 346 Pin assignment . . . . . . . . . . . . . . . . . . . . 343 , 344 , 345 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . C25 Test with NC command . . . . . . . . . . . . . . . . . . . . 786 , 788 Testing with the control panel . . . . . . . . . . . . . . . . . . . 653 Inserting or deleting lines (with the control panel) . . . . 633 Installation Fitting the electric components . . . . . . . . . . . . . . . . . . . 35 Basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 Compressed air reservoir . . . . . . . . . . . . . . . . . . . . . . 37 Compressed air tubing . . . . . . . . . . . . . . . . . . . . . . . 310 CP modules on the axis interface string . . . . . . . . . 352 Differential signal (analogue input module) . . . . . . 349 Earth/ground connection . . . . . . . . . . . . . . . . . . . . . 331 I/O modules on the axis interface string . . . . . . . . . 352 Potentiometer (on analogue input module) . . . . . . 349 Proportional directional control valve type MPYE... 38 Screw connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Selecting the power unit . . . . . . . . . . . . . . . . . . . . . 327 Sensors, analogue (on analogue input module) . . . 348 Service unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Installing the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . 326 Installing Axis interface SPCAIF... . . . . . . . . . . . . . . . . . . . . . . . Fitting the electric components Control panel MMI1F . . . . . . . . . . . . . . . . . . . . . . . . I/O function module type SPCFIO... . . . . . . . . . . . Proportional directional control valve type MPYE... I/O function module type SPCFIO2E/2AM8, 361
356 365 362 360
D13
D. Index
Instructions on editing with the control panel . . . . . . . . 633 Integer operands (integer variables) . . . . . . . . . . . . . . . 714 Integer variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714
J
Jump instruction (NC command E05) . . . . . . . . . . . . . . . 784
L
LED on the axis interface . . . . . . . . . . . . . . . . . . . . . . . . . . 86 LED on the function I/O module . . . . . . . . . . . . . . . . . . . . 87 Load actual value (= actual position) into the position register (NC command M38) . . . . . . . . . . . . . 777 Load subroutine (NC command L) . . . . . . . . . . . . . . . . . . 782 Load supply External . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 Missing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 Lower software end position Setting with the control panel . . . . . . . . . . . . . . . . . . . 621 Setting with the control panel (stepping motor) . . . . 623
M
Mass, Setting with the control panel. . . . . . . . see Mass load Mass load (definition) . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum permissible mass load . . . . . . . . . . . . . . . . Maximum workpiece mass . . . . . . . . . . . . . . . . . . . . . Setting with the control panel . . . . . . . . . . . . . . . . . Minimum mass load . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum permissible mass load . . . . . . . . . . . . . . . . . Total moving mass without workpiece . . . . . . . . . . . . Setting with the control panel . . . . . . . . . . . . . . . . . Workpiece mass in initial state . . . . . . . . . . . . . . . . . . 312 315 314 619 313 315 312 619 314
Mass load instructions for the DSMI . . . . . . . . . . . . . . . A28 Mass moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . 315 Setting with the control panel . . . . . . . . . . . . . . . . . . . 619 D14
D. Index
Maximum acceleration, Setting with the control panel . 622 Maximum speed Configuring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 , 421 Determining (dynamic identification) . . . . . . . . . . . . . 432 Setting with the control panel . . . . . . . . . . . . . . . . . . . 622 Setting with the control panel (stepping motor) . . . . 623 Maximum speed, Determining (dynamic identification) . B3 MC (axis status flag Motion Complete) . . . . . . . . . . . . . . 722 MC_A/B signal Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 Working method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514 Measuring system Calibrating (WinPISA) . . . . . . . . . . . . . . . . . . . . . . . . . . 435 Connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 Measuring system length (sensor length) . . . . 319 , 321 Setting with the control panel . . . . . . . . . . . . . . . . . 617 Measuring system zero point . . . . . . . . . 319 , 321 , 325 Menus on the control panel Menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Method of operation of a pneumatic positioning axis . . 115 Micro/half step (stepping motor), Setting with the control panel . . . . . . . . . . . . . . . . . . . 623 Minimum mass load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313 Minimum positioning stroke . . . . . . . . . . . . . . . . . . . . . . . 18 Minimum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 MMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Mounting offset . . . . . . . . . . . . . . . . 319 , 321 , 325 , 419 Setting with the control panel . . . . . . . . . . . . . . . . . . . 621 Mounting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313 Setting with the control panel . . . . . . . . . . . . . . . . . . . 619
D15
D. Index
Mounting position (of the axis) . . . . . . . . . . . . . . . 315 , 419 DGP(I)(L)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A5 DNC... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A13 DNCI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A35 DNCM... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A20 DSMI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A25 MOV (axis status flag Axis moves) . . . . . . . . . . . . . . . . . 722 MOVEMENT TEST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427 Movement test . . . . . . . . . . . . . . . . . . . . . . . XVII , 427 , 429 Check the pneumatic tubing . . . . . . . . . . . . . . . . . . . . . 46 Control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 Starting with the control panel . . . . . . . . . . . . . . . . . . 654 With control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427 Multiaxis applications with the SPC200 . . . . . . . . . . . . . 125 Multiaxis operation. . . . . . . . . . . . . . . . see Operating modes Multipleaxis systems Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 With the SPC200 (instructions) . . . . . . . . . . . . . . . . . . 125 Multitaskingcapable operating system . . . . . . . . . . . . . . 75
N
NC commands Combination with operating modes . . . . . . . . . . . . . . Command syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the NC commands . . . . . . . . . . . . . . . . New NC commands . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of commands . . . . . . . . . . . . . . . . . . . . . . . . Presettings after Poweron or RESET . . . . . . . . . . . . . Supported operating mode . . . . . . . . . . . . . . . . . . . . . 730 724 730 712 726 711 636
NC record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724 Number (in Record Select) . . . . . . . . . . . . . . . . . 520 , 521 Pointer (reset) . . . . . . . . . . . . . . . . . . . . . . . . . . . 512 , 523 New features (tabular format) . . . . . . . . . . . . . . . . . . . . . XVIII Nominal position (explanation) . . . . . . . . . . . . . . . . . . . . 116 Nominal position value, Display with the control panel . 648 D16
D. Index
Nominal value input Activate (NC command M10) . . . . . . . . . . . . . . . . . . . . 768 Assign (NC command M14) . . . . . . . . . . . . . . . . . . . . . 775 Nominal value ramp with NC command G01, 735 Nominal value specification . . . . . . . . . . . . . . . . . . . . . . . 768 Analogue via analogue input card . . . . . . . . . . . . . . . . 348 Digital . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XX , 713 Direct (analogue or digital) 728 , 768 , 771 , 773 , 775 Note on planning pneumatic axes . . . . . . . . . . . . . . . . . . . 18 Notes on operating system versions, General information . . . . . . . . . . . . . . . . . . . . . . . . XVIIXXI Notes on versions . . . . . . . . . . . . . . . . . . . . . . . . . 712 , 713 As regards NC commands . . . . . . . . . . . . . . . . . 712 , 713 Notes/warnings About performance limits of pneumatic drives . . . . . . 18 Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 First commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 For compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII For safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Measuring system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 On planning pneumatic axes . . . . . . . . . . . . . . . . . . . . . 18 Software versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
O
Offset Project zero point . . . . . . . . . . . . . 319 , 321 , 323 , 325 Reference position . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Offset for analogue nominal value specification (NC command M11) . . . . . . . . . . . . . . . . . . . . . . . . . . . 771 Operands (definition) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714
D17
D. Index
Operating modes Multiaxis mode Autonomous mode . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Coordinated mode . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Multiaxis operation Autonomous operation . . . . . . . . . . . . . . . . . . . . . . . 79 Coordinated operation . . . . . . . . . . . . . . . . . . . . . . . . 78 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 , 54 Record Select mode . . . . . . . . . . . . . . . . . . 124 , 54 , 517 Setting with control panel . . . . . . . . . . . . . . . . . . . . . . 625 Start/Stop mode (under program control) . 124 , 54 , 59 Supported NC commands . . . . . . . . . . . . . . . . . . . . . . 730 Operating system versions . . . . . . . . . . . . . . . . . . 712 , 713 Differences between versions . . . . . . . . . . . . . . . . . . . XVII Display on the control panel . . . . . . . . . . . . . . . . . . . . . 66 with WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Operating voltage . . . . . . . . . . . . . . . . . . . . . . . . . 330 , C23 Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C14 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330 Load supply/external supply . . . . . . . . . . . . . . . 330 , 510 External . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331 Operating voltage cable . . . . . . . . . . . . . . . . . . . . . . . . C14 Power supply, Internal electronics . . . . . . . . . . . . . . . 330 Output valve positioning value (NC command M39) . . . 778 Outputs (field bus module) Display status with the control panel . . . . . . . . . . . . . 648 Testing with the control panel . . . . . . . . . . . . . . . . . . . 653 Outputs (I/O module) Address range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714 Display status with the control panel . . . . . . . . . . . . . 648 Internal structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C18 Reset with NC command . . . . . . . . . . . . . . . . . . . . . . . 785 Set with NC command . . . . . . . . . . . . . . . . . . . . . . . . . 785 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . C25 Test with NC command . . . . . . . . . . . . . . . . . . . . 786 , 788 Testing with the control panel . . . . . . . . . . . . . . . . . . . 653 Overview of system Multipleaxis systems, examples . . . . . . . . . . . . . . . . . 117 Pneumatic positioning axis . . . . . . . . . . . . . . . . . . . . . 113 Range of devices for the SPC200 . . . . . . . . . . . . . . . . . . 15 Structure of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . 19 D18
D. Index
P
Parameters of a positioning axis . . . . . . . . . . . . . . . . . . . 417 Application data . . . . . . . . . . . . . . . . . . . . . . . . . 419 , 421 Axis data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418 , 420 Controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422 Performance limits of the drives . . . . . . . . . . . . . . . . . . . . 18 Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV Piston rod drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Planning (notes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Points of reference (see also Dimensional reference system) . . . . . . . . . 620 Position actual value, Display with the control panel . . 648 Position axis During commissioning (control panel) . . . . . . . . . . . . 436 Starting with the control panel . . . . . . . . . . . . . . . . . . 654 Position list (position register) . . . . . . . . . . . . . . . 130 , 718 Position register . . . . . . . . . . . . . . . . 718 , 751 , 752 , 777 Input with control panel . . . . . . . . . . . . . . . . . . . . . . . . 642 Teach with control panel . . . . . . . . . . . . . . . . . . . . . . . 643 Position value Add position value and position register (NC command G29) . . . . . . . . . . . . . . . . . . . . . . . . . 752 Load into position register (NC command G28) . . . . . . . . . . . . . . . . . . . . . . . . . 751 Positiondependent switch to next record (NC command G25) . . . . . . . . . . . . . . . . . . . . . . . . . . . 744 Positioning At defined speed (NC command G02) . . . . . . . . . . . . . 737 At defined speed (nominal value ramp) (NC command G01) . . . . . . . . . . . . . . . . . . . . . . . . . 735 At highest possible speed (point to point) (NC command G00) . . . . . . . . . . . . . . . . . . . . 731 , 733 Position adjustment (NC command M13) . . . . . . . . . . . . . . . . . . . . . . . . . 774 Presettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711 With Start/Stop frequency (NC command G02) . . . . . . . . . . . . . . . . . . . . . . . . . 739
D19
D. Index
Positioning accuracy, Notes . . . . . . . . . . . . . . . . . . . . . . 221 Positioning quality class . . . . . . . . . . . . . . . . . . . . 419 , 755 Set (NC command G61) . . . . . . . . . . . . . . . . . . . . . . . . 754 Setting with the control panel . . . . . . . . . . . . . . . . . . . 622 Positioning signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 779 Positioning stroke, Minimal . . . . . . . . . . . . . . . . . . . . . . . . 18 Positioning timeout Definition (controller data) . . . . . . . . . . . . . . . . . . . . . . 422 Setting on the control panel . . . . . . . . . . . . . . . . . . . . 651 Positioning tolerance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 Setting with the control panel . . . . . . . . . . . . . . . . . . . 621 Power supply module . . . . . . . . . . . . . . . . . . . . . . . . . . . 329 Power unit Calculating power requirements . . . . . . . . . . . . . . . . . 328 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327 Presettings for positioning (with regard to NC commands) . . . . . . . . . . . . . . . . . . 711 Program end with repetition (NC command M30) . . . . . 775 Program processing, parallel . . . . . . . . . . . . . . . . . . . . . . 75 Program reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516 , 523 Programmed Stop (NC command M00) . . . . . . . . . . . . . 515 SYNC_IA/IB (input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511 SYNC_OA/OB (output) . . . . . . . . . . . . . . . . . . . . . . . . . 513 Programmed stop (NC command M00) . . . . . . . . . . . . . 766 Programming Description of the NC commands . . . . . . . . . . . . . . . . 730 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Description of the NC commands . . . . . . . . . . . . . . 730 Presettings after Poweron or RESET . . . . . . . . . . . 711 Programming language DIN 66025 . . . . . . . . . . . . . . . . . 724
D20
D. Index
Programming with the control panel Create new program . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 Delete program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641 Edit program . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627 , 639 Exit program editor . . . . . . . . . . . . . . . . . . . . . . . . . . . 632 First NC word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636 Program test in single steps . . . . . . . . . . . . . . . 439 , 653 Reset program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647 Second NC word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638 Project zero point . . . . . . . . . . . . . . . 319 , 321 , 323 , 325 Setting with the control panel . . . . . . . . . . . . . . . . . . . 621 With analogue nominal value specification . . . . . . . . 771 Project zero point (stepping motor), Setting with the control panel . . . . . . . . . . . . . . . . . . . 623 Projectspecific parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427 Setting with control panel . . . . . . . . . . . . . . . . . . . . . . 613 Proportional directional control valve . . . . . . . . . . . . . . . 220 Connecting (electrical) . . . . . . . . . . . . . . . . . . . . . . . . . 360 Manual override cover . . . . . . . . . . . . . . . . . . . . . . . . . . 38
R
Range of devices for the SPC200 . . . . . . . . . . . . . . . . . . . 15 RC_A/B signal (Record Select mode) Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 READY output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 READY signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 READY signal (Record Select) . . . . . . . . . . . . . . . . . . . . . 524 Real variables (decimal numbers) . . . . . . . . . . . . . . . . . . 714 RECBIT... (Record Select mode) Meaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Record number (explanation) . . . . . . . . . . . . . . . . . . . . . 724 Record Select mode . . . . . . . . . . . . . . . 124 , 54 , 517 , 74 Maximum permissible number of NC records . . . . . . 520
D21
D. Index
REF (axis status flag reference set) . . . . . . . . . . . . . . . . . 722 Reference configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Saving with the control panel . . . . . . . . . . . . . . . . . . . 624 Reference point (DNCI) . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Reference position (stepping motor) . . . . . . . . . . . . . . . 421 Setting with the control panel . . . . . . . . . . . . . . . . . . . 623 Reference speed (pneumatic axis) . . . . . . . . . . . . . . . . . 419 Reference speed factor (stepping motor) . . . . . . . . . . . . 421 Setting with the control panel . . . . . . . . . . . . . . . . . . . 623 Reference stop (DNCI) . . . . . . . . . . . . . . . . . . . . . . . . . . . 322 Reference travel Setting with the control panel (stepping motor axis) . 654 Start (NC command G74) . . . . . . . . . . . . . . . . . . 759 , 762 Reference travel mode Entry with NC command . . . . . . . . . . . . . . . . . . . 759 , 762 Setting with the control panel (stepping motor) . . . . 623 Reference voltage . . . . . . . . . . . . . . . . . . . . . . . . . 347 , C28 Referencing speed (pneumatic axis) . . . . . . . . . . . . . . . . 761 Register Rn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Add to register (NC command #AR) . . . . . . . . . . . . . . Load (NC command #L) . . . . . . . . . . . . . . . . . . . . . . . . Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test (NC command #TR) . . . . . . . . . . . . . . . . . . . . . . . . Testing with the control panel . . . . . . . . . . . . . . . . . . . 719 789 789 714 790 653
Relative dimension specification with positioning commands (NC command G91) . . . . 765 RESET, With the control panel . . . . . . . . . . . . . . . . . . . . . 647 RESET (program error) . . . . . . . . . . . . . . . . . . . . . . . . . . 512 RESET signal (Record Select mode) . . . . . . . . . . . . . . . . 523 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Reset singlebit operand (NC command #R) . . . . . . . . . 785 Reset system, With the control panel . . . . . . . . . . . . . . . 647 Resolution (stepping motor) . . . . . . . . . . . . . . . . . . . . . . 421 Setting with the control panel . . . . . . . . . . . . . . . . . . . 623 Rotary drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A24 D22
D. Index
S
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Save the configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 Saving the hardware configuration . . . . . . . . . . . . . . . . . 424 Screw connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Sequence plans for the programmer . . . . . . . . . . . . . . . . C3 Carry out fault acknowledgement . . . . . . . . . . . . . . . . C10 Create readiness to operate . . . . . . . . . . . . . . . . . . . . . C3 Start NC record in Record Select mode . . . . . . . . . . . . . C7 Start program or NC record . . . . . . . . . . . . . . . . . . . . . . C9 Switchon behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Serial interfaces (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XII Service unit (compressed air supply) . . . . . . . . . . . . . . . . 36 Set acceleration ramp (NC command G08/G09) Approach ramp (pneumatic axis) . . . . . . . . . . . . . . . . 741 Braking ramp (pneumatic axis) . . . . . . . . . . . . . . . . . . 743 Stepping motor axis . . . . . . . . . . . . . . . . . . . . . . . . . . . 742 Set mass assessment (NC command M37) . . . . . . . . . . 776 Set nominal value mode (NC command M13) . . . . . . . . 773 Set singlebit operand (NC command #S) . . . . . . . . . . . 785 Set speed limit value (NC command M41) . . . . . . . . . . . 781 Set stroke limit value (NC command M40) . . . . . . . . . . . 780 Short circuit, Sensor supply . . . . . . . . . . . . . . . . . . . . . . . 88 Shortcircuit diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . C18 Signal filter factor Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B9 Definition (controller data) . . . . . . . . . . . . . . . . . . . . . . 422 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B13 , B14 Setting on the control panel . . . . . . . . . . . . . . . . . . . . 651 Signals, explanation of all I/O signals In Record Select mode . . . . . . . . . . . . . . . . . . . . . . . . . 522 In Start/Stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 511 Slide mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A8
D23
D. Index
Software end position Definition . . . . . . . . . . . . . . . . . . . 319 , 321 , 323 , 325 Lower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421 Upper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421 Software end position, Setting with the control panel . . 621 Software versions, Notes . . . . . . . . . . . . . . . . . . . . . . . . . XVII Speed, Minimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Speed switching (example) . . . . . . . . . . . . . . . . . . . . . . . 745 Speed, maximum, Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736 Standard cylinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A10 START input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 Start system, With the control panel . . . . . . . . . . . . . . . . 646 Startstop frequency (stepping motor), Setting with the control panel . . . . . . . . . . . . . . . . . . . 623 START/RESET signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Start/Stop mode . . . . . . . . . . . . . . . . . . 124 , 54 , 59 , 74 Status display (status LED) . . . . . . . . . . . . . . . . . . . . . . . . 88 Status display (with the control panel) Field bus inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Field bus outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . For flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For sensors of the electric axis . . . . . . . . . . . . . . . . . . 648 648 648 648 649 649 649
Status LED On axis interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 On supply module PWR . . . . . . . . . . . . . . . . . . . . . . . . . 84 On the I/O function module . . . . . . . . . . . . . . . . . . . . . . 87 Step mode (stepping motor axis) . . . . . . . . . . . . . . . . . . 421 Stepping motor indexer module . . . . . . . . . . . XVI , 112 , 26
D24
D. Index
Stepping motor, projectspecific parameters Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 Motor (type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 Steps per revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 STOP input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 STOP signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 STOP signal (Record Select) . . . . . . . . . . . . . . . . . . . . . . 522 Stop system, With the control panel . . . . . . . . . . . . . . . . 646 Store of commands on the control panel . . . . . . . . . . . . 635 Stroke length/stroke Of the drive/cylinder . . . . . . . . . . . . . . . . 319 , 321 , 323 Of the measuring system . . . . . . . . . . . . . . . . . . 319 , 321 Working stroke . . . . . . . . . . . . . . . 319 , 321 , 323 , 325 Stroke length/stroke of the drive/cylinder . . . . . . . . . . . . 18 Stroke length/stroke of the measuring system . . . . . . . 311 Stroke reduction DGP(I)(L)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A5 DNC... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A13 DNCI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A35 DNCM... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A20 DSMI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A27 Structure of the SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Maximum extension . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Subcontroller module . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 Subprogram end (NC command M02) . . . . . . . . . . . . . . 767 Supply pressure, Setting with the control panel . . . . . . 619 Supported drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Switch on Equivalent circuit diagram . . . . . . . . . . . . . . . . . . . . . . C16 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415 , C5 Switch to next record, Positiondependent . . . . . . . . . . 744 Example of speed/acceleration switching . . . . . . . . . 745 Switchon behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Switching, programcontrolled, Speed/acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . 745
D25
D. Index
Swivel angle Setting with the control panel . . . . . . . . . . . . . . . . . . . 617 Usable range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 SYNC_IA/B signal Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 SYNC_OA/B signal Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . Defining the starting program . . . . . . . . . . . . . . . . . . . Hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . Actual configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference configuration . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel . . . . . . . . . . . . . . . . . . . 424 441 424 425 425 624
System identification . . . . . . . . . . . . . . . . . . . . . . . . 432 , B3 Dynamic (pneumatic axis) . . . . . . . . . . . . . . . . . . . . . . 432 Starting with the control panel . . . . . . . . . . . . . . . . . . 654 Static (pneumatic axis) . . . . . . . . . . . . . . . . . . . . . . . . . 432
T
Target group of this manual . . . . . . . . . . . . . . . . . . . . . . . . XII Task (explanation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Task Status, Display with the control panel . . . . . . . . . . 648 Technical specifications SPCAIF... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C28 , C29 SPCFIO2E/2AM8 (PNP) . . . . . . . . . . . . . . . . . . . . . . . C30 SPC2002AIU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C26 SPC200CPU... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C22 SPC200DIO (PNP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . C25 SPC200MMI1, C31 SPC200MMI1F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C32 SPC200MMIDIAG . . . . . . . . . . . . . . . . . . . . . . . . . . . . C24 SPC200PWRAIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C23 SPC200SCUAIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C27 Terminating resistor (AIF string) . . . . . . . . . . . . . . . . . . . 353 Test singlebit operand for 0signal (NC command #TN) 788 D26
D. Index
Test singlebit operand for 1signal (NC command #T) . 786 Text markings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV Time behaviour Time behaviour at start of sequence . . . . . . . . . . . . . . 57 Time behaviour in Record Select mode . . . . . . . . . . . 519 When acknowledging a fault . . . . . . . . . . . . . . . . . . . . . 58 With a Programmed Stop . . . . . . . . . . . . . . . . . . . . . . . 515 TOL (axis status flag Axis in the tolerance window) . . . . 722
U
Unconditional jump (NC command E05) . . . . . . . . . . . . . 784 Unilateral air supply with DGP(I)(L)... . . . . . . . . . . . . . . . A9 Upper software end position Setting with the control panel . . . . . . . . . . . . . . . . . . . 621 Setting with the control panel (stepping motor) . . . . 623 Usable stroke length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
V
Valve type, Setting with the control panel . . . . . . . . . . . 617 Valvedrive combinations DGP(L)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A4 DGPI(L)... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A4 DNC... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A12 DNCI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A34 DNCM... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A19 DSMI... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A25
D27
D. Index
W
WinPISA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 WinPISA programming software . . . . . . . . . . . . . . . . . . . 129 Working stroke . . . . . . . . . . . . . 319 , 321 , 323 , 325 , A5 Workpiece mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . In initial state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum workpiece mass . . . . . . . . . . . . . . . . . . . . . Setting with the control panel . . . . . . . . . . . . . . . . . . . 312 314 314 619
Y
Yoke mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A8
D28

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SPC200 Smart Positioning Controller

Manual 170 246 en 0901d [713 873]

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

3.3 3.4 3.5

Festo P.BESPC200EN en 0901d

Contents and general instructions

4. 4.1 4.2 4.3

5. 5.1 5.2 5.3

Festo P.BESPC200EN en 0901d

Contents and general instructions

6. 6.1 6.2 6.3

6.4 6.5 6.6 6.7 6.8 7. 7.1

Festo P.BESPC200EN en 0901d

Contents and general instructions

81 84 89 812 813 833 833 835 A1 A3 A10 A17 A24 A31 B1

A. A.1 A.2 A.3 A.4 A.5 B. B.1 B.2 B.3

Festo P.BESPC200EN en 0901d

Contents and general instructions

C1 C3 C3 C7 C9 C10 C14 C18 C22 C22 C28 C30 C31 C32 D1

C.2 C.3 C.4

Festo P.BESPC200EN en 0901d

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

Festo P.BESPC200EN en 0901d

Contents and general instructions

Important user instructions Danger categories

Festo P.BESPC200EN en 0901d

Contents and general instructions

Marking special information

Accessories: Information on necessary or sensible accessories for the Festo product.

Environment: Information on environmentfriendly use of Festo products.

Festo P.BESPC200EN en 0901d

Contents and general instructions

Productspecific terms and abbreviations

Festo P.BESPC200EN en 0901d

Contents and general instructions

Documentation for the SPC200 Smart Positioning Controller

Software manual Help system Manuals

Festo P.BESPC200EN en 0901d

Contents and general instructions

Version 4.63 Version 4.82 Version 4.90 Version 4.93

102003 122004 032006 112008

Version 4.31 Version 4.41 Version 4.5 Version 4.51

Festo P.BESPC200EN en 0901d

Contents and general instructions

Identification of versionspecific information

Noncompatible as from OS 4.63

Overview of operating system versions

What has been changed

Festo P.BESPC200EN en 0901d

Contents and general instructions