Positioning system

Smart Positioning Controller

SPC200
 Author: S. Breuer
Editors: H.-J. Drung, M. Holder
Layout: Festo AG & Co., Dept. KI-TD
Typesetting: KI-TD

Edition: 9904a
Printed on 100% recycled paper

© (Festo AG & Co., D-73726 Esslingen,

Federal Republic of Germany, 1999)
The copying, distribution and utilization of this docu-
ment as well as the communication of its contents to
others without expressed authorization is prohibited.
Offenders will be held liable for the payment of dam-
ages. All rights reserved, in particular the right to carry
out patent, utility model or ornamental design registra-
tions.

SPC200... 9904a I
 IBM® Registered trademark of
International Business
Machines Corporation

Microsoft® Registered trade mark of the

Windows® Microsoft Corporation

Temposonics® Registered trade mark of

MTS Sensortechnologie GmbH & Co

Order No.: 170 246

Title: Manual
Reference: P.BE-SPC200-GB

II SPC200... 9904a
Contents

Designated use............................................................................................ VI
Target group .............................................................................................. VII
Important user instructions ........................................................................ VII
About this manual........................................................................................ IX
Product-specific terms and abbreviations .................................................. XI

1. System summary
1.1 Positioning systems with the SPC200 ...........................................1-4
1.1.1 The range of equipment for the SPC200.......................................1-7
1.1.2 Structure of the SPC200 ................................................................1-9
1.2 Connecting pneumatic axes.........................................................1-13
1.3 Structure of the axis interface string ............................................1-17
1.4 Operating modes of the SPC200.................................................1-21
1.5 Multi-axis applications with the SPC200 ......................................1-23
1.6 Commissioning and programming options...................................1-24
1.7 I/O address range of the SPC200 ...............................................1-28

2. Fitting
2.1 Inserting and removing modules ....................................................2-5
2.2 Mounting the basic unit ..................................................................2-9
2.3 Fitting the control panel................................................................2-12
2.4 Fitting the axis interface and I/O function module .......................2-14
2.5 Instructions on fitting the pneumatic axis.....................................2-19

3. Installation
3.1 General instructions on installation ................................................3-4
3.2 Instructions on pneumatic installation ............................................3-5
3.2.1 Pneumatic emergency stop circuit ...............................................3-15
3.2.2 Tubing for slide and yoke operation.............................................3-19
3.3 Installing the SPC200...................................................................3-21
3.3.1 Selecting the power unit...............................................................3-22
3.3.2 Connections of the power supply module....................................3-24
3.3.3 Connections of the diagnostic module .........................................3-30
3.3.4 Connections of I/O module SPC200-DIO-... ................................3-33
3.3.5 Connections of analogue input module type SPC200-2AI-U ......3-42

SPC200... 9904a III

3.3.6 Connections on the subcontroller module type
SPC200-SCU-AIF........................................................................ 3-45
3.4 Installing the modules on the axis interface string...................... 3-47
3.4.1 Installing the axis interface SPC-AIF-... ...................................... 3-51
3.4.2 Installing I/O function module SPC-FIO-2E/2A-M8 ..................... 3-56

4. Commissioning
4.1 Procedure for commissioning ........................................................ 4-5
4.2 Connecting a single axis system for initial commissioning ........... 4-9
4.3 Commissioning via the control panel .......................................... 4-16
4.3.1 Saving the hardware configuration.............................................. 4-16
4.3.2 Commissioning pneumatic axes.................................................. 4-20
4.3.3 Instructions on commissioning multi-axis systems...................... 4-38

5. Controlling the SPC200

5.1 General instrutions on operation ................................................... 5-4
5.2 Start/stop mode ............................................................................. 5-9
5.2.1 Explanation of all I/O signals in start/stop mode......................... 5-11
5.3 Record select mode..................................................................... 5-17
5.3.1 Description of all I/O signals in record select mode ................... 5-22

6. Operation of the SPC200 via the

control panel
6.1 Layout and functions of the control panel ..................................... 6-4
6.1.1 Moving around the menu system .................................................. 6-8
6.2. Setting project-specific parameters ............................................. 6-14
6.3 Editing programs.......................................................................... 6-28
6.3.1 Adding a new program ................................................................ 6-29
6.3.2 Editing instructions....................................................................... 6-35
6.3.3 Instruction set on the control panel ............................................. 6-37
6.3.4 Editing an existing program......................................................... 6-40
6.3.5 Deleting a program ...................................................................... 6-42
6.4 Editing the position register ......................................................... 6-43
6.5 Controlling the program run......................................................... 6-47
6.6 Display of operands and system states ...................................... 6-49
6.7 Setting the closed loop control factors ........................................ 6-51
6.8 Test and diagnostic functions of the control panel ..................... 6-53

IV SPC200... 9904a
7. Description of the commands
7.1 General notes on programming .....................................................7-4
7.1.1 Coordinated and autonomous mode..............................................7-5
7.2 Notes on programming via the control panel.................................7-8
7.2.1 Explanation of the NC commands on the control panel ..............7-13

8. Diagnosis and error treatment

8.1 On-the-spot dagnosis .....................................................................8-4
8.2 Error messages on the control panel.............................................8-9
8.3 Eliminating errors on the system..................................................8-24
8.3.1 Errors when the system is switched on .......................................8-24
8.3.2 Errors in positioning......................................................................8-25

A. Optimizing the positioning behaviour

A.1 Basic information on control.......................................................... A-3
A.2 Description of the controller factors .............................................. A-6
A.3 Optimizing the positioning behaviour ............................................ A-9
A.3.1 How to deal with an instable compressed air supply ................. A-15

B. Technical appendix
B.1 Internal structure of the inputs and outputs .................................. B-3
B.2 Technical specifications................................................................. B-7
B.2.1 Technical specifications of the SPC200........................................ B-7
B.2.2 Technical specifications of axis interface type SPC-AIF-... ........ B-13
B.2.3 Technical specifications of I/O function module
type SPC-FIO-............................................................................. B-14
B.2.4 Technical specifications of control panel type SPC200-MMI-1 .. B-15

C. Index
C.1 Index.............................................................................................. C-3

SPC200... 9904a V
Designated use
The SPC200 Smart Positioning Controller is designed
for fitting into a control cabinet. It serves as a position-
ing controller and closed loop controller for pneumatic
axes, as well as a positioning controller for stepping
motor axes. Basic modules and modules for the
SPC200 are described in this manual. Special exten-
sion modules are described in separate manuals.

The safety instructions must be observed at all times

and the various components and modules must be
used as intended. Please observe also the safety in-
structions listed in the operating instructions for the
pneumatic and electrical components used.

The SPC200 and the associated modules and cable

are only to be used as follows:
– as designated
– in original condition
– without unauthorised modifications
– in faultless technical condition.
The specified limit values for pressures, temperatures,
electrical data, torques, etc., must be observed when
additional commercially-available components such as
sensors and actuators are connected. Please comply
also with national and local safety laws and regulations.

VI SPC200... 9904a
Target group
This manual is directed exclusively at technicians who
are trained in control and automation technology and
who have experience in installing, commissioning, pro-
gramming and diagnosing positioning systems.

Important user instructions

Danger This manual contains instructions on the dangers which
categories may occur if the SPC200 system is not used correctly.
These instructions are always printed in italics, are
framed and also marked with a pictogram.

A distinction is made between the following:

WARNING
This means that serious injury to human beings
and/or damage to property can occur if this
instruction is not observed.

CAUTION
This means that injury to human beings and/or
damage to property can occur if this instruction is not
observed.

PLEASE NOTE
This means that damage to property can occur if this
instruction is not observed.

SPC200... 9904a VII

 Pictograms Pictograms and symbols complement the danger warn-
ings and draw attention to the nature and conse-
quences of dangers.
The following pictograms are used:

Uncontrolled movements of loose tubing.

Unintentional movements of the connected actuators.

High electric voltage or undefined voltage states of the

electronic components which can affect connected cir-
cuits.

Electrostatically vulnerable components.

These will be damaged if you touch the contact sur-
faces.

Recommendations and tips are identified by the icon

shown here.

Text • This mark indicates activities which can be carried

markings out in any order.

1. Figures indicate activities which must be carried out

in the given numerical order.
– Hyphens indicate general items.

VIII SPC200... 9904a

About this manual
This manual contains general, fundamental information
on the functions, assembly, installation and
commissioning of pneumatic axes in conjunction with
the SPC200. This manual refers to the Smart Position-
ing Controller SPC200 with operating system version
V 3.x.

Particular information relating to the commissioning,

programming and diagnosis of the SPC200 using the
WinPISA software is to be found in the WinPISA
manual.

Information on the pneumatic components will be found

in the Operating Instructions accompanying the product.
The following table provides an overview.

SPC200... 9904a IX
 Manuals for the SPC200 Smart Positioning Controller

Type Title Contents

System manual SPC200 Installation, commissioning and

Smart Positioning Controller, diagnosis of pneumatic axes with the
Manual SPC200; standard components and
type P.BE-SPC200-.. modules

Software manual Software package WinPISA Functions of the WinPISA

type P.SW-WIN-PISA-... software package

Help system Help system for WinPISA Help system for WinPISA
(included in WinPISA)

Manuals Field bus module Installation, commissioning and

type P.BE-SPC200-... diagnosis of the relevant field bus
module

Stepping motor module type Installation, commissioning and

P.BE-SPC200-SMX-1-... diagnosis when a stepping motor is
used

Electric positioning system Further information on electric

type P.BE-ATP-... positioning systems

Information on the pneuamtic components can be found

in the operating instructions for the relevant product.

X SPC200... 9904a
Product-specific terms and abbreviations
The following product-specific terms and abbreviations
are used in this manual:

Term/ Meaning
Abbreviation

0-signal 0 V input or output signals

1-signal 24 V input or output signals

Axis data Configuration information, describing the structure, properties and

components of the axis used.

Axis interface The measuring system and the proportional directional control valve
are connected to the SPC200 via the axis interface.

Axis interface The totality of the modules, connected in common to the axis interface
string connection of the SPC200

Application data Configuration information, describing the conditions of use determined

by the application.

CP cable Special cable for connecting the various CP modules

F Flag

I Digital input

I/O module Common term for the CP modules, which provide digital inputs and
outputs

I/Os Digital inputs and outputs

Modules Plug-in cards, which can be inserted into the SPC200 rack or field
device and which can be connected to the axis interface string.

PLC/IPC Programmable logic controller/PC

Q Digital output

R Register

String The total number of modules connected together on the axis interface
string.

SPC200... 9904a XI
XII SPC200... 9904a
 1. System summary

Chapter 1

System summary

SPC200... 9904a 1-1

1. System summary

Contents

1. System summary
1.1 Positioning systems with the SPC200........................................... 1-4
1.1.1 The range of equipment for the SPC200 ...................................... 1-7
1.1.2 Structure of the SPC200 ............................................................... 1-9
1.2 Connecting pneumatic axes ........................................................ 1-13
1.3 Structure of the axis interface string ........................................... 1-17
1.4 Operating modes of the SPC200 ................................................ 1-21
1.5 Multi-axis applications with the SPC200 ..................................... 1-23
1.6 Commissioning and programming options .................................. 1-24
1.7 I/O address range of the SPC200............................................... 1-28

1-2 SPC200... 9904a

 1. System summary

Contents of This chapter gives a summary of the possibilities of ex-

this chapter tending positioning systems with the SPC200; it de-
scribes the devices which can be used with the
SPC200 as well as 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 program-
ming possibilities of the SPC200
– the address range of the SPC200.
Further Coupling to field bus systems is made possible by
information special field bus modules. Detailed information on these
can be found in the manual for the relevant field bus
module.
Electric axes can be connected by means of special
modules. Detailed information on these can be found in
the manual for the relevant module.

SPC200... 9904a 1-3

1. System summary

1.1 Positioning systems with the SPC200

Festo can help you solve your positioning tasks with the
SPC200 Smart Positioning Controller. The SPC200 is a
universal, modular-structured controller which enables
pneumatic and electric axes to be coupled and con-
nected to field bus systems.

1
8
7 2

7
4

5 6

1 5
2 6
Field bus connection (optional) Stepping motor axis

3 7
SPC200 Smart Positioning Controller Further field bus slaves

4 8
Control cabinet Pneumatic axis
Power controller Axis interface string (max. 2 axes)

Fig. 1/1: Extension possibilities for positioning systems with the SPC200

1-4 SPC200... 9904a

 1. System summary

Depending on the equipment fitted on the controller, up

to four axes can be coupled. Pneumatic and electric
axes can be operated together. The components of the
pneumatic axes as well as external I/O modules, where
applicable, are connected to the SPC200 via maximum
two axis interface strings each with one cable.

2
1

3 3

1 3
2 4
First axis interface string Axis interface
Second axis interface string (optional) External I/O modules

Fig. 1/2: Connecting pneumatic axes and external I/O modules

SPC200... 9904a 1-5

1. System summary

The SPC200 can be operated either independently or

in conjunction with a higher-order PLC/IPC. To a limited
extent, it can also perform control functions. For this
purpose, I/O modules with digital inputs/outputs can be
integrated in the SPC200 or external I/O modules can
be connected to the axis interface string.

Coupling to a higher-order PLC/IPC can be made via

digital inputs/outputs or via special field bus modules
with integrated field bus interface (e.g. Interbus;
PROFIBUS-DP etc.).

1-6 SPC200... 9904a

 1. System summary

1.1.1 The range of equipment for the SPC200

The range of equipment for the SPC 200 includes the
following components:

Components Function
SPC200 The SPC200 is accomodated in a rack.
type SPC200-...-... Appropriate modules can be installed in
the rack according to the requirements
of the positioning task.

Control panel The control panel can be plugged

type SPC200-MMI-1 directly into the SPC200.
All functions can be operated through a
menu interface using the 6 keys on the
panel.

Axis interface The axis interface forms the connection

type SPC-AIF-... between the components on the
pneumatic axis and the SPC200.
It receives the values issued by the
measuring system, passes them to the
SPC200 and supplies the signal for
setting the proportional directional
control valve.
I/O function module Provides two inputs and two outputs on
(optional) type the axis allowing direct connection of
SPC-FIO-2E/2A-M8 sensors and actuators.
Additional functions e.g. gripping, lifting,
lowering and turning can be
implemented with these sensors and
actuatrs.

SPC200... 9904a 1-7

1. System summary

If required, the following CP I/O modules and CPV

valve terminals can be connected to the end of the axis
interface string.

CP module Function
(optional)

CPV valve Provides various valve functions for controlling

terminals pneumatic actuators by means of valve plates.
type CPV...-...-... Relay plates, pressure isolating plates and
blanking plates can be integrated.

I modules type There are special designs for various

CP-E16...-M... conecting variants. These provide inputs for
connecting sensors and enable e.g. cylinder
positions to be interrogated.

O modules type These provide universally usuable electrical

CP-A08-M12 outputs for controlling low-current consuming
devices (valves, lights etc.).

1-8 SPC200... 9904a

 1. System summary

1.1.2 Structure of the SPC200

The SPC200 is modular-structured and is accomodated
in a rack. The main processor and memory of the
SPC200 are on the rear printed circuit board in the
rack.

The combination of rack and rear printed circuit board

is called the basic unit. Basic units with 4 and 6 slots
are available for you to implement various extension
variants.

2
3

1 3
2
Rack (basic unit) Rear pinted circuit board
Modules (in the rack)

Fig. 1/3: The SPC200 Smart Positioning Controller

Appropriate modules can be installed in the basic unit

according to the requirements of the positioning task.

SPC200... 9904a 1-9

1. System summary

Basic With just the following modules, the SPC200 provides a

modules functioning controller for pneumatic axes.

1 2 3

1
2
Supply module type SPC200-PWR-AIF

3
Diagnostic module type SPC200-MMI-DIAG
I/O module type SPC200-DIO

Fig. 1/4: Basic modules of the SPC200

Module Description
Supply module Enables the power supply and the axis
interface designed as a field device to be
connected.
Diagnostic Enables the control panel to be inserted and
module a PC to be connected.
I/O module Provides the I/Os necessary for controlling in
the various operating modes.

1-10 SPC200... 9904a

 1. System summary

A system with the components shown above offers the

following scope of performance:
– up to two pneumatic axes can be controlled
– various types of measuring systems can be con-
nected by means of different variants of the axis in-
terface
– independent operation or coordination with an exter-
nal PLC/IPC via I/Os
– programming and operation via a PC or a control
panel.

Extension The modules listed in the following table can be used

modules for extending the system:

SPC200... 9904a 1-11

1. System summary

Module Description
Analogue input With this module you can specify
module analogue nominal position values. The
module has two analogue input channels
for this purpose. The permitted voltage
range is 0 - 10 V.

I/O module This provides further freely-programmable

I/Os. The SPC200 supports maximum 4
I/O modules.

Subcontroller Enables two further pneumatic axes and

module further I/O modules to be connected. The
module provides the necessary power
output as well as a connection for a
further axis interface string.

Stepping motor Enables a power controller for a stepping

module motor to be connected.

Field bus module Enables connection to the appropriate

field bus

Further modules in preparation.

1-12 SPC200... 9904a

 1. System summary

1.2 Connecting pneumatic axes

The SPC200 controls the pneumatic axes and regu-
lates their position. 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 via only

one cable, the axis interface string. The following diag-
ram shows the basic structure of a pneumatic axis with
the SPC200.

6 2
3
4

5
1 4
2
Measuring system Proportional directional control valve

3 5
Axis interface type SPC-AIF-... type MPYE-...

6
SPC200 Smart Positioning Controller Service unit with 5 µm filter
Cylinder

Fig. 1/5: Connecting pneumatic axes to the SPC200

SPC200... 9904a 1-13

1. System summary

Components In order to install a pneumatic axis you will require the

following components:
– the SPC200 axis controller
– an axis interface type SPC-AIF-....
– a proportional directional control valve type
MPYE-5-...-010B
– a measuring system type MLO-POT-...-TLF or type
MME-MTS-...-TLF-AIF
(with cylinder type DGPI(L)-...-...-...-AIF this meas-
uring system is integrated)
– a cylinder with mechanical guidance
– a service unit with 5 µm filter
– a 24 V power supply
– optional components for pneumatic emergency shut-
down
The SPC200 Smart Positioning Controller takes over
principally the following tasks:
– specifying the reference positions by position control
– comparing the reference and actual positions and po-
sition control by appropriate control of the proportio-
nal directional control valve (status control)
– optimizing control by parameter modification
– controlling peripherals using digital inputs and out-
puts and sequence control.

1-14 SPC200... 9904a

 1. System summary

Method of operation
The diagram below shows the method of operation of a
positioning control circuit using an SPC200 Smart Posi-
tioning Controller.

2
1
4
5
3

1 4
2 5
Cylinder position = control value Axis interface string

3
Actual position (actual value) Positioning control/SPC200 controller
Valve voltage (setting signal)

Fig. 1/6: Position control circuit with pneumatic components

The axis interface, valve, cylinder and measuring sys-

tem are connected together in such a way that they
form a closed-loop control circuit. The position of the
slide or the piston represents the control value in this
control circuit. This control is therefore also referred to
as a positioning control.

SPC200... 9904a 1-15

1. System summary

In the following the terms piston and slide are equival-

ent in meaning.

The measuring system constantly records the position

of the slide and passes this to the axis interface as an
electrical signal.

The measured values are passed from the axis inter-

face to the SPC200 Smart Positioning Controller. This
compares the reference position with the actual position
and calculates therefrom the positioning signal for the
proportional directional control valve.

The proportional directional control valve controls the

slide by pressurizing one of the cylinder chambers and
exhausting the other. In the mid-position the flow is
blocked so that the slide typically remains at the current
position.

1-16 SPC200... 9904a

 1. System summary

1.3 Structure of the axis interface string

The SPC200 is intended for fitting into a control
cabinet. Connection to the measuring system and to
the proportional directional control valve is made via the
axis interface which is connected to the SPC200 via the
axis interface string.

In the basic design, the SPC200 can take control of the

positioning of two pneumatic axes. Two axis interfaces
and two pneumatic axes can therefore be connected to
the axis interface string. The axis interface for the sec-
ond axis is connected here to the axis interface of the
first axis.

Axis The axis designations are assigned automatically to the

designations axes. The first axis is addresssed as the X-axis, the
second axis as the Y-axis.

1
2
Axis interface of the X-axis
Axis interface of the Y-axis

Fig. 1/7: Assiging the axis designations (example 1)

SPC200... 9904a 1-17

1. System summary

Maximum two axis interface strings and therefore up to

4 pneumatic axes (X, Y, Z, U) are possible for each
SPC200. The second axis interface string is connected
via the subcontroller module type SPC200-SCU-AIF,
which controls the positioning of further axes. Modules
for connecting electric axes can also be installed.

The following applies when modules for connecting fur-

ther pneumatic or electric axes are integrated:
– Axis designations (X, Y, Z, U) are assigned
automatically to the installed modules in ascending
order without gaps from left to right.
– On the axis interface string, the first axis is assigned
with the lower-value designation, the second axis
with the higher-value designation.

1 2 1 3 4

2
3

1 3
2 4
Axis interface of the X-axis Axis interface of the Z-axis
Axis interface of the Y-axis Power controller for the U-axis

Fig. 1/8: Assigning the axis designations (examples 2 and 3)

1-18 SPC200... 9904a

 1. System summary

Further modules with inputs and outputs can be con-

nected to the axis interface string. The diagram below
shows the possible configurations on the axis interface
string using the example of a two-axis system.

1 1 1

4 4

5 5 6

1 4
2 5
Alternative possibilities Module with outputs/valves

3 6
Axis interface of the X-axis Module with inputs
Axis interface of the Y-axis Module with inputs and outputs

Fig. 1/9: Configurations on the axis interface string (examples)

SPC200... 9904a 1-19

1. System summary

6
The I/O function module ( ) or the module with outputs
4
( ) can be connected, if required, to the OUT connec-
2 3
tion of the axis interface ( or ). Modules with out-
4
puts ( ) have a connection for coupling to an input mo-
5
dule ( ).

Input modules can also be connected directly to the

axis interface.

The individual modules are connected together by

means of the CP cable. The transfer of information be-
tween the modules and the SPC200, as well as the
provision of the operating and load voltages is made via
this cable. The identification of all the modules con-
nected is made automatically by the SPC200.

1-20 SPC200... 9904a

 1. System summary

1.4 Operating modes of the SPC200

The SPC200 offers different operating modes to suit the
various applications. The functions of the digital inputs
and outputs of the SPC200 depend on the operating
mode set. The following operating modes are available:
– start/stop mode
– record select mode
Start/stop In start/stop mode the SPC 200 can control simple po-
mode sitioning tasks both independently as well as with a
higher-order PLC/IPC. For this purpose, freely pro-
grammable inputs and outputs are available in this
operating mode.
Positioning programs can be started and stopped either
with the control panel, a control console or with a
higher-order PLC/IPC.

The command Programmed stop (M00) can be used for

loose coupling to a higher-order PLC/IPC. With this
command you can synchronize the program sequence
of the SPC200 with externally controlled processes.

SPC200... 9904a 1-21

1. System summary

Record This operating mode supports close coupling of the

selection SPC200 with a higher-order PLC/IPC. The complete
mode program sequence is controlled here by the PLC/IPC.
This PLC/IPC passes on positioning tasks in the form
of record numbers to the SPC200 via digital I/Os.
If the I/O modules are used, NC records 0...31 of the
active program, which normally contain only positioning
tasks, can be retrieved via 5 digital inputs. The
PLC/IPC can therefore access up to 32 positions. The
maximum permitted number of NC records (1000 NC
records) can be accessed via field bus modules.

1-22 SPC200... 9904a

 1. System summary

1.5 Multi-axis applications with the SPC200

The SPC200 axis controller offers the possibility of par-
allel program processing and supports the implementa-
tion of multi-axis applications. An SPC200 can control
up to 4 axes. It thereby supports the:
– coordinated operating mode
– autonomous operating mode
coordinated Parallel program processing is not usually used in the
mode coordinated operating mode. Only one program is
defined as the starting program. NC records with posi-
tioning tasks for all axes are programmed in this pro-
gram.
If, for example, a positioning command refers to all the
axes, it is not completed until all the axes have reached
the target position. The movement sequence of all the
axes is thus synchronized.

Autonomous When multi-axis systems are implemented, the con-

mode nected axes can be divided into two asynchronously
functioning independent work stations. This enables two
independent single or multi-axis systems to be im-
plemented at low cost with one SPC200.
In autonomous mode, the two programs running parallel
each contain positioning tasks for a certain work sta-
tion. In this way for example, a loading station and an
unloading station can be controlled with just one
SPC200.

SPC200... 9904a 1-23

1. System summary

1.6 Commissioning and programming options

The SPC200 can be commisssioned and programmed
by means of the:
– operating panel type SPC200-MMI-1
– WinPISA software package
You can commission and program single and multi-axis
systems by means of the control panel. WinPISA offers
an extended scope of functions and a very user-friendly
interface. The table below provides a brief overview.

Subject Functions Control WinPISA

panel
Configuration - Input of axis parameters ä ä
- Input of application parameters ä ä
- Input of controller parameters ä ä
Programming - Input of programs ä ä
- Input of positions ä ä
- Teach editor for positions ä ä
- Project backup functions - ä
Commissioning - Test functions for components ä ä
- Program test in individual steps ä ä
- Extended test functions - ä
- Program upload/download - ä
- Starting and stopping ä ä
programs
Service - Updating the SPC200 firmware - ä
by download
- Readout of statistical diagnostic data - ä
Analysis and - Grafic display of position values - ä
optimizing - Input of extended system data - ä

1-24 SPC200... 9904a

 1. System summary

Control panel The plug-in control panel type SPC200-MMI-1 has a

two-line LCD display. Up to 16 characters can be dis-
played on each line. There are 6 operating keys with
which all functions can be accessed by means of
menus. The control panel can be placed directly on the
SPC200.

1
3
2

1
2
Display (LCD display with 2 x 16 characters)

3
Touch-sensitive keyboard
Interface to the SPC200 on the rear

Fig. 1/10: Operating panel type SPC200-MMI-1

The control panel offers all the functions necessary for

commissioning, programming, diagnosis and operation
directly on the SPC200. It also provides functions for
editing position registers and programs.

SPC200... 9904a 1-25

1. System summary

Positions or programs can be entered on the keyboard

with the aid of menus. When your positioning system is
fully installed, you can use the teach functions in order
to move easily to positions and transfer them to the
position register.

WinPISA The WinPISA software package runs on Windows 3.1

or higher. It provides a user-friendly interface.

1
2

1 3
2
Tool bar Program window
Project window

Fig. 1/11: WinPISA user interface

1-26 SPC200... 9904a

 1. System summary

The WinPISA project window offers rapid access to all

project data. All project components, such as the posi-
tion list, programs and configuration data are shown
graphically in the project window. One double-click is
sufficient to check or amend settings.

WinPISA provides the following functions:

– graphically supported configuration of the current pro-
ject
– user-friendly editor for NC programming, based on
DIN 66025
– load functions for programs, projects, etc.
– graphical function for analysing the positioning beha-
viour
WinPISA supports single-axis and multi-axis applica-
tions with up to four axes.

SPC200... 9904a 1-27

1. System summary

1.7 I/O address range of the SPC200

A complete word (16 bits) for inputs and/or outputs is
available for each component and each I/O module, ir-
respective of the number of I/Os which are integrated.

Configuration of the SPC200 Maximum address range

without field bus with field bus

module module
1)
First I/O module - I0.0 ... I0.9 Q0.0 ... Q0.7 1)

I/O modules on first axis interface string I1.0 ... I1.15 Q1.0 ... Q1.15

Second I/O module First I/O module I2.0 ... I2.9 Q2.0 ... Q2.7

I/O modules on second axis interface string I3.0 ... I3.15 Q3.0 ... Q3.15

Third I/O module Second I/O module I4.0 ... I4.9 Q4.0 ... Q4.7

Fourth I/O module Third I/O module I5.0 ... I5.9 Q5.0 ... Q5.7
2)
- Field bus module I10.0 ... I13.15 Q10.0 ... Q13.152)

1) Address range not available if a field bus module is used

2) Address range not available without a field bus module

1-28 SPC200... 9904a

 1. System summary

The diagram below shows an example.

I2.0 ... I2.9

1 I0.0 ... I0.9 Q2.0 ... Q2.7 I4.0 ... I4.9

Q0.0 ... Q0.7 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 reserved partly by pre-assigned functions

(control inputs and outputs)
Q= output
I = input

Fig. 1/12: Address assignment without field bus module (example)

SPC200... 9904a 1-29

1. System summary

1-30 SPC200... 9904a

2. Fitting

Chapter 2

Fitting

SPC200... 9904a 2-I

2. Fitting

Contents

2. Fitting
2.1 Inserting and removing modules ................................................... 2-5
2.2 Mounting the basic unit ................................................................. 2-9
2.3 Fitting the control panel ............................................................... 2-12
2.4 Fitting the axis interface and I/O function module ...................... 2-14
2.5 Instructions on fitting the pneumatic axis .................................... 2-19

2-2 SPC200... 9904a

2. Fitting

Contents of This chapter describes how to fit and remove SPC200

this chapter components as well as how to fit the following compo-
nents:
– the SPC200 basic unit
– the control panel
– the axis interface
– the I/O function module
This chapter also contains instructions on how to fit the
pneumatic axis.

Further General instructions on fitting electromechanical axes,

information power controllers and sensors can be found in the ma-
nual for the electric positioning system type
P.BE-ATP-....
Detailed information can be found in the instructions en-
closed with the products. Further information on the
electric axis can be found in the instructions for the
relevant module.

SPC200... 9904a 2-3

2. Fitting

WARNING
Before starting assembly work, switch off the follow-
ing in the order specified:
1. the compressed air supply
2. the load and operating voltages on the SPC200
and if necessary, the load voltage supply on the
axis interface string.

By doing this you will avoid:

– Unintentional movements of the connected
actuators.
– Uncontrolled movements of loose tubing.
– Undefined switching states.

2-4 SPC200... 9904a

2. Fitting

2.1 Inserting and removing modules

CAUTION
Incorrect handling can cause damage to the
modules, therefore:
• Do not touch the electrical contacts of the
components.
• Pay due attention to handling specifications
for electrostatically vulnerable components.
• Before inserting or removing modules you must
ensure that you are electrostatically discharged
to protect the modules against static discharges.

The SPC200-CPU-... rack serves as a housing for the

SPC200 modules. The SPC200 processor and memory
are mounted on the integrated backplane. The modules
plugged in are connected through this backplane.

The modules are fixed to the rack with a safety catch.

Consequently, no tools are required for insertion or
removal.

Slots The slots are marked 1 to 4 or 6 from left to right. Slot

1 is reserved for the power supply module (type SPC-
200-PWR-AIF). Other modules can be inserted in slots
2 to 4 or 6 as desired. The individual identification of all
the fitted components is carried out automatically.

SPC200... 9904a 2-5

2. Fitting

Component Type designation Maximum

number
Power supply module SPC200-PWR-AIF 1
Diagnostic module SPC200-MMI-DIAG 1
Subcontroller module SPC200-SCU-AIF 1
Field bus module SPC200-COM-... 1
Reference value modules SPC200-2AI-U 2
Stepping motor indexer modules SPC200-SMX 3
1)
I/O modules SPC200-DIO 3 or 4
1) Maximum 4 I/O modules if a field bus module is not installed.

Recommendation
– When installing a subcontroller module or stepping
motor module, check whether the modules must be
installed in a certain sequence. For operation, axis
designations (X...U) are assigned automatically to
these modules in ascending order without gaps from
left to right (see chapter 1).
– Fit the subcontroller module if possible in the slot to
the far right. The cable screening/shield can then be
connected without difficulty to the earth connection
on the right hand side.
– If you are using a control panel, fit the stepping
motor module and field bus module, if applicable,
with at least one free slot between it/them and the
diagnostic module.

2-6 SPC200... 9904a

2. Fitting

WARNING
Actuators can be accidentally activated and the
SPC200 damaged, if modules are inserted or
removed with the power switched on.
Before installation or maintenance work switch off
the following power sources in the following order:
1. compressed air supply
2. the load supply and operating voltage supply of
the SPC200.

Installing The procedure for installing the modules in the rack is

modules as follows:
1. Switch off the compressed air supply and operating
voltage supply.
2. If necessary, unlock the safety catches and remove
any blanking plate.
3. Take hold of the front plate of the module and slide
it into the guide rail. Be careful not to tilt the module
when you are sliding it into the slot, and make sure
that none of the components on the board are
damaged.
4. Make sure that the pins on the connectors are
correctly aligned. Then with a light pressure of the
fingers push the module fully home. The safety
catches will then lock automatically (see Fig. 2/1).

SPC200... 9904a 2-7

2. Fitting

1
2
3
4

5 6
1
1 4
2 5
Direction for unlocking Front plate of module

3 6
Locks automatically Contact strip
Safety catches Guide rail

Fig. 2/1: Installing modules

Removing The procedure for removing a module is as follows:

modules
1. Switch off the compressed air supply and operating
voltage.
2. Unscrew and remove the connecting cable on the
front of the module.
3. Press both safety catches to unlock (see Fig. 2/1)
and carefully pull out the module.
4. Close any unoccupied slots with blanking plates.

2-8 SPC200... 9904a

2. Fitting

2.2 Mounting the basic unit

There are two methods of installing the SPC200 in a
switch cabinet:
– Screwing it directly to the wall of the cabinet.
– Fastening it to a top hat rail.

PLEASE NOTE
Fit the SPC200 or the hat rail so that there is
sufficent space for heat dissipation (at least 40 mm
above and below).

Screw method of installation

You will need:
– a clear area of approx. 126 x 120 mm.
– four holes for screw size M4 (for dimensions see Fig.
2/2).

94 mm

1 SPC200-CPU-4: 117 mm
SPC200-CPU-6: 158 mm

Fig. 2/2: Screw method of installation

SPC200... 9904a 2-9

2. Fitting

Fitting with hat rail

In order to mount the rack on a top hat rail you will
need installation set CPV10/14-VI-BG-NRH..
This set comprises 2 clips, 4 M4x10 bolts und 2 clamps
with springs (see figure 2/3).

The rack is mounted on the top hat rail as follows:

1. Make sure that the surface on which the rack is to
be located can bear the weight of the SPC200.
2. Fasten a top hat rail (mounting rail EN50022 -
35x7.5; width 35 mm, height 7.5 mm).
3. Secure the rail to the wall of the cabinet at min.
100 mm intervals.
2
4. Attach the 2 clips ( ) with the enclosed M4x10 bolts
1
( ) to the bracket of the rack (see diagram below).
5
Make sure that when the fastening bolts ( ) in the
clips are tightened they pass through the recess in
the rack.
5. Hook the rack on to the top hat rail. Secure the rack
4
with the clamps ( ) so that it does not tip over or
slip out.

2-10 SPC200... 9904a

2. Fitting

2
1
3
4
5

1 4
2 5
M4 x 10 bolt Clamp

3
Clip Fastening bolts
Top hat rail

Fig. 2/3: Rail mounting for the rack

The procedure for removing the rack is as follows:

1. Remove the clamps.
2. Withdraw the rack.

SPC200... 9904a 2-11

2. Fitting

2.3 Fitting the control panel

WARNING
If the control panel is plugged into or disconnected
from the SPC200 while the power supply is switched
on, actuators may be activated unintentionally and
both the SPC200 and the control panel may be
damaged.
Before undertaking installation and/or maintenance
work, switch off the following sources of power in the
sequence specified:
1. the compressed air supply
2. the load voltage and operating voltage supplies for
the SPC200.

Control panel type SPC200-MMI-1 can be plugged

directly onto the diagnostic module type SPC200-MMI-
DIAG of the SPC200 (see figure 2/4). Proceed with the
fitting as follows:
1. Switch off the compressed air supply.
2. Switch off the operating voltage and the load voltage
for the SPC200.
3. Carefully place the control panel onto the diagnostic
module type SPC200-MMI-DIAG of the SPC200.
3 6
Make sure that the plugs ( ) and sockets ( ) are
correctly aligned before you plug the control panel in
completely.
2
4. Make sure that the locking pins ( ) clip into place.

2-12 SPC200... 9904a

2. Fitting

1 2 5
4
3 6
2
5

1 4
2 5
Control panel (side view) Diagnostic module

3 6
Locking pin Recess for locking pins
Plug on control panel Socket for control panel (X3)

Fig. 2/4: Control panel installation

Proceed as follows when dismantling:

1. Switch off the compressed air supply.
2. Switch off the operating voltage and the load voltage
for the SPC200.
3. Carefully remove the control panel from the
diagnostic module type SPC200-MMI-DIAG.

SPC200... 9904a 2-13

2. Fitting

2.4 Fitting the axis interface and I/O function module

This section describes how to fit the I/O function
module SPC-FIO-... and the SPC-AIF-... axis interface.

Axis interface installation

The SPC-AIF-... axis interface, designed as a field unit,
can be attached either vertically or horizontally to a flat
surface using the angle brackets supplied. The follow-
ing areas will be required for installation depending on
the method of fastening:

Method of fastening Area required

Horizontal approx. 66 mm x 70 mm

Vertical approx. 66 mm x 30 mm

The dimensions for the four threaded holes for M4 size

bolts and the installation of the angle brackets are
shown in the following figure.

2-14 SPC200... 9904a

2. Fitting

1
2
85.8 mm

66 mm
8.45 mm

16.9 mm

34 mm

81 mm
72 mm

3
95 mm

30 mm

1
2
Fitting the angle bracket horizontally

3
Right-angle plug
Fitting the angle bracket vertically

Fig. 2/5: Installation of the SPC-AIF-... axis interface

• Secure the axis interface with at least 3 bolts.

SPC200... 9904a 2-15

2. Fitting

Fitting the I/O function module

I/O Function modules are designed for mounting on a
flat surface or on a top hat rail.

Wall A surface area of approx. 70 x 80 mm is required to

mounting mount the module. The following diagram shows the
positions of the four holes for the M4 screws.

67 mm

1
INPUT/OUTPUT
PNP

POWER

DIAG
40 mm 0 OUTPUT 1

0 INPUT 1

1 SPC-FIO-2E/2A-M8 I/O function module

Fig. 2/6: Dimensions for installing I/O function module

2-16 SPC200... 9904a

2. Fitting

Installation You will require the CP-TS-HS35 installation kit to install

on mounting the rack on a mounting rail. This kit consists of 2
rail fastenings, 2 M4x12 bolts and two backing washers.
The procedure for fitting the device is as follows:
1. Fit a top-hat rail (EN 50022 - 35x15 support rail;
width 35 mm, height 15 mm).
2. Secure the top-hat rail to the mounting surface at
least every 100 mm.
3. Snap the two fastenings onto the mounting rail
(see Fig. 2/7).
4. Secure the housing onto the fastening with the bolts
and backing washer supplied, as shown in the
following illustration.
5. Tighten the bolts firmly. This will clamp the fastening
and the housing firmly to the rail.

3
1 4
5

2
2
1 4
2 5
Fastening M4x12 bolt

3
Mounting rail Backing washer
Housing

Fig. 2/7: Fitting the SPC-FIO-2E/2A-M8

to a mounting rail

SPC200... 9904a 2-17

2. Fitting

The procedure for removing the device is as follows:

1. Loosen the bolts.
2. Remove the housing.
3. Lever the fastening out of the mounting rail using a
screwdriver.

2
1

1
2
Fastening
Screwdriver

Fig. 2/8: Dismantling the fastening

2-18 SPC200... 9904a

2. Fitting

2.5 Instructions on fitting the pneumatic axis

PLEASE NOTE
Install the cylinder, measuring system and valve in
accordance with the relevant operating instructions.

The following sections contain general rules which are

important for the safe operation of a pneumatic axis.

Proportional directional control valve

– Install the proportional directional control valve as
close as possible to the cylinder. Short compressed
air lines ensure the dynamics of the system.
– Place the proportional directional control valve at
right angles to the direction of motion if you wish to
mount it on moving components. This will ensure that
acceleration forces will have no effect on the valve
slide setting.
– In an environment with strong electrical interference,
the proportional directional control valve should be in-
sulated from the mounting surface.
– Use high-flow silencers.
Measuring systems with control slides
– If you wish to use a measuring system with slides
under harsh environmental conditions, mount it so
that the side with the control slides faces downwards.
The drip edge on either side will then prevent ex-
cessive soiling of the slide surfaces.

SPC200... 9904a 2-19

2. Fitting

Cylinders

CAUTION
Fit shock absorbers on the cylinder, even in the case
of a cylinder with adjustable cushioning (PPV). This
will prevent damage in the event of operating and
system failures.

CAUTION
Limit the range of travel using fixed end-stops if the
measuring system is shorter than the range of travel.
This will prevent damage to the measuring system in
the event of operating and system failures.

Important for positioning accuracy

– Cylinder, guidance, measuring system and load must
be connected in the direction of travel almost rigidly,
well aligned and with very little play.
– The play between drive, guide, mass and measuring
system must be smaller by a factor of 10 than the
required tolerance (max. 0.1 mm).

2-20 SPC200... 9904a

3. Installation

Chapter 3

Installation

SPC200... 9904a 3-1

3. Installation

Contents

3. Installation
3.1 General instructions on installation ............................................... 3-4
3.2 Instructions on pneumatic installation ........................................... 3-5
3.2.1 Pneumatic emergency stop circuit .............................................. 3-15
3.2.2 Tubing for slide and yoke operation............................................ 3-19
3.3 Installing the SPC200 .................................................................. 3-21
3.3.1 Selecting the power unit. ............................................................. 3-22
3.3.2 Connections of the power supply module ................................... 3-24
3.3.3 Connections of the diagnostic module ........................................ 3-30
3.3.4 Connections of I/O module SPC200-DIO-... ............................... 3-33
3.3.5 Connections of analogue input module type SPC200-2AI-U...... 3-42
3.3.6 Connections on the subcontroller module type
SPC200-SCU-AIF........................................................................ 3-45
3.4 Installing the modules on the axis interface string...................... 3-47
3.4.1 Installing the axis interface SPC-AIF-... ...................................... 3-51
3.4.2 Installing I/O function module SPC-FIO-2E/2A-M8 ..................... 3-56

3-2 SPC200... 9904a

3. Installation

Contents of This chapter describes how to fit the pneumatic axis

this chapter and how to fit the SPC200 basic unit with the following
components and modules:
– the power supply module type SPC200-PWR-AIF
– the diagnostic module type SPC200-MMI-DIAG
– the I/O modules type SPC200-DIO
– the reference value module type SPC200-2AI-U
– the subcontroller module type SPC200-SCU-AIF
– the axis interface type SPC-AIF-...
– the I/O function module type SPC-FIO-E/2A-M8
In addtion, the chapter contains important rules on set-
ting up an axis interface string.

Further Instructions on installing the field bus modules and mo-

information dules for coupling electric axes can be found in the ma-
nual for the relevant module.
Further information on electric positioning systems can
be found in the manual Electric positioning systems
type P.BE-ATP-... .

SPC200... 9904a 3-3

3. Installation

3.1 General instructions on installation

CAUTION
Use only the specially adapted components from
Festo for setting up and wiring the system. Only in
this way can you guarantee the correct functioning of
the system.

WARNING
Switch-off the following in the order specified before
carrying out installation and maintenance work:
1. the compressed air supply
2. the load and operating voltage supply to
the SPC200 and, if necessary, the load voltage
supply to the axis interface string.

In this way you will avoid:

– undesired movements of the connected actuators
– uncontrolled movement of loose tubing
– undefined switching states.

3-4 SPC200... 9904a

3. Installation

3.2 Instructions on pneumatic installation

PLEASE NOTE
Observe the following instructions on pneumatic
installation. Only then can you guarantee faultless
operation.

7
4

2 6 8
3
1
5
3

1-8 Instructions on installation see following pages

Fig. 3/1: Summary of pneumatic installation

SPC200... 9904a 3-5

3. Installation

1 Compressed air
• Use only dried, non-lubricated 5 µm filtered compres-
sed air at 4...8 bar, tolerance ± 1 bar. Please
observe the permitted pressure range of the compo-
nents used.
A service unit with a 5 µm filter is required for protecting
the proportional directional control valve against dam-
age.

2 Service unit
• Use a service unit consisting of a compressed air fil-
ter and a regulating valve (e.g. type LFR-...-D-... with
5 µm filter element) as well as a safety start-up valve
(e.g. HEL-...-...):
– without lubricator
– with a 5 µm filter
– with sufficiently large standard flow corresponding to
the air requirements of the connected axis when po-
sitioning. Guide value: twice the standard rated flow
of the valve (MPYE).
– Use a microfilter if you cannot avoid a small amount
of oil mist emerging from the compressed air source.

3-6 SPC200... 9904a

3. Installation

3 Compressed air tubing and connectors

• If possible, use screw connectors from the QS or
QSM series. In the case of drives with 3/8" connec-
tion, CK screw connectors of type CK-3/8-PK-13 can
also be used.
• Use only straight connectors. If angled connectors
cannot be avoided, use plug connectors from the
Festo Quick Star series.
• Use connectors with as large a width as possible. If
the connections of the valve and the cylinder are not
the same size, select the largest possible width for
the smaller size.
• Depending on the screw connectors, always use the
largest possible tubing diameter.
• Do not use restrictors.
• Lay the cables so that they do not obstruct the posi-
tioning range.
• Use only clean compressed air tubing and screw
connectors.
• Keep the tubing as short as possible.
Details on the permitted temperature and pressure
ranges of tubing and connectors can be found in the
Pneumatics Catalogue.

Variations in pressure of max. 1 bar are permitted for

good positioning behaviour during operation at the pro-
portional directional control valve. A measuring point
can be provided directly before the proportional direc-
tional control valve for checking the stability of the sup-
ply pressure.

SPC200... 9904a 3-7

3. Installation

4 Compressed air reservoir

• Install a compressed air reservoir (e.g. type VZS-...-
B) between the service unit and the proportional di-
rectional control valve if the positioning behaviour
does not meet with your requirements and if you
ascertain variations in pressure of over 1 bar at the
measuring point during operation.
In this way you will minimise variations in pressure dur-
ing operation. You may be able to overcome slight ex-
cesses in the permitted pressure by using a supply line
with a larger cross section.

Reservoir volumes

The volume of the reservoir depends on the cylinder

volume of the drive used and should be at least twice
as large as the volume of the cylinder used.

VP = 2 * VZ

VP= Buffer volume;

VZ= Cylinder volume (VZ = r 2 * π * LZ)
LZ= Cylinder stroke length
r = Cylinder diameter / 2

3-8 SPC200... 9904a

3. Installation

5 Proportional directional control valve

Recommendation: Use only suitable cylinder-valve
combinations. The diagram below shows permitted pro-
portional directional control valves for cylinders of type
DGP...-... and DGO-....

3
1
2
Proportional directional control valve type MPYE-5-...-010B

3
Cylinder diameter
Cylinder length

Fig. 3/2: Suitable valve/cylinder combination

SPC200... 9904a 3-9

3. Installation

• Install the proportional directional control valve as

close as possible to the cylinder. Short compressed
air tubing will ensure proper system dynamics.
• In environments with strong electrical interference, in-
sulate the proportional directional control valve from
the mounting surface.
• Mounting on moving components:
Mount the proportional directional control valve at
right angles to the direction of movement. Accelera-
tion forces will then have no effect on the valve slide
setting.

1 2
3

1
2
Mounting at right angles to the direction of movement

3
Not permitted
Proportional directional control valve MPYE-...

Fig. 3/3: Mounting on moving parts

Instructions on connecting the tubing with slide and

yoke operation can be found in section 3.2.2. Instruc-
tions on the pneumatic emergency stop circuit can be
found in section 3.2.1.
• Use silencers with high nominal flow rate
(e.g. U-1/8).

3-10 SPC200... 9904a

3. Installation

Reducing high exhaust noises

• Install larger silencers with the aid of tubing or con-
duct the exhaust air into a small air reservoir and
vent this with a large silencer. Ensure that there is a
sufficient flow rate through the connectors and the
tubing (in the case of the PUN-8 tubing length max.
1 m).

1 2

3
1 3
2
Ducted exhaust air Silencer
Compressed air reservoir

Fig. 3/4: Ducted exhaust air

6 Cylinder
Use only permitted cylinders of type DGP...-... or DGO-
... with suitable guide. Other cylinders may only be
used after agreement with Festo.

Use maximum 80% of the cylinder length as the work-

ing stroke. In the case of cylinders with adjustable
cushioning (...-PPV), the working stroke must not pro-
ject into the range of the PPV as this would prevent
good positioning. Details on the cushioning length can
be found in the Pneumatics Catalogue.
• Carefully loosen completely the adjusting screws for
the internal end position cushioning.

SPC200... 9904a 3-11

3. Installation

CAUTION
Limit the range of movement with end stops so that
the measuring system covers the whole positioning
range. In this way you will protect the measuring
system from damage.

1
2
3

1 3
2
Cylinder length End stop
Working stroke (80%), outside of PPV

3/5: Permitted working stroke

• In the case of DGP(L) cylinders, use a double-sided

air supply for cylinders longer than 600 mm, in order
to ensure good positioning behaviour.
• Lubricate the cylinder guides in accordance with the
maintenance intervals indicated in the operating in-
structions for the cylinder or for the guide.
Requirements in respect of play
– The cylinder, guide, measuring system and load must
be almost rigidly fixed in the direction of movement,
be relatively free of play and correctly aligned with
each other.
– If required, select an adequately large energy supply
in order to minimise the effect of bending forces on
the positioning behaviour.

3-12 SPC200... 9904a

3. Installation

7 Mass load
The pneumatic axis must be operated with a permitted
mass load for good positioning behaviour. The mass
load represents the total mass including the weight of
the piston and slide to be moved. It comprises the tool
load and the current work load.

The permitted mass load depends on:

– the cylinder diameter used,
– the fitting position,
– the operating pressure.
You can determine the permitted mass load with the aid
of the following table:

Fitting Maximum mass load Minimum mass load

position
horizontal mmax 0.1 * mmax
(α = 0°)
vertical 0.33 * mmax 0.1 * mmax
(α = 90°)
diagonal (1-2/3 sin α) * mmax 0.1 * mmax
(0° < α < 90°)
α = Fitting position in [°]
mmax = d2 * Psys * 0.008
d = Cylinder diameter [mm]
Psys = Supply pressure [bar]
mmax = maximum mass load for horizontal
fitting position [kg]

SPC200... 9904a 3-13

3. Installation

Make sure that:

– the tool load is geater than or equal to the deter-
mined minimum mass load. During positioning with-
out work load the mass load will not therefore be
lower than the minimum value (recommendation). If
necessary, use an appropriate basic load.
– the work load together with the tool load does not
exceed the determined maximum mass load.
– modifications to the mass during operation are taken
into account with command M37.

8 Measuring system
• Use only measuring systems of type MLO-POT-...-
TLF or MME-MTS-...-AIF or cylinders with integrated
measuring system type DGPI(L)-...-AIF.
• If you wish to mount a linear potentiometer with slide
under difficult ambient conditions (dusty environ-
ment), mount it so that the side with the actuating
slide faces downwards. The double-sided drip edge
will then prevent excessive soiling of the sliding sur-
face.
• Fit the linear potentiometer so that it is electrically
insulated from the mounting surface. Use the clamp-
ing brackets provided.

PLEASE NOTE
The positioning accuracy which can be achieved de-
pends on the type of measuring system used.

3-14 SPC200... 9904a

3. Installation

3.2.1 Pneumatic emergency stop circuit

In order to put the system into a safe state in the event
of a breakdown, a pneumatic emergency stop circuit is
required. Choose one of the following methods,
depending on the constructional and operational
characteristics of your system:
– Cylinder at zero pressure during emergency stop
– Piston clamped during emergency stop
– Piston moves throttled to the left or right end position
during emergency stop.

SPC200... 9904a 3-15

3. Installation

Emergency stop with shut-off valve

To switch the operating pressure on and off a shut-off
valve can be fitted between the maintenance unit and
the proportional directional control valve.

1 Shut-off valve for emergency stop

Fig. 3/6: Switching off the operating pressure

3-16 SPC200... 9904a

3. Installation

Universal emergency stop circuit

Fig. 3/7: Universal emergency stop circuit

SPC200... 9904a 3-17

3. Installation

The emergency stop circuit shown in Fig. 3/7 enables

all possible emergency stop variants. The behaviour of
the cylinder depends on whether you close connection
3 of shut-off valves 1.2 and 1.3, or connect compressed
air or a flow control valve with a silencer.

Behaviour of Connection 3 of valve 1.2 Connection 3 of valve 1.3

cylinder

Cylinder pressureless Connect flow control valve with Connect flow control valve with
silencer 1) silencer 1)

Piston clamped Close with plug Close with plug

Right end position Connect compressed air Connect flow control valve with
silencer

Left end position Connect flow control valve with Connect compressed air
silencer

1) Flow control valves reduce the impact force if an EMERGNCY STOP valve does not
function correctly.

3-18 SPC200... 9904a

3. Installation

3.2.2 Tubing for slide and yoke operation

Some linear units are suitable for either slide or yoke
operation. Note that the linear unit must be fitted with
tubing in accordance with the method of operation of
your system. When compressed air is applied via 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 via port 2, the slide must
move away from the measuring system zero point.

PLEASE NOTE
The tubing must also be correct if you are using
cylinders with unilateral air connection.

Slide If the valve is mounted parallel to the measuring system

operation and the tubing is not to be crossed, the electrical con-
nections of the two devices must be on the same side.

1
1 Electrical connection

Fig. 3/8: Tubing in slide operation

SPC200... 9904a 3-19

3. Installation

Yoke If, in yoke operation, the measuring system slide is con-

operation nected with the slide of the linear unit, the electrical
connections of both devices must be on the same side
as with slide operation (compare figs. 3.8 and 3.9).

2 4

1 Electrical connection

Fig. 3/9: Tubing in yoke operation with measuring

system

3-20 SPC200... 9904a

3. Installation

3.3 Installing the SPC200

WARNING
Switch of the following in the order specified before
carrying out installation and maintenance work:
1. the compressed air supply
2. – the load voltage supply for the field devices
and proportional directional control valves
(plug X2, pin 1).
– the load voltage supply for the outputs
(plug X6/X8, pin 8)
– if necessary, the load voltage supply for the
axis interface string.
– the operating voltage supply for the internal
electronics for the SPC200 and field devices
(plug X2, pin 2).

In this way you will avoid:

– undesired movements of the connected actuators
– uncontrolled movement of loose tubing
– undefined switching states.

PLEASE NOTE
Mark the cables connected to the SPC200. In this
way you can avoid confusion with similar plugs
during conversion work.

SPC200... 9904a 3-21

3. Installation

3.3.1 Selecting the power unit.

WARNING
Use only power units which guarantee reliable
isolation of the operating voltages as per IEC
742/EN 60742/VDE 0551 with at least 4 kV isolation
resistance (protected extra low voltage, PELV).
Switch power packs are permitted if they guarantee
reliable isolation in accordance with EN 60950/VDE
0805.

By using PELV power units, protection against electric

shock (protection against direct and indirect contact) in
accordance with EN 60204-1/IEC 204 is guaranteed on
Festo valve terminals. Safety transformers with the ad-
jacent designation must be used for supplying PELV
networks. The valve terminals must be earthed in order
to ensure their function (e.g. EMC).

Recommendation:
• Use a closed loop power unit.
• Select a power unit which has sufficient output for
further extensions.
• The current consumption depends on the number
and type of components connected. When selecting
the power unit, check that it has sufficient output.
Calculate the total current consumption according to
the following table.

3-22 SPC200... 9904a

3. Installation

Current consumption at pin 1 of module SPC200-PWR-AIF

Current consumption of basic load of the electronic 500 mA
components
Load current consumption of simultaneously acti- + _____ A
vated outputs on module SPC200-DIO1)
Sum of load current consumption of all proportional + _____ A
directional control valves (appprox. 1.2 A je MPYE-...)
Load current consumption of all simultaneously acti- + _____ A
vated CPV valve coils on the axis
interface string 1) 2)
Load current consumption of all simultaneously acti- + _____ A
vated outputs on the axis interface string 1) 3)
Sum of current consumption at pin 1 = _____ A ______ A
Current consumption at pin 2 of module SPC200-PWR-AIF
Current consumption of internal electronics
of the SPC200
- SPC200-CPU-4 (400 mA) + _____ A
- SPC200-CPU-6 (600 mA)
Current consumption of all sensors connected to mo-
dules SPC200-DIO (see manufacturer specifications)
+ _____ A
Current consumption of all modules which are sup-
plied with current via the axis interface strings (logic + _____ A
voltage)
Sum of current consumption at pin 2 = _____ A +______ A
Total current consumption =______ A

1) Separate power supply possible or necessary

2) Current consumption depends on valve type (see Technical Specifications for valves)
3) Internal consumption at logic 1 see Technical Specifications for modules

SPC200... 9904a 3-23

3. Installation

3.3.2 Connections of the power supply module

On the front of power supply module type SPC200-
PWR-AIF you will find the following connecting and dis-
play elements:

2
3
4
5

1
2
Power supply module type SPC200-PWR-AIF

3
Combicon screw terminal for axis interface string (X1)

4
ERROR-LED for error display (red)

5
POWER-LED for power supply green)
3-pin Combicon screw terminal for power supply (X2)

Fig. 3/10: Connecting and display elements of the

power supply module

3-24 SPC200... 9904a

3. Installation

Operating voltage connection (X2)

The following components are supplied with + 24 V DC
via the operating voltage connection (X2):
– the load voltage supply for field devices and the pro-
portional directional control valve, with emergency
stop circuit; pin 1: + 24 V DC, tolerance -5 %/+25 %
– the internal electronics of the SPC200, of the con-
nected modules and measuring systems;
pin 2: + 24 V DC, tolerance -5 %/+25 %

PLEASE NOTE
In the case of the power supply and load voltages,
the tolerance of - 5 % to + 25 % must be observed
for both current circuits.

PLEASE NOTE
Check your EMERGENCY STOP circuit to see
which measures are necessary to place your
machine/system in a safe state in the event of an
EMERGENCY STOP (e.g. switching off the load
voltage, pressure).

• Check the 24 V operating voltage of the outputs whi-

le your system is operating. Note that the operating
voltage of the outputs must lie within the permitted
tolerances even during full operation.

SPC200... 9904a 3-25

3. Installation

The diagram below shows the pin assignment of the

operating voltage connection on the power supply mo-
dule.

1
2
3

4
Connection cross section area max. 1.5 mm2

1
2
24 L: 24 V load supply (can be switched off separately)

3
24 V: 24 V supply for internal electronics

4
0V
Earth/ground connection (M4 thread)

Fig. 3/11: Operating voltage connection (X2)

Earth/ground The SPC200 has earth connections on the left and right
connection hand sides of the rack.

PLEASE NOTE
Connect one of the earth cables of the SPC200 with
low impedance (short cable with large cross-
sectional area) to the earth potential.

In this way you can avoid faults caused by electromag-

netic interference.

3-26 SPC200... 9904a

3. Installation

Example of connection
The following illustration shows the connections to pin 1
and pin 2 of a common 24 V supply. Note that
– the tolerance limits for the load supply and circuit
supply must not exceed 24 V DC -5 % +25 %;
– in the case of the load supply, the voltage tolerances
for the components connected to the axis interface
string must also be observed.

0 V 24 V

1
24 L
24 V
0V

1 Load supply (can be switched off separately)

Fig. 3/12: Example – Connecting a common

24 V power supply

SPC200... 9904a 3-27

3. Installation

Plug for axis interface string (X1)

CAUTION
Use the special cable from Festo (type KSPC-AIF-...)
for connecting the axis interface.
Note the maximum permitted cable lengths on the
axis interface string (see section 3.4).

In this way you will avoid faults in the SPC200 and in

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 5-pin plug of the power supply module.

3-28 SPC200... 9904a

3. Installation

The KSPC-AIF-... connecting cable is supplied ready

fitted with a 5-pin screw terminal..

CAUTION
The axis interface connection does not have
protection against incorrect polarity. Make sure that
the contacts are correctly assigned if, for example
you connect the screw terminal yourself after
shortening the cable.

1
2
3
4
5
6
Pin assignment and wire colours of cable type KSPC-AIF-...

1 4
2 5
CAN-LOW (brown) 0 V (green)

3 6
CAN-HIGH (white) 24 V load voltage (grey)
24 V (yellow) Earth connection

Fig. 3/13: Pin assignment of the plug for the first

axis interface string (X1)

Connect the cable screening to the earth connection

6
( ).

SPC200... 9904a 3-29

3. Installation

3.3.3 Connections of the diagnostic module

You will require a diagnostic module type SPC200-MMI-
DIAG for commissioning, programming and diagnosing.
This diagnostic module offers the following serial inter-
faces:
– a connection for control panel type SPC-MMI-1;
– a connection for a PC. This serial interface is de-
signed as a 9-pin Submin-D plug and complies with
standard RS-232.

The serial interface is operated with the following set-

tings:
– Baud rate: 9.6 ... 115.2 kBaud
– Data bits: 8 bits
– Parity: even
– 1 stop bit
– No handshake

To connect a PC you will require:

– a screened connecting cable (e.g. Festo diagnostic
cable type KDI-PPA-3-BU9)
– a PC with serial interface (RS-232) and with Win-
PISA programming and commissioning software type
P.SW-WIN-PISA-.....

3-30 SPC200... 9904a

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.

You will then avoid faults in data transmission.

5
3
2

2
3
Pin 2: Received data (RxD)

5
Pin 3: Transmitted data (TxD)
Pin 5: Signal ground (SGND)

Fig. 3/13: Pin assignment of serial interface (X4)

Connect the diagnostic cable as follows:

– the 9-pin plug to the 9-pin socket on the diagnostic
module
– 25-pin or 9-pin socket on the serial interface of your
PC.

SPC200... 9904a 3-31

3. Installation

The control panel type SPC200-MMI-1 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 placed on
the interface when the power supply is switched on.
Make sure that the power supply is switched off
before the control panel is connected.

Fig. 3/15: Pin assignment of MMI socket (X3)

3-32 SPC200... 9904a

3. Installation

3.3.4 Connections of I/O module SPC200-DIO-...

You will require an I/O module type SPC200-DIO-.... for
controlling the SPC200 via digital I/Os. This I/O module
has 10 digital inputs and 8 digital outputs for the follow-
ing functions:
– providing digital I/Os for controlling the SPC200 (only
if no field bus module is fitted)
– providing freely programmable digital I/Os for control-
ling peripherals.

PLEASE NOTE
Maximum 3 I/O modules are permitted to operate
on the field bus. Without a field bus module, 4 I/O
modules can be fitted into a rack.

The logical functions of the digital inputs/outputs de-

pend on the operating mode selected. Freely pro-
grammable I/Os are only available in start/stop mode.

Control via digital I/Os or I/O modules is only possible if

no field bus module is installed. Identification of inserted
modules takes place automatically, starting with the
power supply module from left to right. The following
diagrams show the assignment of plug X5/X7 and plug
X6/X8 (inputs).

SPC200... 9904a 3-33

3. Installation

Inputs

1
2
3

"

Connection cross section area max. 1.5 mm2

1
2
24 V sensor supply (non floating)

3
0 V (non floating)
0: input 0

"
...
9: input 9

Fig. 3/16: Assignment of plug X5/X7 (inputs)

24 V ± 25 %

1
24 V
0V
0V
0
1
2
2
...

3
9

1 3
2
Three-wire sensor Contact
Two-wire sensor

Fig. 3/17: Example of circuitry (PNP inputs)

3-34 SPC200... 9904a

3. Installation

Outputs

8 9
0
Connection cross section area max. 1.5 mm2

1
2
0: output 0

8
...

9
7: output 7

0
24 V external supply for outputs
0 V external supply for outputs

Fig. 3/18: Pin assignment of plug X6/X8 (outputs)

0
1 2 1
2
... 3
4
7 24 V DC

0V AC

1 3
2 4
Example 1 Not permitted
Example 2 Load voltage

Fig. 3/19: Example of circuitry (outputs X6/X8)

How to supply the load voltage for plugs X2 and X6/X8

via one power unit is shown in Fig. 4/1.

SPC200... 9904a 3-35

3. Installation

Addressing
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 0.0 ... 0.9 will remain unas-
signed. The assignment of I/O addresses for configura-
tion with and without a field bus module is shown in the
following table.

Configuration without Configuration with Maximum address range

field bus module field bus module
1)
First I/O module - I0.0 ... I0.9 Q0.0 ... Q0.7 1)

I/O module on first axis interface string I1.0 ... I1.15 Q1.0 ... Q1.15

Second I/O module First I/O module I2.0 ... I2.9 Q2.0 ... Q2.7

I/O module on second axis interface string I3.0 ... I3.15 Q3.0 ... Q3.15

Third I/O module Second I/O module I4.0 ... I4.9 Q4.0 ... Q4.7

Fourth I/O module Third I/O module I5.0 ... I5.9 Q5.0 ... Q5.7
2)
- Field bus module I10.0 ... I13.15 Q10.0 ... Q13.152)

1) Address range not available if a field bus module is used

2) Address range not available without field bus module

If no field bus module is installed, certain I/Os are pre-

assigned on the first identified I/O module, depending
on the operating mode.

3-36 SPC200... 9904a

3. Installation

Basic rules
If several I/O modules are fitted in a rack, you should
observe the following:
– The I/O module inserted on the left, nearest to the
power supply module, is the first I/O module. Further
I/O modules are counted from left to right.
– If no field bus module is fitted, the first I/O module
provides five freely programable inputs and three
freely programmable outputs and the I/Os for control-
ling the SPC200 (I0.0 ... I0.9 and Q0.0 ... Q0.7). The
I/Os of further I/O modules are freely programmable.
– If a field bus module is fitted, 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 programmable.
Explanations of the I/O control signals in the relevant
operating mode can be found in chapter 5.

SPC200... 9904a 3-37

3. Installation

Pin assignment of front plug X5 for the first I/O module

for operation without a field bus module

If no field bus module is fitted, the first I/O module will

provide the following control inputs:

Inputs with control function

Pin no. Designa- Address2) Start/stop mode Record selection mode
tion1)
1 24 V - 24 V sensor supply (non floating)
2 0V - 0 V (non floating)
3 0 I0.0 REC_BIT 1
4 1 I0.1 REC_BIT 2
5 2 I0.2 freely programmable REC_BIT 4
6 3 I0.3 REC_BIT 8
7 4 I0.4 REC_BIT 16
8 5 I0.5 SYNC_IB CLK_B
9 6 I0.6 SYNC_IA CLK_A
10 7 I0.7 STOP STOP
11 8 I0.8 START/RESET3) RESET3)
12 9 I0.9 ENABLE ENABLE

1) Designation on the module

2) Addresses of the first installed I/O module with configuration without field bus module
(I = input)
3) RESET (Program reset) in conjunction with 0-signal at STOP input

3-38 SPC200... 9904a

3. Installation

Pin assignment of front plug X6 for the first I/O module

for operation without a field bus module

If no field bus module is fitted, the first I/O module will

provide the following control outputs:

Outputs with control function

Pin no. Designa- Address2) Start/stop mode Record selection
tion1) mode3)
1 0 Q0.0 -
freely programmable.
2 1 Q0.1 -
3 2 Q0.2 -
4 3 Q0.3 MC_B RC_B
5 4 Q0.4 MC_A RC_A
6 5 Q0.5 SYNC_OB ACK_B
7 6 Q0.6 SYNC_OA ACK_A
8 7 Q0.7 READY READY
9 24 V 24 V external supply for outputs
10 0V 0 V external supply for outputs

1) Designation on the module

2) Addresses of the first installed I/O module with configuration without field bus module
(Q = output)
3) No freely programmable I/Os are supported in this operating mode

SPC200... 9904a 3-39

3. Installation

General pin assignments for I/O modules without spe-

cial control functions

The word number (here x) depends on the configura-

tion of the SPC200.

Configuration Word
number x
Without With
field bus module field bus module

Second I/O module First I/O module 2

Third I/O module Second I/O module 4

Fourth I/O module Third I/O module 5

Inputs without control function

Pin no. Designa- Address2) Start/stop mode Record selection mode3)
tion1)
1 24 V - 24 V sensor supply (non floating)
2 0V - 0 V (non floating)
3 0 Ix.0 -
4 1 Ix.1 -
5 2 Ix.2 -
6 3 Ix.3 -
7 4 Ix.4 freely programmable -
8 5 Ix.5 -
9 6 Ix.6 -
10 7 Ix.7 -
11 8 Ix.8 -
12 9 Ix.9 -

1) Designation on the module

2) The word number (here x) depends on the configuration
3) Freely programmable I/Os are not supported in this operating mode

3-40 SPC200... 9904a

3. Installation

General pin assignments for I/O modules without spe-

cial control functions

The word number (here x) depends on the configura-

tion of the SPC200.

Configuration Word
number x
Without With
field bus module field bus module

Second I/O module First I/O module 2

Third I/O module Second I/O module 4

Fourth I/O module Third I/O module 5

Outputs without control function

Pin no. Designa- Address2) Start/stop mode Record selection mode3)
tion1)
1 0 Qx.0 -
2 1 Qx.1 -
3 2 Qx.2 -
4 3 Qx.3 -
freely programmable
5 4 Qx.4 -
6 5 Qx.5 -
7 6 Qx.6 -
8 7 Qx.7 -
9 24 V - 24 V external supply for outputs
10 0V - 0 V external supply for outputs

1) Designation on the module

2) The word number (here x) depends on the configuration (Q = output)
3) No freely programmable I/Os are supported in this operating mode

SPC200... 9904a 3-41

3. Installation

3.3.5 Connections of analogue input module type SPC200-2AI-U

Two such modules can be fitted into the basic unit
SPC200-CPU-6. Each module has two differential in-
puts. The first module (on the left) provides differential
inputs 1 and 2, the second module provides differential
inputs 3 and 4. This module enables positions to be
specified in the form of a voltage (0 ... 10 V).

Differential inputs 1,2 and 3,4

9
Connection cross section area max. 1.5 mm2
1 5
2 6
REF: 10 V reference voltage (output) REF: 10 V reference voltage (output)

3 7
GND GND

4 8
A1+: signal (+) A2+: signal (+)

9
A1-: signal (-) A2-: signal (-)
Earth connection

Fig. 3/20: Reference input value module type SPC200-2AI-U (X9)

The analogue inputs can be assigned to any axes and

activated by appropriate commands in the positioning
program. Several reference input values are supported
by this program (e.g. continuous position monitoring, in-
dividual positioning etc.).

3-42 SPC200... 9904a

3. Installation

The voltage range is 0-10 V. With the aid of the analo-

gue reference value input, you can determine by pro-
gram any range for positioning within the possible posi-
tioning range of the axis. The voltage value and the
position have the following relationship to each other:

Voltage Description
0V Smallest position value
... ...
... ...
10 V Largest position value

Connecting analogue sensors

WARNING
Improper installation can lead to operating faults and
e.g. cause undesired movements of the actuators.
Please observe the installation instructions below:

• Use a screened cable twisted in pairs for the

analogue reference value specification.
• Do not place cables in the vicinity of or parallel to
cables with high interference levels. If necessary, use
separate cable channels or bundles or even use se-
parate cables.
• Always connect the screening for analogue signal
cables on one side to the earth conductor (pin 9).
Recommendation: Use short signal cables wherever
possible. The maximum length of the cable should not
exceed 4 m.

SPC200... 9904a 3-43

3. Installation

Circuitry for connecting a differential signal

3 SPC200-2AI-U

4
1 A1- [A2-]

2 A1+ [A2+]

1 3
2 4
Signal (-) Screening/shield
Signal (+) Earth conductor

Fig. 3/21: Connecting a differential signal

Circuitry for connecting a potentiometer

2 SPC200-2AI-U

4
1 R
REF

A1+ [A2+]

A1- [A2-]
GND

1 3
2
Potentiometer Earth conductor
Screening/shield

Fig. 3/22: Connecting a potentiometer

3-44 SPC200... 9904a

3. Installation

3.3.6 Connections on the subcontroller module type

SPC200-SCU-AIF
In its basic design, the SPC200 can control the posi-
tioning of two pneumatic axes. With the subcontroller
module, maximum four pneumatic axes can be oper-
ated with just 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 are permitted for each
axis interface string.

CAUTION
Use the special cable from Festo (type KSPC-AIF-...)
for connecting the axis interface.
Please observe the maximum permitted cable
lengths on the axis interface string (see section 3.4).

In this way you will avoid malfunctioning of both the

SPC200 and the modules connected to the axis inter-
face string.

The bus signals, the operating voltage and the load

voltage for the connected field devices are supplied via
the 5-pin plug on the power supply module. The con-
necting cable type KSPC-AIF-... is supplied ready to
use and fitted with a 5-pin screw terminal.

CAUTION
The axis interface connection is not protected
against incorrect polarity. Make sure that the connec-
tions are correct, if, e.g. you fit the screw terminal
yourself after shortening the cable.

SPC200... 9904a 3-45

3. Installation

7
1
2
3
4
5
6
Pin assignment and core colours of cable type KSPC-AIF-...

1 5
2 6
CAN-LOW (brown) 24 V load voltage (grey)

3
CAN-HIGH (white) Groove with inserted

4 7
24 V (yellow) coding pin
0 V (green) Earth connection

Fig. 3/23: Pin assignment of the plug for the second

axis interface string (X10)

Connect the cable screening to the earth connection

6
( ).

PLEASE NOTE
In order to avoid confusion between connections X10
and X1, assign different codes to the connections. In-
sert the coding pins supplied into different grooves in
the connector strips. Remove the appropriate plastic
lugs from the relevant plugs.

3-46 SPC200... 9904a

3. Installation

3.4 Installing the modules on the axis interface string

WARNING
Cables with high levels of interference can cause
electromagnetic faults. Do not, therefore, place the
following in the vicinity of such cables:
- CP cable
- measuring system cable
- proportional directional control valve cable.

PLEASE NOTE
Connect the earth/ground connection of the modules
with low impedance (short cable with large diameter)
to the earth potential.

In this way, you will avoid interference caused by elec-

tromagnetic influences.

SPC200... 9904a 3-47

3. Installation

Basic rules You must observe the following basic rules when the
modules are installed on the axis interface string:

1) Maximum length of string

– The maximum permitted string length is 30 m.

2) External load voltage supply

– If the following modules are used, the external load
voltage supply module type SPC-AIF-SUP-24V must
be installed directly before the relevant module:
- I/O function module (type SPC-FIO-2E/2A)
- with 2-axis systems: CP valve terminal
(type CPV...)
A load-dependent drop in voltage occurs at the axis
interface. With incorrect installations this can lead to a
drop in the load voltage 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 can be connected to the last axis
interface.

4) Terminating resistor
– If a CP I/O module, a CP valve terminal or an axis
interface is at the end of the axis interface string, the
plug with integrated terminating resistor type KABS-
M9-R100 must be installed in the outgoing CP cable
(e.g. connection OUT) of this module.

3-48 SPC200... 9904a

3. Installation

Special accessories are available for CP input modules.

A terminating resistor is already fitted into 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
relevant module. Instead of a CP valve terminal, a CP
output module type CP-AO8-M12 can also be installed.

SPC200 SPC200

1 1
SPC-AIF-... SPC-AIF-...

2 3
2)
SPC-AIF-SUP-24V CPV-...-VI-FB-...

SPC-FIO-2E/2A
2
CP-E16-M...

1 1)
3 1)

2
max. 8 m max. 2 m
max. 8 m
1) Without external load voltage supply
2) Without external load voltage supply only type CPV10-VI-FB-6
or type CPV14-VI-FB-6 is permitted

Fig. 3/24: Maximum permitted cable lengths on the axis

interface string (single-axis systems)

SPC200... 9904a 3-49

3. Installation

SPC200 SPC200 SPC200

1 1 3
SPC-AIF-... SPC-AIF-... SPC-AIF-...

1 3 1
SPC-AIF-... SPC-AIF-... SPC-AIF-...

2 2 2
SPC-AIF-SUP-24V SPC-AIF-SUP-24V SPC-AIF-SUP-24V

SPC-FIO-2E/2A CPV-...-VI-FB-... CPV-...-VI-FB-...

2 2
CP-E16-M... CP-E16-M...

1 1)
3 max. 5 m 1)
2
max. 8 m
max. 8 m
1) Without external load voltage supply

Fig. 3/25: Maximum permitted cable lengths on the axis interface string
(two-axis systems)

3-50 SPC200... 9904a

3. Installation

3.4.1 Installing the axis interface SPC-AIF-...

WARNING
Interference due to electromagnetic sources is liable
to cause sudden compensatory movements of the
axis. Follow the installation procedure below in order
to prevent this electromagnetic interference.

– Connect the earth connection of the axis interface

with low impedance (short cable with large diameter)
to the earth potential.
– Do not lay any axis interface cables, CP cables,
measuring system cables or proportional directional
control valve cables near or parallel to cables with
high interference levels.
– Use only original cables. Attach the plug with the
help of the union nut, so as to avoid any uninten-
tional slackening caused by oscillation etc.
– Seal any unused connectors with the protective caps
provided. Only then is the IP 65 type of protection
ensured.

PLEASE NOTE
Maximum two axis interfaces may be connected to
an axis interface string. Interface types for different
measuring systems may be mixed here.

SPC200... 9904a 3-51

3. Installation

The axis interface forms the connection between the

components on the axis and the SPC200. It loads the
values supplied by the measuring system and passes
these on to the SPC200. It also transmits the received
positioning values in analogue form to the proportional
directional control valve.

The diagram below shows the connections on the axis

interface.

2 3 4
1

7 6
1 5 ERROR-
2 6 Valve
Earth connection LED (red)

3
Connection for axis interface string incoming (IN) connection for

4 7 Measuring
POWER LED (green) MPYE-5-...-010-B
Connection for axis interface string, outgoing system
(OUT), for further field devices or terminating connection
resistor type KABS-M9-R100

Fig. 3/26: Connections on the axis interface

3-52 SPC200... 9904a

3. Installation

Connecting the axis interface to the SPC200

WARNING
Observe the maximum permitted cable lengths
between the individual modules on the axis interface
string and the SPC200 (see section 3.4).
Use only the original cables mentioned below for
connecting the axis interface.

Cable type Description

KSPC-AIF-1-WD-... Connecting cable for the first axis

KVI-CP-2-...*) Connecting cable for the second axis

or for I/O modules;
KVI-CP-1-...

*) can be used as drag chain

• Connect the axis interface for the first axis to the

5-pin screw terminal of the power supply module by
means of the plug marked IN.
• If required, connect the axis interface for the second
axis or for modules with inputs/outputs to the OUT
socket.
• If the axis interface is at the end of the axis interface
string, you must install the terminating resistor type
KABS-M9-R100 on the OUT connection.
• Fasten the plugs/sockets with the aid of union nuts to
avoid unintentional loosening, e.g. due to vibration.

SPC200... 9904a 3-53

3. Installation

Connecting the measuring system

The axis interface is designed for one of the following
measuring systems:

Axis interface Measuring system type

SPC-AIF-POT Analogue system
linear potentiometer type MLO-POT-...-TLF
SPC-AIF-MTS Digital systems
Temposonic type MME-MTS-...-TLF-AIF
or integrated system
type DGPI(L)-...-...-...-AIF

The measuring system cable is connected to the axis

interface. It has a fixed cable length of approx. 0.30 m.

PLEASE NOTE
Use only the original cable. Do not lengthen the
cable. By keeping the cable short, you can avoid
faults due to electromagnetic interference.

3-54 SPC200... 9904a

3. Installation

Connecting the proportional directional

control valve
The valve connection provides the electrical power sup-
ply for the valve and supplies the control voltage for
positioning the valve slide.

PLEASE NOTE
Use only the original cable type KMPYE-...

5 67

4
3 2 1

Pin assignment and core colours of cable Socket for valve

KMPYE-... (MPYE) on cable
KMPYE-...

2
3
0V (brown)

4
0V (green) 2 2 3

5
Nominal value V(s) (yellow) 3

6
GND (grey) 4

7
Not connected (pink) n.c.

1
24 V supply for valve (white)
24 V supply for valve (blue) 1 1 4
not connected (red) n.c.

Fig. 3/27: Valve connection

SPC200... 9904a 3-55

3. Installation

3.4.2 Installing I/O function module SPC-FIO-2E/2A-M8

WARNING
Interference due to electromagnetic sources is liable
to cause sudden compensatory movements of the
axis. Follow the installation procedure below in order
to prevent this electromagnetic interference.

– Connect the earth connection of the I/O function

module with low impedance (short cable with large
diameter) to the earth potential.
– Use only the type KVI-CP-2-.... cable supplied with
the unit to connect up the I/O function module. Se-
cure the plug with the union nut to prevent the plug
being accidentally loosened, e.g. as a result of being
shaken.

PLEASE NOTE
When connecting the I/O function module you will
need an SPC-EXT-PWR load voltage supply.
Note the maximum permitted cable lengths for the
axis interface string.

Use cable type M8-GSGD-... for connecting sensors

and actuators and plugs with union nuts of thread size
M8x1. Close off any unused connections with the pro-
tective caps supplied with the module. This is the mini-
mum required to comply with IP65.

3-56 SPC200... 9904a

3. Installation

The I/O function module can be connected as the last

module on the axis interface string. The necessary ter-
minating resistor is already fitted.

The I/O function module provides 2 inputs and 2 out-

puts for connecting sensors and actuators directly to
the axis. Additional functions such as gripping, lifting,
lowering and turning can be implemented with these
sensors and actuators.

The diagram below shows the display and connecting

elements of the I/O function module.

2 9
1 3

8 4
5
0
!
7 6
1 7
2 8
Label for PNP inputs Connection for axis interface string

3 9
Groove for labels (ISB6x10) Status LED (green)

4 0
Actuator connections (outputs) Protective cap

5 !
Status LED per output (yellow) Earth connection

6
Status LED per input (green) Type plate
Sensor connections (inputs)

Fig. 3/28: Connections on I/O function module SPC-FIO-2E/2A-M8

SPC200... 9904a 3-57

3. Installation

Pin assignment
The following diagrams show the pin assignment of the
sensor and actuator connections of the I/O function
module.

1 3 4 6
INPUT/OUTPUT
PNP

POWER

DIAG
0 OUTPUT 1

0 INPUT 1

2 5
1 4
2 5
Pin 1: output Qx.0 Pin 1: output Qx.1

3 6
Pin 2: not connected Pin 2: not connected
Pin 3: 0 V Pin 3: 0 V
1) module on AIF string 1: x=1; module on AIF string 2: x=3

Fig. 3/29: Pin assignment of the outputs

1 2 3

1 3
2
Example 1 Not permitted
Example 2

Fig. 3/30: Example of circuitry for outputs (PNP)

3-58 SPC200... 9904a

3. Installation

INPUT/OUTPUT
2 5
PNP

POWER

DIAG
0 OUTPUT 1

0 INPUT 1

3 1 6 4
1 4
2 5
Pin 1: 24 V Pin 1: 24 V

3 6
Pin 2: input Ix.0 Pin 2: input Ix.1
Pin 3: 0 V Pin 3: 0 V
1) module on AIF string 1: x=1; module on AIF string 2: x=3

Fig. 3/31: Pin assignment of inputs

1 2
3
1 3
2
Three-wire sensor (positive switching) Contact
Two-wire sensor (positive switching)

Fig. 3/32: Example of circuitry for inputs (PNP)

SPC200... 9904a 3-59

3. Installation

3-60 SPC200... 9904a

4. Commissioning

Chapter 4

Commissioning

SPC200... 9904a 4-1

4. Commissioning

Contents

4. Commissioning
4.1 Procedure for commissioning ........................................................ 4-5
4.2 Connecting a single axis system for initial commissioning ........... 4-9
4.3 Commissioning via the control panel .......................................... 4-16
4.3.1 Saving the hardware configuration.............................................. 4-16
4.3.2 Commissioning pneumatic axes.................................................. 4-20
4.3.3 Instructions on commissioning multi-axis systems...................... 4-38

4-2 SPC200... 9904a

4. Commissioning

Contents of This chapter deals with the commissioning of a pneu-

this chapter matic axis together with the SPC200 by means of con-
trol panel type SPC200-MMI-1.
Commissioning is described using, as an example, a
single axis system with control via an I/O module. The
basic method of procedure, as well as the explanation
of the I/O control signals, is also relevant for systems
equipped with a field bus module.

Further You should be familiar with the operating functions of

information the control panel before using it to carry out com-
missioning. Detailed information on this can be found in
chapter 6.
The WinPISA manual contains information on com-
missioning with WinPISA. Information on commissioning
the field bus or electric axes can be found in the ma-
nual for the relevant extension module.

SPC200... 9904a 4-3

4. Commissioning

WARNING
Before installation and maintenance work switch off
the following in the order specified:
1. the compressed air supply
2. the load and operating voltages on the SPC200
and, if necessary, the load voltage on the axis
interface string.

By doing this you will avoid:

– undesirable movements of connected actuators.
– uncontrollable movements of loose tubing.
– undefined switching states.

CAUTION
The SPC200 is factory set to certain axis and appli-
cation parameters. Before supplying compressed air,
these settings must be adjusted to suit your applica-
tion and the axes which you are using.

By doing this you will avoid:

– undesirable movements of connected actuators.

4-4 SPC200... 9904a

4. Commissioning

4.1 Procedure for commissioning

Install the components, as described in Chapter 2. In
assembling and installing the pneumatic components,
observe the installation recommendations in Chapter 3.
In doing so, make provision for a pneumatic emergency
stop circuit which will leave your equipment in a safe
condition in the event of faults.

Before switching on the compressed air or, where ap-

plicable, the power controller for electric axes, you must
feed information on the prevailing conditions of use and
the type of components in your positioning system to
the SPC200. You should make the necessary settings
with:
• the control panel
• the WinPISA software package
If you use the control panel for commissioning, you
must first familiarise yourself with the control panel
functions. You will find information on this in Chapter 6.

SPC200... 9904a 4-5

4. Commissioning

Commissioning steps
In order to commission axes, you must first create and
save the desired hardware configuration. The individual
axes and the complete system can then be commis-
sioned.

You must carry out the following steps when com-

missioning with the control panel:
1. Create the desired hardware configuration.
2. Save the hardware configuraton as the reference
configuration (see section 4.3.1).
3. Commission the connected axes (section 4.3.2).
4. Commission the complete system.
When the hardware configuration had been saved, the
individual axes can be configured and commissioned.
The following list shows the steps which are necessary
for commissioning penueumatic axes.

4-6 SPC200... 9904a

4. Commissioning

Commissioning penueumatic axes

The following list contains a summary of the activities
required for commissioning penueumatic axes when the
hardware configuration has been saved.
1. Set project-specific parameters.
Set all axis, application and configuration par-
ameters (see section 4.3.2, step 1).
2. Check tubing (optional).
Cappy out a movement test with the aid of the con-
trol panel or with WinPISA (see section 4.3.2, step
2).
3. Carry out static and, if applicable, dynamic identifica-
tion travel. During identification travel, system char-
acteristics such as friction, hysteresis, ability to ac-
celerate and brake are ascertained and saved (see
section 4.3.2, step 3).
4. If necessary, calibrate the measuring system (only
for potentiometer with WinPISA). Calibration
equalizes tolerances between the ascertained posi-
tion and the actual postion as a result of technical
factors in the system (see section 4.3.2, step 4).
5. Move the axis manually (optional). In this way you
can check the functioning of the controller as well as
the effectiveness of the set software end positions
(see section 4.3.2, step 5).

SPC200... 9904a 4-7

4. Commissioning

6. Enter the test program (see section 4.3.2, step 6).

7. Set the operating mode and starting programs (see
section 4.3.2, step 7).
8. Test the programs in single-step mode or in con-
tinuous mode. Observe here the positioning beha-
viour of the axis (see section 4.3.2, step 7).

Commissioning the complete system

When all the axes are ready for operation, you can
start commissioning the complete positioning system.
The steps required depend on the equipment fitted in
the positioning system.

The next section deals with the commissioning of a

pneumatic axis using the example of a single-axis sys-
tem without a field bus module.

4-8 SPC200... 9904a

4. Commissioning

4.2 Connecting a single axis system for initial commissioning

With some commissioning steps, the control signals
ENABLE, START and STOP are required for controlling
the axes.

If a fieldbus module is installed

WinPISA provides a test mode. In this test mode, you
can manipulate all the inputs and outputs without these
actually being switched.

The status of the READY output and of the ACK out-

puts (ACK_A, ACK_B, only in record select mode) used
by the system, is continually updated by the operating
system and cannot therefore be influenced.

If a fieldbus module is not installed

If a fieldbus module is not installed, the control signals

will be triggered via the first installed I/O module. The
following connection diagram shows the circuitry re-
quired in this case.

SPC200... 9904a 4-9

4. Commissioning

1 9 8 7 24 V

2 I0.9 I0.8 I0.7 -

3 RELEASE START/
RESET1)
STOP 24 V

1 3
2 4
Designation on plug X5 Function
Input address Load supply (can be switched of separately)
1) RESET (Program reset) in conjunction with 0-signal at STOP input

Fig. 4/1: Connection diagram for initial commissioning

4-10 SPC200... 9904a

4. Commissioning

CAUTION
• Leave the compressed air supply switched off.
• The SPC200 is factory set to certain axis and
application parameters. Before you apply com-
pressed air you must adjust these settings to your
application and to the axes which you are using.

By doing this you will avoid:

– undesired movements of the connected actuators.
Wire up the components as shown in Fig. 4.1. For the
sake of clarity, not all earthing measures are shown.

PLEASE NOTE
Incorrect or missing earth connections can cause
breakdowns. You should therefore always carry out
the earthing measures described in Section 3.3.1.

SPC200... 9904a 4-11

4. Commissioning

Explanation of the I/O signals

Enable The closed loop controller is enabled using the enable
input input. If this input is at 0 V, then the closed loop control-
ler is switched off. No further movement tasks are then
accepted. With the supply pressure switched off, the
axes can be moved manually.
If the enable input is again set to 24 V, the current posi-
tions become reference positions (controlled stop).

PLEASE NOTE
The valve slide adopts the mechanical centre posi-
tion if there is no load supply (emergency shut-off).
Because of the asymmetrical voltage-pressure
characteristic of the proportional
directional control valve, the cylinder slide may
slowly move to an end position when the supply
pressure is switched on.

0 V on the enable input causes:

– the controller to be switched off and the valve control
voltage to be reduced to an electrical medium value
(Offset).
No further movement orders will then be accepted.
– the READY output on the SPC200 will be reset (see
Fig. 4/2).

4-12 SPC200... 9904a

4. Commissioning

3 4
1
1
0
2 1
0
1 4
2
ENABLE input on the SPC200 Reaction time of the SPC200

3
READY output on the SPC200 - without stepping motor module: max. 10 ms
Reaction time max. 10 ms - with stepping motor module: max. 2 sec.
1 = 1-signal = 24 V; 0 = 0-signal = 0 V

Fig. 4/2: Time diagram of enable signal

This status is cancelled when there is a 1-signal at the

ENABLE input. The READY output is then set
automatically. If the output supplies a 1-signal, the pro-
gram sequence can be started or continued.

Stop input Processing of the current NC record can be stopped

using the Stop input. A positioning process in progress
will be interrupted. The current positions will become
reference positions (controlled stop).
The stop status is cleared by:
1. applying 24 V to this input.
2. re-starting the run, e.g. with a rising pulse edge at
the start input.

SPC200... 9904a 4-13

4. Commissioning

READY This output supplies a 1-signal, if the system is ready

output for operation. 0 V at this output indicates that there is a
system or positioning error, or the enable is missing.

Switch on power supply

WARNING
Leave the compressed air supply switched off. If the
compressed air is on, the connected actuators can
execute sudden equalising movements when the
power supply is switched on.
Make sure that no one can reach into the range of
movement of the moving object and that no
protruding objects are in the way.

– Switch on the power supply to the SPC200 and the

load supply.
After applying the supply voltage, the SPC200 will auto-
matically carry out an internal test. If the control panel
is plugged in, it will, in the event of an error, display the
current error number (see Section 8.2). When the
power supply is switched on the first time, the following
error code may be shown:

ERROR
NO. 00004001

In this case, neither the actual configuration of the

SPC200 nor the configuration on the axis interface
string are the same as the saved reference configura-
tion. Proceed as described in section 4.3.1 under Save
hardware configuration.

4-14 SPC200... 9904a

4. Commissioning

If there is no error, the POWER LED will light and the

control panel will show the initial display.

1 2

3
SPC200 Vnnn XY
SELECT WITH <>

Esc Enter

1
2
Operating version of the SPC200 (nnn = version number)

3
Currently configured axes (here X and Y axes)
Note: Use the <- -> keys to make your selection.

Fig. 4/3: Initial display of the control panel

The SPC200 is then ready for commissioning, which

you can carry out with the control panel or with the
WinPISA software package.

SPC200... 9904a 4-15

4. Commissioning

4.3 Commissioning via the control panel

If you wish to carry out commissioning with the control
panel, you should first make yourself familiar with the
functions of the control panel. For this, leave the com-
pressed air supply switched off. Section 6.1.1 provides
an overview of the menu system on the control panel.
Then proceed as follows:

4.3.1 Saving the hardware configuration

When the SPC200 is switched on, it assigns the axis
identification to the connected axes one after the other.
If modifications are made later to the axis configuration,
the axis identifications will be reassigned. In this case,
all the user data entered, such as parameters, pro-
grams and the position list, will become invalid.

CAUTION
In this case, all data entered will be reset as at de-
livery or deleted when the hardware configuration is
saved. Always create first the correct hardware con-
figuration. Save the hardware configuration before en-
tering data and programs.

With WinPISA you can read out programs and configu-

ration data from the SPC200 and save them in an
archive, if required.

4-16 SPC200... 9904a

4. Commissioning

The SPC200 makes a comparison during the start-up

phase to see if the current hardware configuration is the
same as the saved reference configuration. The mo-
dules installed as well as the string assignment are
checked here.

A fixed I/O address range is assigned to every I/O mo-

dule on the axis interface string. An axis identifier is
assigned to every axis interface and every stepping
motor indexing module or the axis connected to this
module.

Save To prepare for commissioning you must create and

configuration save the desired hardware configuration.
The SPC200 is prepared at the factory for automatically
saving the current hardware configuration during the
first starting phase. If you have connected the modules
to the axis interface string correctly before switching on
the first time, it will not be necessary to save the hard-
ware configuration manually.

SPC200... 9904a 4-17

4. Commissioning

If the actual configuration deviates from the saved refer-

ence configuration, proceed as follows:
1. Check that all modules are fitted, that all the mo-
dules on the axis interface string are correctly con-
nected and that the CP cable is secured correctly
with the union nut. Make sure that the power unit
has sufficient output.
2. Now switch on the operating voltage. The status
LEDs on the modules will then light up. If the current
hardware configuration is not the same as the con-
figuration saved, an appropriate error message will
appear (error code 0000 4001).
3. Check that all the status LEDs light up. These indi-
cate that the modules have been recognized cor-
rectly.
If required, you can ascertain the actual configuration
recognized during the starting phase by entering the
command ACTUAL CONFIG. in the menu CONFIG.
SYSTEM (see section 6.2).
4. If the actual configuration recognized is not what you
wish, switch off the power supply and create the
desired configuration.
5. If the actual configuration recognized is what you
desire, press any key to ackknowledge the error
message. The basic setting will then be shown
again.

4-18 SPC200... 9904a

4. Commissioning

6. Select the command SET CONFIGUR. in the menu

CONFIG. SYSTEM and press the Enter key.

SET CONFIGUR
SAVE CONFIGUR ?

7. Press the Enter key in order to save the actual con-

figuration as the reference configuration.
8. If modifications have been made to the axis configu-
ration, the following message will be shown.

RESTORE FACTORY
SETTINGS ?

PLEASE NOTE
This message indicates that all the data will be reset
to the delivery status. All data and programs entered
will therefore be lost.

9. Press the ESC key in order to discontinue. Or press

the keys Enter in order to delete all the data in the
SPC200 and to save the hardware configuration.
When the actual hardware configuration is saved, the
actual configuration will become the reference configu-
ration. The control panel will then again show the basic
setting.

SPC200... 9904a 4-19

4. Commissioning

4.3.2 Commissioning pneumatic axes

When you have created and saved the desired hard-
ware configuration, you can commission pneumatic
axes as follows:

Step 1 Setting project-specific parameters

Enter all project-specific parameters. These include:

Project-specific parameters Menu on control panel

Axis parameters AXIS PARAM.
Application parameters APPLIC. PARAM.
System configuration data CONFIG. SYSTEM

Leave the supply pressure switched off and proceed as

described in Section 6.2 "Setting project-specific
parameters".

When the SPC200 is commissioned the first time,

there must be a rising edge at the Enable input for
controller enable after the project-specific parameters
have been set. The controller is then enabled with a
1-signal, providing there is no system error.

4-20 SPC200... 9904a

4. Commissioning

Step 2 Checking the axis tubing (optional)

Check the tubing of the axes. In addition to a visual

check (see Section 3.2.2) or a check with the aid of
WinPISA you can also use the control panel. For this,
the command MOVEMENT TEST is available in the
TEST/DIAG. menu.

During the movement test you can alter the valve con-
trol voltage. With the supply pressure switched off, the
reaction of the valve spool can be observed in the view-
ing window of the valve and in this way the operability
of the valve can be checked.

Control signals required:

1-signal at ENABLE, STOP and READY.

CAUTION
During the movement test the closed loop controller
is switched off. Consequently the software end posi-
tions set by the application parameters are
ineffective.
Carry out the movement test with the supply pres-
sure switched on if possible without work load and
tool load and with a low supply pressure of not more
than 3 bar.

By doing this you will avoid:

– damage to the axis in the event of operating errors.

SPC200... 9904a 4-21

4. Commissioning

Proceed with the movement test as follows:

1. If necessary, remove the work load and tool load.
The mass with which movement is made should be
as low as possible, in order to keep the acceleration
forces low.
2. Set a pressure of a max. 3 bar and switch on the
supply pressure.
3. Select the submenu AXIS in the menu TEST/DIAG.
and press the Enter key.

TEST/DIAG. AXIS
X:

4. The cursor is positioned at the axis identifier. Select

the desired axis with the keys ↑ ↓. (here X) and
press the Enter key. The first command in the sub-
menu AXIS will then be shown.

TEST/DIAG. AXIS
JOG AXIS >

5. Now select the command MOVEMENT TEST with

the keys ← →.

TEST/DIAG. AXIS
MOVEMENT TEST >

4-22 SPC200... 9904a

4. Commissioning

6. Then press the Enter key. After this, the valve test is
switched on. This will set the valve voltage to 5
volts. The current valve voltage will be shown imme-
diately after the axis symbol.

MOVEMENT TEST
X:05.00 +0.01 ?

7. The valve voltage can be raised or lowered in 0.01

volt steps. Insert the desired sign with the ↑ ↓ keys.

Control voltage Direction of movement

> 5 volts negative (towards the cylinder basepoint)
< 5 volts positive

In order to overcome the static friction, the control volt-

age must be raised or lowered appropriately. The valve
voltage will then be raised or lowered in steps by 0.01
volt. If you press the ESC key, the control voltage will
be reset to 5.0 volts.
8. Hold the ENTER key pressed down until the slide
starts to move. Press the ESC key in order to stop
the slide.
Check the direction of movement of the slide during the
movement test (see under 7). Correct the tubing con-
nections if the slide does not move in the appropriate
direction (see also section 3.2.2). By pressing the ESC
key several times, you can return to the initial display.

SPC200... 9904a 4-23

4. Commissioning

Step 3 Carrying out identification travel

PLEASE NOTE
The positioning behaviour will probably be bad with-
out identification travel. If the axis parameters, the fit-
ting position and the supply pressure are modified,
the latter by more than 1 bar, the data ascertained
during identification will be lost. In these cases, there-
fore, new identification travel is necessary.

During identification travel, characteristic values of the

system are ascertained and saved. Before identification
travel can be carried out, the positioning system must
be ready for operation.

4-24 SPC200... 9904a

4. Commissioning

A distinction is made here between two types of system

identification:

Types Description
Static In static identification, parameters which
identification affect the behaviour of the system at the
beginning and end of a movement are
determined. These include static friction of
the cylinder and the valve properties in the
region of the mid position (valve
hysteresis).
Dynamic In dynamic identification, the maximum
identification attainable speed as well as the
- with work load acceleration and decelaration capacity of
- without work load the drive system are determined. To use
axes which are to travel at maximum
speed (NC command G00), this
identification must first be carried out. If
considerable modification to the mass
occurs during operation, it should be
carried out both with and without work load.

In order to guarantee good positioning, always carry out

the static and at least one dynamic identification.
Dynamic idnetification is also a requirement for the NC
command G00.

If your compressed air supply does not reliably fulfil the

requirements (tolerance of ± 1 bar in operation), please
refer to the instructions in section A.3.1.

SPC200... 9904a 4-25

4. Commissioning

It is necessary to carry out the static identification dur-

ing initial commissioning and when components have
been exchanged. The dynamic identification is necess-
ary for initial commissioning, when components have
been exchanged as well as when the drive configura-
tion has been modified (fitting position, tubing, or supply
pressure).

Control signals required:

1-signal at ENABLE, STOP and READY.

CAUTION
Incorrect axis and parameters can lead to collision
during identification movements. This applies espe-
cially to the axis length, the fitting offset and the soft-
ware end positions.

WARNING
In the course of the dynamic identification an axis of
the system will be set in motion at the highest ac-
celeration and speed. Make sure that:
- the complete positioning range of the axis is free
- the correct axis and application parameters are set.

4-26 SPC200... 9904a

4. Commissioning

Carry out the identification run as follows:

1. Ensure that the tubing for the positioning system is
laid correctly (see Step 2, movement test).
2. Set the compressed air supply to the pressure
desired for operation.
Standard setting = 6 bar.
3. Select the submenu AXIS in the menu TEST/DIAG.
and press the Enter key.

TEST/DIAG. AXIS
X:

4. The cursor is positioned at the axis identifier. Select

the desired axis with the keys ↑ ↓ (here X) and
press the Enter key. The first command in the sub-
menu AXIS will then be shown.

TEST/DIAG. AXIS
JOG AXIS >

5. Now select the command IDENTIFICATION with the

keys ← → .

TEST/DIAG. AXIS
IDENITFICATION >

SPC200... 9904a 4-27

4. Commissioning

6. Press the Enter key to select the command.

IDENTIFICATION
X: STATIC?

7. Use the keys ↑ ↓ to select the identification travel

you wish to carry out. The terms have the following
meanings:

Identification Meaning
STATIC Static identification
DYNAMIC1 Dynamic identification with work load*)
DYNAMIC2 Dynamic identification without work load*)
*) Work load must be removed or added

8. Press the Enter key in order to start identification

travel.
The identification run may take several minutes. During
identification, progress will be displayed as a percent-
age. After a successful identification run the message
OK will be displayed, e.g.:

IDENTIFICATION
X: DYNAMIC1 OK

By pressing the ESC key several times, you can return

to the initial display.

If identification fails
• Check the set-up, the installation as well as the axis
and application parameters of the relevant axis. Then
carry out identification again.

4-28 SPC200... 9904a

4. Commissioning

Step 4 Calibrating the measuring system

(optional with WinPISA)

Calibration smooths out system-related tolerances

which may arise in determining the current position. In
this way the electrically-determined position values are
matched to the actual measurements.

Carry out the calibration when you want to ensure or

improve the absolute positioning accuracy.

SPC200... 9904a 4-29

4. Commissioning

Step 5 Moving the axis with the control panel (optional)

Control signals required:

1-signal at ENABLE, STOP and READY.

You can move the axis manually with the command

JOG AXIS in the menu TEST/DIAG. Proceed as fol-
lows:
1. Select the submenu AXIS in the menu TEST/DIAG.
and press the Enter key.

TEST/DIAG. AXIS
X:

2. The cursor is positioned at the axis identifier. Select

the desired axis with the keys ↑ ↓ (here X) and
press the Enter key. The command LOG AXIS in
the submenu AXIS will then be shown.

TEST/DIAG. AXIS
JOG AXIS >

3. Press the Enter key to select the command. The se-

lected axis and the current positioning mode will
then be shown.

JOG AXIS
X: CONT

4-30 SPC200... 9904a

4. Commissioning

4. Select the desired movement mode with ↑ ↓ . The

meaning of the modes is as follows:
Movement mode Meaning
CONT Move continuously
STEP Move in steps twice the set
positioning tolerance

JOG AXIS
X: STEP

5. Press the enter key to activate the movement mode

e.g.

JOG AXIS STEP

X:+0100.00 +

6. Set the desired direction of movement with ↑ ↓ .

7. With movement mode STEP:
Press the enter key to move one step.
With movement mode CONT:
Hold enter key pressed down whilst movement is
carried out.
By pressing the ESC key several times, you can return
to the initial display.

SPC200... 9904a 4-31

4. Commissioning

Possible Cause Remedy Remarks

problems
Slide moves into The control direction is Swap the connecting See also
an end position not the same as the tubing on the section 3.2.2
direction of movement proportional directional
of the slide. control valve.
Measuring system or Replace measuring First check
measuring system system or measuring with
cable defective. system cable*). MOVEMENT
TEST
The slide The axis or application Correct parameters. See section 6.2
oscillates around parameters are
a position incorrect.
The control panel See section 8.2 Rectify error See section 8.2
shows an error
number
The slide does Valve cable is defective Check cable *) See also
not move section 3.2.2
No supply pressure Switch on compressed See also
air or check tubing. section 3.1
The closed loop Apply 1-signal to the See also
controller is switched ENABLE input section 4.2
off because there is
no ENABLE signal.
System has stopped. Apply 1-signal to the See also
STOP input (I0.7). section 4.2
Proportional directional Replace the First check
control valve is proportional directional with
defective. control valve. MOVEMENT
TEST
*) Check and replace if necessary (see also chapter 8).

4-32 SPC200... 9904a

4. Commissioning

Step 6 Entering the test program

In order to avoid unnecessary error messages during

the starting phase, programs 0 and 1 have already
been created at the factory. They each contain NC rec-
ord 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 G02 ... X+100 FX50

N001 G02 ... X+150 FX90
N002 M30
Adapt the position specifications (X+100, Y+150) to
your requirements, where necessary.

Instructions on programming with the control panel can

be found in section 6.3.

SPC200... 9904a 4-33

4. Commissioning

Step 7 Testing the program

With the command SINGLE STEP in the menu

TEST/DIAG. you can test programs stored in the
start/stop mode in single steps (see section 6.8).

This operating mode is set at the factory.

Set the start/stop mode as follows:

1. Select the command OPERATING MODE in the
menu CONFIG. SYSTEM

CONFIG. SYSTEM
OPERATING MODE >

2. Press the Enter key to select the command. The

current operating mode will then be shown, e.g.:

OPERATING MODE
RECORD SELECT

3. Select the operating mode START/STOP and press

the Enter key. The operating mode then becomes
effective.

OPERATING MODE
START/STOP

By pressing the ESC key several times, you can return

to the initial display.

4-34 SPC200... 9904a

4. Commissioning

Test the program in individual steps as follows:

Control signals required:

1-signal at ENABLE, STOP and READY.
1. Select the submenu SYSTEM in the menu
TEST/DIAG. and press the Enter key. The com-
mand SINGLE STEP will then be shown in the sub-
menu SYSTEM (SYS.).

TEST/DIAG. SYS.
SINGLE STEP >

2. Press the Enter key to select the command.

SINGLE STEP
P00

3. Use the cursor keys to set the program number of

the test program and press the Enter key. The
record number of the first NC record will then be
shown.

SINGLE STEP
P00 N000

4. Press the Enter key to start the NC record. The NC

record will then be processed. The current record
number will be shown in the bottom line.

SPC200... 9904a 4-35

4. Commissioning

5. Repeat point 4 if you wish to start the NC record

shown.
By pressing the ESC key several times, you can return
to the initial display.

4-36 SPC200... 9904a

4. Commissioning

Determining the starting program

In order to test a program in "normal" mode, you must
determine it as a starting program (see menu CONFIG.
SYSTEM, command DEFINE TASKS). You can start a
program defined as a 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 observe the instruc-
tions in section 7.1.

In order to improve the positioning characteristics, you

can optimize the controller parameters after the com-
missioning (see Appendix A).

SPC200... 9904a 4-37

4. Commissioning

4.3.3 Instructions on commissioning multi-axis systems

First commission each axis individually as described in
this chapter.

Please note when using two starting programs that both

parallel running programs together have the output
READY and the inputs ENABLE, STOP and START/
RESET.

Instructions on coordinated and autonomous modes of

two axes can be found in section 7.1.1.

4-38 SPC200... 9904a

 5. Controlling the SPC200

Chapter 5

Controlling the SPC200

SPC200... 9904a 5-I

5. Controlling the SPC200

Contents

5. Controlling the SPC200

5.1 General instrutions on operation ................................................... 5-4
5.2 Start/stop mode ............................................................................. 5-9
5.2.1 Explanation of all I/O signals in start/stop mode......................... 5-11
5.3 Record select mode..................................................................... 5-17
5.3.1 Description of all I/O signals in record select mode ................... 5-22

5-2 SPC200... 9904a

 5. Controlling the SPC200

Contents of The SPC200 offers the two following operating modes

this chapter for processing the saved NC programs:
– start/stop mode
– record select mode
The functions of the digital inputs and outputs as well
as those of the permitted NC commands depend on the
operating mode set. This chapter explains how to con-
trol the SPC200 in the operating modes mentioned.
Examples of I/O circuitry are shown for controlling the
SPC200 via an I/O module. All the I/O control signals
as well as their time behaviour are described.

Further Information on the coordinated and autonomous oper-

information ation of axes with an SPC200 can be found in chapter 7.
Special instructions on operation with the field bus or
the operation of electric axes can be found in the ma-
nual for the relevant extension module.

SPC200... 9904a 5-3

5. Controlling the SPC200

5.1 General instrutions on operation

Operating modes of the SPC200

Start/stop In the start/stop operating mode the SPC200 is capable
of controlling positioning tasks automatically. Any syn-
chronisation necessary with externally controlled pro-
cesses will be supported by the "Programmed stop"
(command M00).
Record The record select operating mode supports the close
select coupling of the SPC200 with a host PLC/IPC. If control
is via an I/O module, 32 NC records of the fixed starting
programs can be accessed via 5 digital inputs. In this
operating mode only positioning commands, positioning
conditions and commands for setting the quality class
are supported.
In both operating modes the SPC200 can process two
programs running in parallel. Coordinated and autono-
mous operation of two work stations with one SPC200
is then possible.

Setting the Enter the desired operating mode and the desired start-
operating ing program on the control panel using the CONFIG.
mode SYSTEM menu.

5-4 SPC200... 9904a

 5. Controlling the SPC200

Switch on

Switch on POWER LED

Switch on ERROR-LED
Initialising and
self-test (max. 10 s)

ERROR LED
Yes
lights or
error?
flashes 1

No

Set Starting program

ERROR LED goes out

System No
enable?
(I0.9)

Yes

READY output is set

Closed loop controller is switched on
Current position =
Reference position (controlled stop)

SPC200 is ready for

operation

1 Dependent on error (see chapter on diagnosis)

Fig. 5/1: SPC200 switch-on procedure

SPC200... 9904a 5-5

5. Controlling the SPC200

If there is a 1-signal at the ENABLE input, the lack of

load voltage will cause an error message. Switch on the
load voltage before setting ENABLE to a 1-signal.

When the power supply is switched on, the SPC200

carries out initialising and self test. If there is no fault,
the set operating mode will be activated and the start-
ing programs will be made available. If there is then a
1-signal at the ENABLE input:
– the controller will be enabled. The actual position
becomes the reference position (controlled stop).
– the READY output will be set
This can take a certain amount of time, depending on
the equipment fitted on the system (max. 10 seconds).

If there is a 1-signal at the STOP input and the READY

output supplies a 1-signal, the program can be pro-
cessed or the positioning process started.

5-6 SPC200... 9904a

 5. Controlling the SPC200

24V
1
0V

2
1
ENABLE
0

1
READY
0

STOP 0

1
START/CLK 0

3 3

1 Load voltage should be applied (typ. > 1 Sek.)

2 Reaction time of the SPC200:
- without stepping motor module: max. 10 ms
- with stepping motor module: max. 2 sec.
3 Debouncing time t ≥ 10 ms

Fig. 5/2: Time behaviour of I/O signals when processing is started

Operating mode Program run or positioning process

Start Continue after STOP signal
Start/stop mode START signal via control START signal via control
panel or using START input panel or using START input
Record select mode CLK input -

If there is 0 V at the STOP input, a RESET can be

triggered by a positive edge on the START input. This
presets the starting programs for the next start. All
presettings then become valid again.

SPC200... 9904a 5-7

5. Controlling the SPC200

Acknowledging a fault
If a fault occurs whilst the program is being processed,
the READY output will be reset automatically. When the
error has been eliminated, the error massage can be
acknowledged by a START signal. If there are several
errors at the same time, you must quit each individual
error.

1
ERROR 0

1
ENABLE
0

4
1
READY 0

1
STOP
0
3

2 2
1
START/CLK
0

1 Time required depends on equipment on system and error (max 10 s)

2 2) Quit error; if there are several errors at the same time, you must quit
each individual error
3 3) Start program or NC record
4 Debouncing time t ≥ 10 ms

Fig. 5/3: Time behaviour when a fault is acknowledged

If there is no further fault, the READY output will supply

a 1-signal again. The program can then be processed
further or the next NC record can be started.

5-8 SPC200... 9904a

 5. Controlling the SPC200

5.2 Start/stop mode

In the start/stop mode the SPC200 is capable of con-
trolling positioning tasks on its own. For this purpose,
this operating mode provides the following even when
only one I/O module is used:
– five freely programmable inputs
– three freely programmable outputs
– all NC commands.
With each further I/O module, a further ten freely pro-
grammable inputs and eight freely programmable out-
puts are available. For special I/O functions directly on
the axis, I/Os can be made available by means of mo-
dules on the axis interface string.

In start/stop mode program runs can be controlled both

via the control panel and via digital I/Os. For loose
coupling with a host PLC/IPC the "Programmed stop"
command (M00) is available. With this command the
SPC200 program run can be synchronised e.g. with
externally controlled processes.

The following illustration shows the I/O wiring for the

case where it is desired to trigger the control functions
Start, Stop and Enable via an external console. Instead
of a console, a host PLC/IPC can be used for control.

SPC200... 9904a 5-9

5. Controlling the SPC200

1
9 8 7 24 V

2 I0.9 I0.8 I0.7 -

START/
3 ENABLE STOP 24 V
RESET1)

5 3 7 24 V 0V

6 Q0.3 Q0.7 - -

7
MC_A READY 24 V 0V

1 Designation on the X5 plug 5 Designation on the X6 plug

2 Input address (I = input) 6 Output address (Q = output)
3 Function 7 Function
4 Load supply (can be switched off separately)
1) RESET (program reset) in conjunction with 0-signal at STOP input

Fig. 5/4: Example of an I/O wiring for the start/stop operating mode
with operation via console

5-10 SPC200... 9904a

 5. Controlling the SPC200

5.2.1 Explanation of all I/O signals in start/stop mode

The pin assignment and I/O addreses of the I/O mo-
dules can be found in section 3.3.3 "Field bus ad-
dresses" in the manual for the field bus module.

Inputs
Function Description
SYNC_IB Synchronization input for program B
(lieke SYNC_IA, but for program B)
SYNC_IA 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 falling edge at this input before it processes
the next NC record (see Fig. 5.5).
STOP Stop program
An 0-signal at this input causes:
- the program and the axes to be stopped
- the current position to become the reference position
(controlled stop)
If there is an 0-signal, a program reset can be triggered by a rising
edge at the START input (see under START input).
The program will be continued by:
1. a 1-signal at this input
2. a new start signal (start on the control panel or a rising edge at
the START input).

SPC200... 9904a 5-11

5. Controlling the SPC200

Inputs
Function Description
START/ Start/continue programs
RESET A positive edge on this input will cause the program run to be started or
continued.
Requirements:
- 1-signal on the STOP input
- 1-signal on the ENABLE input
Reset the program (RESET)
If there is 1-signal on the ENABLE input and 0-signal on the STOP input, a
RESET can be triggered by a positive edge on the START input. This causes
the following:
- the NC record pointer is reset to 0
- the pre-settings G90 and G02 (speed, acceleration and mass load
factor 100 %) as well as the positioning quality class set in the
application parameters become valid
- the analogue channel is switched off (M12)
- all freely programmable outputs and the SYNC outputs are reset
- the set starting programs are made available
- any errors are acknowledged.
All flags (F), registers (R) and position registers (@) remain unmodified.
ENABLE Closed loop controller enable
0-signal on this input causes:
- the valve control voltage and the closed loop controller of
all axes to be switched off
- the output READY and MC_A/B to be reset.
- If you are using a stepping motor:
the ENABLE signal for the power controller will be reset.
No further tasks will then be accepted. If a 1 signal is again applied to this
input:
- the outputs READY and MC_A/B will be set again
- the valve control voltage and the closed loop controllers of
all axes will be switched on
- the current position will become the reference position (controlled stop)
- If you are using a stepping motor:
the reference travel must be carried out again.
At the next START signal the program run will continue.

5-12 SPC200... 9904a

 5. Controlling the SPC200

Outputs
Function Description
MC_B MC output for program B
(motion (as MC_A, but for program B)
complete)
MC_A MC output for program A
(motion 24 V at this output shows that a positioning command from program A is
complete) completed. When the positioning task is completed, a further MC signal
will be output, even if the axis is no longer at the programmed reference
position (e.g. due to failure of compressed air supply, unstable control etc.).
0 V indicates that a positioning process was carried out.

Evaluating the MC signal by PLC.

With directly consecutive positioning commands, the MC-signal is perhaps
too short for evaluation by the PLC. The signal can be lengthened
between the positioning commands with the NC command G04.
SYNC_OB Synchronisation output for program B
(as SYNC_OA, but for program B)
SYNC_OA Synchronisation output for program A
If a 1-signal is applied to the SYNC_IA input in a programmed stop
(command M00), a 1-signal at this output indicates the readiness to
execute the next NC record.
With a negative edge on the SYNC_IA input the output SYNC_OA is reset
and the next NC record processed (see Fig. 5.5).
READY System ready for operation
This output supplies 1-signal, if the system is ready to operate.
0 V at this output indicates that there is a system or position error or that
there is no ENABLE signal.

SPC200... 9904a 5-13

5. Controlling the SPC200

Programmed stop
The programmed stop (command M00) supports the
synchronisation of the SPC200 with externally control-
led processes. For this the SPC200 provides separate
control I/Os for programs A and B.

The corresponding program will be halted by a pro-

grammed stop (command M00). If there is a 1 signal at
the corresponding SYNC input (SYNC_IA or SYNC_IB),
the SPC200 will signals the stop status of the program
by setting the corresponding SYNC output (SYNC_OA
or SYNC_OB). Externally controlled processes can then
be run.

M00 G00/G01/G02 M00 G00/G01/G02

1 1

1
SYNC_IA/IB 0

1
SYNC_OA/OB 0

1
MC_A/B 0

3 2 3 2

1 Externally controlled process

2 Programmed stop
3 Program run

Fig. 5/5: Timing in the programmed stop

5-14 SPC200... 9904a

 5. Controlling the SPC200

With a negative edge on the SYNC input the SYNC

output is reset and the program run continues. The con-
tinuation of the program run is represented in Fig. 5.5
with the aid of the MC signal.

PLEASE NOTE
The MC output (MC_A/B) is only reset if a position-
ing command is being processed (G00, G01, G02
and M10).

SPC200... 9904a 5-15

5. Controlling the SPC200

Summary of start/stop mode

In the start/stop operating mode the SPC200 provides
freely programmable inputs and outputs. With the pro-
grammed stop (command M00) two programs running
in parallel independently of one another, e.g. through a
PLC/IPC, can be synchronised with other processes.

Requirements - Program in program memory

- Axis application and system parameters
set correctly
- Start/stop operating mode set
- 1-signal on the ENABLE and STOP input
set to 24 V
Operation via the Control functions
control panel - Start, Stop, Reset using menu
SYSTEM CONTROL on the control panel
Operation using Control functions
I/O - Start on positive edge on the
START input
- Stop on an 0-signal on the STOP input
- Continue program on a 1-signal on the
STOP input and positive edge on the
START input
- Program reset on an 0-signal on the
STOP input and positive edge on the
START input

5-16 SPC200... 9904a

 5. Controlling the SPC200

5.3 Record select mode

Record In the record select mode the SPC200 is controlled by
select mode a host PLC/IPC. The controlling PLC/IPC passes on
positioning commands to the SPC200 in the form of bi-
nary coded record numbers through digital I/Os. The
SPC200 then executes the desired NC record and
awaits the next positioning task. In the case of control
via an I/O module, NC records 0...31 of the starting
programs can be accessed by the controlling PLC/IPC.
Since the running of the NC program is controlled by a
host PLC/IPC, NC commands, which serve for
sequencing, are inoperative in this mode of operation.

SPC200... 9904a 5-17

5. Controlling the SPC200

Only purely positioning commands, positioning

conditions and commands for setting the quality class
are supported. These are:

NC Descripiton
command
G00 Move to position at highest possible speed
G01 Move to position at specified speed
G02 Move smoothly to position at specified speed
G08 Acceleration for approach ramp
G09 Acceleration for brake ramp
G60 Precision stop
G61 Quality class
G62 Fast stop
G74 Reference travel
G90 Absolute measurement (pre-setting at program start)
G91 Relative measurement

The following illustration shows an example of I/O

wiring for the record select mode.

5-18 SPC200... 9904a

 5. Controlling the SPC200

1 9 8 7 24 V 0/4 5/6
2 I0.9 I0.8 I0.7 - I0.0/I0.4 I0.5/I0.6

ENABLE RESET 1) STOP 24 V REC_BIT... CLK_A/B

3

4
24 V 0V 3/4 5/6 7

5 - - Q0.3/Q0.4 Q0.5/Q0.6 Q0.7

6
24 V 0V RC_A/B ACK_A/B READY

1 Designation on plug X5 6 Function

2 Input address (I = input) 7 Outputs of the PLC/IPC
3 Function 8 PLC/IPC
4 Designation on plug X6 9 Inputs of the PLC/IPC
5 Output address (Q = output) 0 Load supply (can be switched off separately)
1) RESET (program reset) in conjunction with 0-signal at STOP input

Fig. 5/6: Example of an I/O wiring for the record select mode
with two starting programs

SPC200... 9904a 5-19

5. Controlling the SPC200

In the Record select mode, positioning tasks in the form

of binary coded NC record numbers can be sent to the
SPC200 via the inputs REC_BIT... . The record num-
bers will be accepted for the corresponding program on
a positive edge at the CLK input and acknowledged
with the ACK signal.

The following illustration shows the signal sequence for

communicating the relevant I/O signals when issuing a
movement task.

REC_BIT... 1
0

1
CLK_A/B 0
4
1
ACK_A/B 0
1
RC_A/B 0
3

1 Debounce time t ≥ 10 ms
2 Status of the individual input signal depends on the record number required
3 Positioning procedure
4 From this moment the PLC/IPC waits for the 1-signal at ouput RC_A/B

Fig. 5/7: Timing chart of the I/O signals in record select mode

5-20 SPC200... 9904a

 5. Controlling the SPC200

NC record numbers
The desired NC record number, in which the movement
order is stored, is specified through five inputs in binary
coded format. The following NC records can then be
accessed:

Type of control Accessible NC

record numbers
I/O module (5 inputs: 25 = 32) 0...31
1)
Field bus module (10 inputs) 0 ... 999
1) Maximum permitted number of NC records

The NC records are stored in the SPC200 always be-

ginning with NC record 0 and step size 1. If possible,
use the same numbering in WinPISA, e.g. with the aid
of the numbering function.

The inputs REC_BIT... have the following meaning:

REC_BIT5 REC_BIT4 REC_BIT3 REC_BIT2 REC_BIT1 Designation

4 3 2 1 0
2 2 2 2 2 Value
Input signals NC record number
0 0 0 0 0 0
0 0 0 0 1 1
0 0 0 1 0 2
0 0 0 1 1 3
...
1 1 1 1 0 30
1 1 1 1 1 31
1) 1)
1111100111 999
1) Control via field bus module

SPC200... 9904a 5-21

5. Controlling the SPC200

5.3.1 Description 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 section 3.3.3 Field bus
addresses in the manual for the field bus module.

Inputs
Function Description
REC_BIT1 Bit 1 for record number ( 20 )
REC_BIT2 Bit 2 for record number ( 21 )
REC_BIT3 Bit 3 for record number ( 22 )
REC_BIT4 Bit 4 for record number ( 23 )
REC_BIT5 Bit 5 for record number ( 24 )
REC_BIT6 Bit 5 for record number ( 25 )
...
1)
REC_BIT10 Bit 5 for record number ( 29 )
CLK_B Start positioning command from program B
(as CLK_A, but for program B)
CLK_A Start positioning order from program A
If there is a rising edge at this input, the NC record number at the inputs
RECBIT... will be accepted by the SPC200 for program A and
processed. This will be indicated by the signal ACK_A (see Fig. 5.7).
If there is a rising edge at this input, the NC record number at the inputs
RECBIT... will be accepted by the SPC200 for program A and
processed. This will be indicated by the signal ACK_A (see Fig. 5.7).
STOP Stop positioning command
0-signal at this input causes:
- the axes to be stopped.
- the current position to become the reference position
(controlled stop).
The positioning order will be resumed by:
- applying 1-signal to this input
- repeated start of positioning task via the appropriate CLK
input (CLK_A/CLK_B).
It is not possible to continue a positioning procedure after a stop signal
in this operating mode. If you use NC command G91, a move must be
made to an absolute position (G90) after every stop.
1) REC_BIT6...10 only with control via field bus module

5-22 SPC200... 9904a

 5. Controlling the SPC200

Inputs
Function Description
RESET Reset the program (RESET)
If there is 1-signal on the ENABLE input and 0-signal on the STOP input, a
RESET (program reset) can be triggered by rising edge at the RESET
input. This causes the following:
- the NC record pointer is reset to 0
- the pre-settings G90 and G02 (speed, acceleration and mass
load factor 100%) as well as the positioning quality class set
in the application parameters become valid
- the analogue channel is switched off (M12)
- all ACK outputs are reset
- the set starting programs are made available
- any errors are acknowledged.
ENABLE Closed loop controller enable
An 0-signal at this input causes:
- the valve control voltage and the closed loop controllers of
all axes to be switched off
- the READY and RC_A/B outputs to be reset.
- If you are using a stepping motor:
the ENABLE signal for the power controller will be reset.
No further tasks will then be accepted.
If a 1-signal is again applied to this input:
- the outputs READY and RC_A/B will again be set
- the valve control voltage and the closed loop controllers of
all axes will be switched on
- the current position will become the reference position
(controlled stop)
- If you are using a stepping motor:
the reference travel must be carried out again.
With the next CLK signal, the positioning task at the inputs REC_BIT... will
be processed.

SPC200... 9904a 5-23

5. Controlling the SPC200

Outputs
Function Description
RC_B NC record from program B concluded
(record com- (as RC_A, but for program B)
plete)
RC_A NC record from program A concluded
(record com- A 1-signal on this output indicates that a positioning task from program
plete) A has been completed. When the NC record has been processed,
another MC signal will also be output if the axis is no longer at the
programmed reference position (e. g. because of failure of compressed
air supply, unstable control, etc.).
An 0-signal indicates that an NC record is being processed.
ACK_B Order acknowledged for program B
(acknowledge) (as ACK_A, but for program B)
ACK_A Task accepted for program A
(acknowledge) The acceptance of the positioning task from program A is confirmed
through this output. An 0-signal at this output indicates that the NC
record number for program A has been accepted (see Fig. 5.7).
READY System ready for operation
This output supplies a 1-signal if the system is ready for operation. 0 V
at this output indicates that there is a system or positioning error or the
system enable is lacking.

PLEASE NOTE
It is not possible to continue a positioning procedure
after a stop signal in this operating mode. If you use
NC command G91, a move must be made to an ab-
solute position (G90) after every stop.

5-24 SPC200... 9904a

 5. Controlling the SPC200

Summary of record select mode

The record select mode supports close coupling of the
SPC200 with a higher-order PLC/IPC.

Requirements - Program in program memory

- System parameters entered in
configuration
- Record select mode set
- 1-signal at ENABLE and STOP input
Operation via Control function
control panel - Stop, reset via menu SYSTEM
CONTROL on control panel
Control through Control functions
I/O - Select NC record via the REC_BIT...
inputs.
- Selected NC record start via CLK input
- Stop via STOP input
- Program reset by an 0-signal at STOP
input and rising edge at the START input

SPC200... 9904a 5-25

5. Controlling the SPC200

Programing example for record select mode

Inputs NC records of starting program

I0.4...I0.01)
I11.12...I11.82)
00000 – N000 G00 X100.00 Y100.00
00001 – N001 G00 X130.00 Y100.00
00010 – N002 G01 X50.00 FX50
... ...
01000 – N008 G90 X100.00 Y110.00
01001 – N009 G91 X10.00 Y20.00
... ...
10000 – N016 G00 X200.00 Y200.00
... ...
11111 – N031 G02 X150.00 Y150.00

1) Control via I/O module

2) Control via field bus module

Sequence control is carried out exclusively by a higher-

order PLC/IPC. With a positive edge at the CLK input,
the signals at the inputs I0.0...I0.4 are transferred as
NC record numbers, acknowledged by the ACK signal
and the NC record is processed.

Only positioning commands (G00, G01 and G02), posi-

tioning conditions (G08, G09, G90 and G91) and com-
mands for setting the quality class (G60, G61, G62) are
supported.

5-26 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Chapter 6

Operation of the SPC200 via the

control panel

SPC200... 9904a 6-1

6. Operation of the SPC200 via the control panel

Contents

6. Operation of the SPC200 via the control panel

6.1 Layout and functions of the control panel ..................................... 6-4
6.1.1 Moving around the menu system .................................................. 6-8
6.2. Setting project-specific parameters ............................................. 6-14
6.3 Editing programs.......................................................................... 6-28
6.3.1 Adding a new program ................................................................ 6-29
6.3.2 Editing instructions....................................................................... 6-35
6.3.3 Instruction set on the control panel ............................................. 6-37
6.3.4 Editing an existing program......................................................... 6-40
6.3.5 Deleting a program ...................................................................... 6-42
6.4 Editing the position register ......................................................... 6-43
6.5 Controlling the program run......................................................... 6-47
6.6 Display of operands and system states ...................................... 6-49
6.7 Setting the closed loop control factors ........................................ 6-51
6.8 Test and diagnostic functions of the control panel ..................... 6-53

6-2 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Contents of This chapter deals with the menu and operating func-
this chapter tions of the control panel type SPC200-MMI-... .
All the parameters and operating functions of pneumatic
axes are described in detail and general system opera-
ting functions are also described.

Control panel functions for special extension modules

such as the stepping motor indexer module and the
field bus module are simply listed without any descrip-
tion.

Further Control panel functions for the stepping motor indexer

information module and the field bus module can be found in the
manual for the relevant product.
WinPISA offers the same operating functions and par-
ameters as the control panel. Information on this can be
found in the manual for WinPISA.

SPC200... 9904a 6-3

6. Operation of the SPC200 via the control panel

6.1 Layout and functions of the control panel

The SPC200-MMI plug-in control panel allows you to
carry out commissioning, programming and diagnosis
directly on the SPC200. It offers a simple menu struc-
ture and a universal keymap. The following illustration
shows the elements of the control panel.

1 Two-line LCD display 3 ENTER key

2 ESC key 4 CURSOR key

Fig. 6/1: Elements of the control panel

6-4 SPC200... 9904a

6. Operation of the SPC200 via the control panel

The two-line LCD display shows all texts in English.

Each line displays a maximum of 16 characters. The
touch-sensitive keyboard consists of 6 keys. With these
keys you can carry out all of the menu-driven functions
and settings.

Key Description
- Switches back to the next higher level menu
- Rejects the current input (breaks off input)
- Deletes the current NC record when the cursor in
the editor is on the identifier for NC record
number (N)
- Confirms the present menu selection
- Adopts the setting made and/or the control function
into the SPC200
- Inserts a copy of the current NC record when the
cursor in the editor is on the identifier for NC record
number (N)
- Selects the next menu command or parameter
- Positions cursor to right or left
- Change setting at current cursor position
* Increase or reduce the numerical value
* Select axis (set axis symbol)
* Select NC command or diagnostic function

SPC200... 9904a 6-5

6. Operation of the SPC200 via the control panel

Switching-on procedure
After switching on the power supply the SPC200
automatically performs an internal test. During the brief
test phase, the control panel displays the software ver-
sion number of the control panel (here Vn.n).

MMI SPC200 Vn.n

INITIAL TEST

After completing internal testing the SPC200 is ready to

process user input from the control panel. If an error is
discovered, the control panel displays the current error
number (see Section 8.2). If there is no error, the initial
display is shown.

6-6 SPC200... 9904a

6. Operation of the SPC200 via the control panel

In the initial display the control panel shows the

following message:

1 2

SPC200 Vnnn X
3 SELECT WITH <>

Esc Enter

1 Operating system version of the SPC200 (nnn = Version number1))

2 Currently configured axis (here X-axis)
3 Prompt line: Make your menu selection with ← →.
1) The point after the main version marker is not shown due to
lack of space; nnn indicates n.nn

Fig. 6/2: Initial display on the control panel

Repeated pressing of the ESC key will always lead to

the initial display. A special procedure is necessary for
exiting the program editor (see section 6.3.1).

From the initial display, the control panel provides eight

menus to select from. The following illustration provides
an overview of the menu structure and the menu com-
mands on the control panel:

SPC200... 9904a 6-7

6. Operation of the SPC200 via the control panel

6.1.1 Moving around the menu system

2
1
SPC200 Vnnn X
SELECT WITH <>

SYSTEM DISPLAY EDIT CONFIG.

CONTROL PROGRAM SYSTEM

START SYSTEM NEW PROGRAM

STOP SYSTEM MODIFY PROGRAM
RESET SYSTEM DELETE PROGRAM
RESET PROGRAMS MODIFY POSREG.
RESET ERROR TEACH IN
RESET DATA

TASK STATE ACTUAL CONFIG.

REFERENCE POS. SET CONFIGUR.
CURRENT POS. OPERATING MODE
POS. DIFFERENCE DEFINE TASKS
DIGITAL INPUT FIELDBUS
FIELDBUS INPUT
DIGITAL OUTPUT
FIELDBUS OUTPUT
MEMORY FLAG
REGISTER
ERROR
STEPMOTOR INPUT

1 Initial display 3 See next page AXIS PARAM

2 Moving around in the menu system 4 See next page TEST/DIAG.

Fig. 6/3a: Menu structure on the control panel

(Continued on following page)

6-8 SPC200... 9904a

6. Operation of the SPC200 via the control panel

1 3

AXIS APPLIC. CONTROL. TEST/DIAG.

PARAM. PARAM. PARAM.

1) 1) 1)
X,Y,Z,U X,Y,Z,U X,Y,Z,U

Pneum. Electr.
CYL. TYPE2) axis axis GAIN FACTOR2) SYSTEM
CYL. LENGTH DAMPING FACTOR2) AXIS
CYL. DIAMETER2) FILTER FACTOR2)
1)
SENSORMEASUREM.2) POS. TIMEOUT2) X,Y,Z,U

2) 3) SINGLE STEP
TOOL LOAD RESOLUTION INPUT TEST
WORK LOAD START/STOP FREQ FB. INPUT TEST
PRESSURE POS. BASEPOINT OUTPUT TEST
FITTING POS. LOWER END POS. FB. OUTPUT TEST
FITTING OFFS. UPPER END POS. FLAG TEST
POS. BASEPOINT REF. POSITION REGISTER TEST
LOWER END POS. REF. SPEED FAC.
UPPER END POS. MAX. SPEED
JOG AXIS
POS. TOLERANCE MAX. ACCELER.
MOVEMENT TEST2)
QUALITY CLASS MODE OF REFER.
IDENTIFICATION2)
MAX. SPEED MICRO/HALF STEP
EXIT FROM LIMIT3)
MAX. ACCELER.
REFER. TRAVEL3)
1) Select axis identifiers X, Y, Z or U
2) Parameter or function only available with pneumatic axis
3) Parameter or function only available with electric axis

1 Previous page CONFIG.SYSTEM 3 see previous page SYSTEM

2 Moving around in the menu system CONTROL

Fig. 6/3b: Menu structure on the control panel (Continuation)

SPC200... 9904a 6-9

6. Operation of the SPC200 via the control panel

The menus on the control panel

Menu Description

SPC200 READY System control:

SYSTEM CONTROL > Control functions Start, Stop, Reset

SPC200 READY Display:

DISPLAY > Operands, System status

SPC200 READY Edit programs:

EDIT PROGRAM > Display and editing of programs and
position register, Teach

SPC200 READY Configure system:

CONFIG. SYSTEM > Determine operating mode and
starting programs,
Dispay and accept the hardware
configuration

SPC200 READY Axis parameters:

AXIS PARAM. > Display and set (e.g. cylinder length)

SPC200 READY Application parameters:

APLIC. PARAM. > Display and set (e.g. Project basepoint)

SPC200 READY Controller parameters:

REGUL. PARAM. > Display and set

SPC200 READY Testing and diagnosis:

TEST/DIAG. > Program test, Movement test, etc.

By pressing the ← or → keys you can call up the

individual menus from the initial display one after the
other. The name of the menu is shown in the lower line.
In addition, the upper line shows the text from the initial
display (SPC200...). This informs you that you are in
the first level.

6-10 SPC200... 9904a

6. Operation of the SPC200 via the control panel

In selecting, the upper line will serve to orient you. It

shows, e.g. the menu in which you are located. The
lower line offers the selections which are possible in the
current menu. The availability of the selection is indi-
cated by the > symbol.

When a selection has been made by pressing the Enter

key, the text in the display scrolls up.

1
SPC200 READY
2 AXIS PARAM. >

3
AXIS PARAM.
X:
4

AXIS PARAM.
CYL. TYPE >
5

1 Display from the initial display (first level)

2 AXIS PARAM. menu can be opened with the Enter key
3 AXIS PARAM. menu is opened
4 Axis identifier, select with ↑ ↓.
5 First parameter of selected axis

Fig. 6/4: Functions of the display lines

SPC200... 9904a 6-11

6. Operation of the SPC200 via the control panel

The upper line then shows the previous selection for

guidance. The lower line again shows the current
possible selection or the input field in the lowest level.

In the case of menus which contain axis-specific par-

ameters or operating functions, the axis identifier of the
first axis (X) will be shown when the menu is opened.
With multi-axis systems, the desired axis can be se-
lected with the keys ↑ ↓. and the Enter key. All the fol-
lowing parameters and operating functions refer to the
axis selected.

If, for example, an electric axis is selected, parameters

or control functions for electric axes will be shown.

Summary: moving in the menu system

Purpose Press
Confirm current selection and, if applicable,
switch to one level below
Different selection in same menu level

Select axis identifier

Discontinue selection and switch to one level

above

6-12 SPC200... 9904a

6. Operation of the SPC200 via the control panel

In selecting a menu command or parameter proceed as

follows:
1. Press the ESC key repeatedly until the initial display
is shown. The first line of the display then shows the
text SPC200 followed by the version number of the
operating system.
2. Press the ← or → key repeatedly, until the desired
menu is displayed in the lower line.
3. Press the Enter key. This will open the menu and
display the first parameter or the first control function
of the menu.
4. If an axis identifier is offered for selection, select it
with the keys ↑ ↓ and then press the Enter key.
5. If a parameter or an operating function is displayed,
you can page through the menu with the keys ← or
→, until the desired parameter or command is
shown in the bottom line.
6. Press the Enter key to select the command or par-
ameter.
How adjustments are made, how programming is car-
ried out or how control functions are triggered are
shown in the following section.

SPC200... 9904a 6-13

6. Operation of the SPC200 via the control panel

6.2. Setting project-specific parameters

WARNING
Incorrectly set parameters can lead to uncontrolled
behaviour of the connected axes during operation.

The SPC200 must be aware of the conditions of use

governing your project and the type of components
used in your positioning system. The necessary settings
should be made in the following menus:

Menu Description

SPC200 READY Axis parameter;

AXIS PARAM. > Data on the axes to be used

SPC200 READY Application parameter;

APPLIC. PARAM. > Data on the conditions of use

SPC200 READY System configuration;

CONFIG. SYSTEM > Operating mode, starting programs,
hardware configuration

6-14 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Procedure
If you have selected a parameter in a menu by press-
ing the Enter key (see Section 6.1.1), the text in the
display will scroll up.

1
AXIS PARAM.
X:
2

AXIS PARAM.
CYL. TYPE >
3

CYL. TYPE
X: 1
4

1 AXIS PARAM. menu is opened

2 Axis identifier can be selected, select with ↑ ↓
3 Parameter "cylinder type" can be selected
4 Axis identifier (here X for X axis)
5 Current setting of the X axis (here cylinder type 1)

Fig. 6/5: Functions of the display lines

The upper line then shows the previous selection (here

AXIS PARAM.) for guidance. When entering axis-spe-
cific parameters, you can then select the desired axis.
In this case the cursor is positioned on the axis identi-
fier.

SPC200... 9904a 6-15

6. Operation of the SPC200 via the control panel

The appropriate axis must be connected to the SPC200

and the current hardware configuration must be saved.

With the keys ↑ and ↓, you can select the axis, the
parameters of which you wish to modify. When the axis
has been selected, the current parameter setting will be
shown in the bottom line.

In order to alter a parameter, position the cursor with

the ← → keys on the desired number of the parameter
indicated. The number can now be altered with the ↑ ↓
keys. If a parameter value is altered, the character ?
will be shown in the lower line.

6-16 SPC200... 9904a

6. Operation of the SPC200 via the control panel

CYL. TYPE
X: 1

CYL. TYPE
X: 2 ?

CYL. TYPE
X: 2
3

1 Character flashes (here underscored) = current cursor position

2 Character for altering value
3 New value was accepted (? no longer shown)

Fig. 6/6: Set parameter value

The symbol ? indicates that the intended setting is ac-

cepted into the SPC200 only when the Enter key is
pressed. After pressing the Enter key, the ? is deleted.
This indicates that the setting was accepted.

The following sections describe the significance of the

individual parameters, which you must match to your
project.

SPC200... 9904a 6-17

6. Operation of the SPC200 via the control panel

Axis parameters
AXIS PARAM The axis parameters are configuration parameters
menu which describe the configuration, the properties and the
components of the axis being used. The axis par-
ameters form the basis for parameter ranges of the ap-
plication parameters (e.g. possible axis movement
speed).
Axis parameters for pneumatic axes:

When the axis parameters have been modified, new

identification travel may be necessary.

AXIS PARAM menu (axis parameters)

Pneumatic axis

CYL. TYPE Cylinder type (design) 0...2

X:0 Enter the type for the cylinder used.
0 = Cylinder with piston rod
1 = Cylinder without piston rod
2 = Rotary actuator

CYL. LENGTH Cylinder length 50...3200 [mm]

X:+0050.00 Length of cylinder (see Identification plate).

CYL. DIAMETER Cylinder diameter 12...320 [mm]

X:+0012.00 Diameter of cylinder (see Identification plate)

SENSOR LENGTH Measuring system length 50...3200 [mm]

X:+0050.00 Length of the measuring system used (see Identification plate)

VALVE TYPE Valve type (see Identification plate) 0...4

X:0 0 = MPYE-5-M5-010B
1 = MPYE-5-1/8-LF-010B
2 = MPYE-5-1/8-HF-010B
3 = MPYE-5-1/4-010B
4 = MPYE-5-3/8-010B

6-18 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Axis parameters for electric axes:

AXIS PARAM menu (axis parameters)

Electric axis
1)
CYL. LENGTH Cylinder length 50...3200 [mm]
Y:+0050.00

1) Explanations see manual for stepping motor indexer module type P.BE-SMX-1-...

Application parameters
APPLIC. The application parameters are configuration informa-
PARAM tion, which describe the conditions of use assigned by
menu the application.
Application parameters for pneumatic axes

The application parameters are an important basis for

the internally ascertained controller parameters. If the
fitting position or the supply pressure have been modi-
fied, the latter by more than 1 bar, new identification
travel may be necessary.

APPLIC. PARAM menu (Application parameters)

Pneumatic axis

TOOL LOAD Tool load 0.1...2000 [kg]

X:+0000.00 In the pneumatic axis the tool load describes the total weight of
the following constituents:
- weight of slide and piston
- weight of the fastening plate
- tool weight
The maximum permissible tool load depends upon the type of
cylinder used.

WORK LOAD Work load 0...2000 [kg]

X:+0001.00 Maximum weight of the object to be transported.
Recommendation: Use the NC command M37, if you wish to
work with different loads.

SPC200... 9904a 6-19

6. Operation of the SPC200 via the control panel

APPLIC. PARAM menu (application parameters)

Pneumatic axis

PRESSURE Supply pressure 3...10 bar

X:+0000.00 Indicates the available supply pressure.
For good positioning behaviour:
- during movement in front of the proportional directional control
valve pressure deviations of max. 1 bar
- minimum supply pressure 4 bar.
Please observe the permitted pressure range of the
components used (e.g. DGP...-... max. 8 bar).

FITTING POS. Fitting position - 90...+ 90 °

X:+00 The fitting position indicates the angle in which cylinder and
measuring system are fitted:
- 0 ° horizontal
+ 90 ° vertically upwards (zero of measuring system at bottom)
- 90 ° vertically downwards (zero of measuring system at top)

Reference With the following four parameters you can enter the
points reference points for your positioning system.
Take care that the software end positions and the pro-
ject basepoint refer to the cylinder basepoint. If you
alter the mounting offset, the SPC200 will check
whether the resultant new reference point is still within
the range of the measuring system. If this is not the
case, an appropriate error message will be displayed.

6-20 SPC200... 9904a

6. Operation of the SPC200 via the control panel

1
3
2

1 Measuring system basepoint 4 Lower software end position

2 Cylinder basepoint 5 Upper software end position
3 Position basepoint (Project zero point)

Fig. 6/7: Reference points

APPLIC. PARAM menu (application parameters)

Pneumatic axis

FITTING OFFS. Fitting offset -1600...+1600 [mm]

X:+0000.00 Offset between basepoint of measuring system and cylinder
basepoint.
The mounting offset is positive, if the cylinder basepoint lies
within the range of the measuring system. The mounting offset is
negative, if the cylinder basepoint lies outside the range of the
measuring system.

POS. BASEPOINT Position basepoint (Project zero point) 0...+3200 [mm]

X:+0000.00 Indicates the point on the axis to which the positions contained in
the position registers and programs relate. The project basepoint
relates to the cylinder basepoint.

SPC200... 9904a 6-21

6. Operation of the SPC200 via the control panel

APPLIC. PARAM menu (application parameters)

Pneumatic axis

LOWER END POS. Lower software end position 0.0...3200 [mm]

X:+0000.00 End position on the side of the measuring system base point
which is monitored by the SPC200 operating system (software)
and should not be exceeded. If both software end positions are
set at 0, their function is suppressed. The lower software end
position relates to the cylinder basepoint and represents the
lower limit of the defined range of movement.

UPPER END POS. Upper software end position 0.0...3200 [mm]

X:+0000.00 End position on the opposite side to the measuring system base
point which is monitored by the SPC200 operating system
(software) and should not be exceeded. If both software end
positions are set at 0, their function is suppressed.
The upper software end position relates to the cylinder basepoint
and represents the upper limit of the defined range of movement.

POS. TOLERANCE Positioning tolerance 0.1..10.00 [mm]

X:+0000.00 This parameter indicates the repeat accuracy with which a
positioning process should be carried out.

6-22 SPC200... 9904a

6. Operation of the SPC200 via the control panel

APPLIC. PARAM menu (application parameters)

Pneumatic axis

QUALITY CLASS Quality class 1...6

X:1 Describes the conditions under which a movement command
should be considered as terminated or when the MC (Motion
Complete) signal should be issued. Where:
1 = Fast stop without damping time
2 = Fast stop with damping time
3 = Precision stop without damping time
4 = Precision stop with damping time
5 = Precision stop with terminal speed control
6 = Precision stop with damping time and terminal speed
control
The setting established here acts as a default setting on program
start-up. It can be changed in the program with the commands
G61 and G60.

MAX. SPEED Maximum speed 0.1...10.0 [m/s]

+0000.00 Maximum speed for the movement with the commands G01 and
G02. The speed factor given by the movement commands G01
and G02 refer to the maximum speed defined here.

MAX. ACCELER. Maximum acceleration 0.1...100.0 [m/s2]

+0000.00 Maximum acceleration for the movements with the commands
G01 and G02. In the movement program a reduced acceleration
based on the maximum acceleration defined here can be set with
the commands G08 and G09.

SPC200... 9904a 6-23

6. Operation of the SPC200 via the control panel

Application parameters for electric axes:

APPLIC. PARAM menu (application parameters)

Electric axis

RESOLUTION Resolution1) 0.100...9999.999 [1/mm]

Y:+0010.000

START/STOP FR. Start-stop frequency1) 1 .. 9999 [Hz]

Y:+0500.00

POS. BASEPOINT Project basepoint1) 0.0 .. 3200.0 [mm]

Y:+0000.00

LOWER END POS. Lower software end position1) 0.0 .. 3200.0 [mm]
Y:+0010.00

UPPER END POS. Upper software end position1) 0.0 .. 3200.0 [mm]
Y:+0090.00

REF. POSITION Reference position1) 0.0 .. 3200.0 [mm]

Y:+0010.00

REF. SPEED Reference speed factor1) 0.01 .. 1.00

Y:+0001.00

MAX. SPEED Maximum speed1) 0.1 .. 10.0 [m/s]

Y:+0000.10

MAX. ACCELER. Maximum acceleration1) 0,1 .. 100,0 [m/s2]

Y:+0000.50

MODE OF REFER. Mode of reference1) 1 .. 4

Y:0

MICRO/HALF STEP Micro/half step1) 0 or 1

Y:0

1) Explanations see manual for stepping motor indexer module

6-24 SPC200... 9904a

6. Operation of the SPC200 via the control panel

System configuration
CONFIG. Enter the desired type of operation and the starting pro-
SYSTEM grams for your system in the CONFIG. SYSTEM menu.
menu
Description of the individual parameters

CONFIG. SYSTEM menu (configure system)

ACTUAL CONFIGUR. Display current configuration

1. AIF Shows the hardware configuration ascertained during starting
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 fitted, the selection
"n.SM" will show which axis identifer is assigned to the first,
second or third stepping motor indexer module.
The selection "n.AIF" will show which axis identifiers have
been assigned in the starting phase and which modules have
been recognized on the relevant string. The recognized module
types (CP modules) are listed as follows:
I = input module
O = module with outputs or valves
I/O = I/O function module
The entry "-" means that no module has been recognized.
Example 1.AIF AXIS: XY
CP-MOD: -, -, I/O
Explanation
Two axis interfaces were recognized on the first axis interface
string in the starting phase. The axis identifiers X and Y were
assigned to these interfaces. An I/O function
module was also recognized on the axis interface string.

SPC200... 9904a 6-25

6. Operation of the SPC200 via the control panel

CONFIG. SYSTEM menu (configure system)

SET CONFIGUR. Save actual configuration as the set configuration

SAVE CONFIGUR. Please observe the instructions on procedure in section 4.3.1
When the system is started, the SPC200 compares the actual
hardware configuration with the saved set configuration.
The modules fitted and the string assignment are checked here.
With this command, the actual hardware configuration (modules
fitted) and the actual string assignment can be saved as the set
configuration. If the axis configuration has been modified, the
data already entered is no longer valid and will be reset to the
status as at delivery or deleted.

OPERATING MODE Operating mode

START/STOP START/STOP = Start/stop mode
RECORD SELECT = Record select mode
The operating mode defines how the sequencing of the SPC200
should work. You will find explanations of the operating modes in
Chapter 5.

DEFINE TASKS Define task program

TA:P00 Tn = Task number TA, TB
Pn = Program number - -/0...99
P- - for "no starting program selected"
If the cursor is positioned at P, you can switch between P00 and
P- - for task B.
One SPC200 can control two work stations. In this it supports the
coordinated and autonomous operation of both axes. In the case
of coordinated operation the option of parallel program
processing is not used. Only one starting program is defined
(one active task). This controls both work stations. In
autonomous operation, two starting programs (two active tasks)
are defined. Each starting program controls another work station.
Further information on coordinated and autonomous operation
can be found in Chapter 7.1.1.

6-26 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Summary: Setting parameters

Purpose Press:
- Confirm current parameter selection
- adopt previous setting
- Position cursor on axis identifier or
parameter value or digit
- Modify setting at current cursor position
(increase/reduce digit value)
- Cancel input
- Return to next higher menu level

Proceed as follows:
1. Select the parameter which you wish to modify (see
Section 6.1.1).
2. Press the Enter key to confirm selection. The current
parameter value for the first configured axis will be
shown in the lower line. The cursor is positioned on
the axis identifier.
3. With multi-position values:
Position the cursor with the ← or → keys on the
digit of the parameter value, which you wish to
modify.
4. Enter the value with the ↑ ↓ keys.
5. Repeat items 4 and 5 if you wish to modify other
digits.
6. Press the Enter key. The value will then be trans-
ferred to the SPC200.

SPC200... 9904a 6-27

6. Operation of the SPC200 via the control panel

6.3 Editing programs

The control panel provides you with an Editor, which
can be used to edit both the position register and NC
programs. If your positioning system is fully configured,
you can teach the position register with the aid of the
Teach functions.

You will find all menu commands for editing NC pro-

grams and position registers in the EDIT PROGRAMS
menu.

EDIT PROGRAM menu (for editing programs)

EDIT PROGRAM Add new program

NEW PROGRAM >

EDIT PROGRAM Modify program

MODIFY PROGRAM >

EDIT PROGRAM Delete program

DELETE PROGRAM >

EDIT PROGRAM Modify position register

MODIFY POSRG >

EDIT PROGRAM Teach mode

TEACH IN > (Teach position register)

These commands are explained in the following

sections.

6-28 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.3.1 Adding a new program

1. In the initial display press the ← or → key re-
peatedly, until the EDIT PROGRAM menu is dis-
played.

SPC200 READY
EDIT PROGRAM >

2. Press the Enter key to open the EDIT PROGRAM

menu. The first command (New Program) will then
be displayed in the lower line.

EDIT PROGRAM
NEW PROGRAM >

3. Press the Enter key to select the command.

NEW PROGRAM
PROGRAM NO: 00?

4. Programs 0 and 1 have already been created at the

factory. Use the cursor keys to set the desired num-
ber of a new program, e.g.:

NEW PROGRAM
PROGRAM NO: 03?

5. Press the Enter key to create the program. After cre-

ating the program, you can edit the first NC record.

SPC200... 9904a 6-29

6. Operation of the SPC200 via the control panel

To display an NC record both lines of the display are

used. This is treated as a single line of 32 characters.

Please note that in programming multi-axis systems, for

reasons of space, only the parameters for the currently
selected axis are displayed.

The procedure in editing an NC record is explained

below using the command G00 (Move to position at
highest possible speed) as an example. The appendix
contains a summary of all available NC commands.
There is a detailed description of the NC commands
together with example programs in Chapter 7.

Example: NC record with G00

After a program has been created, the number of the
program created will be displayed in the first 3 columns
(here P03). After this is the NC record number N000.

P03:N000 * *
X+0000.00

The cursor stands at identifier N.

1. Press button → to position the cursor at the first NC
word of the current NC record (here * for positioning
with saved values).
The desired NC command can be selected with the ↑ ↓
keys.

6-30 SPC200... 9904a

6. Operation of the SPC200 via the control panel

2. Press the ↑ key to change to G00.

P03:N000 G00 *
X+0000.00

3. Press the → key when you have selected the

desired command.

P03:N000 G00 *
X+0000.00

4. Using the ↑ ↓ keys you can then select further NC

words or parameters, if appropriate. Press the →
key, when the setting has been made. In this
example the next parameter for the command G00
will then appear in the second line.

P03:N000 G00 *
X+0000.00

5. The cursor is positioned on the axis identifier. Select

the desired axis with the ↑ ↓ keys and press the →
key.

P03:N000 G00 *
X+0000.00

SPC200... 9904a 6-31

6. Operation of the SPC200 via the control panel

6. When the cursor is positioned next to the axis code

you can use the ↑ ↓ keys to toggle between:
– Position value (X+0000.00 or X-0000.00)
– Register value (X@00).
– Axis not relevant (X*)
Significance: The positioning command has no effect
with the corresponding axis.
7. If you have made your selection, you can, if re-
quired, enter the position and/or register value with
the cursor keys. To do this proceed as usual digit-
by-digit:
• Set cursor to digit positions using ← and →,
• Increase or reduce the value of the digit using ↑ ↓.

P03:N000 G00 *
X+0123.45

8. If you also wish to enter a position for the second

axis in the current NC record, position the cursor
again on the axis identifier using the ← key. Then
toggle to the desired axis and enter the position
and/or cursor value for this axis using the cursor
keys, e.g.:

P03:N000 G00 *
Y+0100.00

6-32 SPC200... 9904a

6. Operation of the SPC200 via the control panel

The NC record entered in this example appears in Win-

PISA as follows:

N0000 G00 X+123.45 Y100.00

To display the NC record on the control panel, place the

cursor on the axis identifier and toggle between the
configured axes.

P03:N000 G00 *
X+0123.45

P03:N000 G00 *
Y+0100.00

9. To conclude entry of the NC record, make sure that

the cursor is positioned at an NC command,
parameter or operand. Then press the Enter key.
The cursor will be positioned at identifier N and the
NC record saved intermediately in the SPC200.
If the cursor is positioned at the identifier for NC record
number (N), a copy of the current NC record will be
inserted when the Enter key is pressed.
10. Select the next NC record with ↑ ↓ (here N001).
Edit the NC record as described.

SPC200... 9904a 6-33

6. Operation of the SPC200 via the control panel

Always conclude programs with NC command M30

(Program end with repeat) or M02 (Subprogram end),
e.g.:

P03:N005 M30

Exiting the program editor

1. First make sure that the cursor is positioned at an
NC command, parameter or operand. Then press
the Enter key to conclude the entry of the current
NC record. The cursor will then be positioned at
identifier N and the NC record saved intermediately
in the SPC200.

P03:N005 M30

2. Press key → to position the cursor at the NC com-

mand again.

P03:N005 M30

3. Now press the ESC key. The NC editor will then

be exited.
The program will not be transferred from the intermedi-
ate memory (RAM memory) to the program memory
(flash memory) until the NC editor is exited. If there is a
power failure before the NC editor is exited, the modifi-
cations made will be lost.

6-34 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.3.2 Editing instructions

If there is a power failure before the NC editor is exited,
the modifications made will be lost. When entering ex-
tensive programs, exit the editor now and again in order
to save intermediately.

When programming, pay attention to correct syntax and

only use existing operands. Both lines of the display are
used to display an NC record. Please note that in pro-
gramming multi-axis systems, for reasons of space,
only the parameter for the currently selected axis is dis-
played.

In moving the cursor, the lines are to be considered as

one line of 32 characters. The individual NC words
and/or parameters are selected one after the other with
the ← and → keys. The cursor moves to the left or
right correspondingly.

Inserting, If the NC program already contains several lines, NC

deleting records can be inserted and deleted and the program
lines can be scrolled. For this, the cursor must be in NC rec-
ord number field (e.g. N001). You can then:
– scroll through the program using the ↑ ↓ keys
– insert a copy of the current NC record by pressing
the Enter key.
– delete the current NC record by pressing the ESC
key. The deletion process can be acknowledged with
Enter or recalled with ESC.

SPC200... 9904a 6-35

6. Operation of the SPC200 via the control panel

Edit The characters and/or NC words to be modified are

lines selected with the ← and → keys. The characters
and/or NC words are changed with the ↑ ↓ keys.
• If the cursor is located on an NC word, an NC word
will be selected using ↑ ↓.
• If the cursor is on a digit, the value of the digit will be
raised or lowered using ↑ ↓.
• If the cursor is on the axis identifier, one of the avail-
able axes will be selected with ↑ ↓.
• In the case of positioning commands, one of the fol-
lowing signs to the immediate right of the axis
identifier can be selected:
Sign Meaning
+ positive position value (z.B. X+0100.00)
- negative position value (z.B. X-0100.00)
@ number of the position register (e.g. X@10)
* axis not relevant (e.g. Y*; Y-axis not relevant)

If the * sign is selected, the command programmed in

the current line is not relevant for the current axis, e.g.:

P03:N001 G00 G90

Y*

Concluding In order to conclude the entry of an NC record or pro-

entry gram, the cursor must be positioned at an NC com-
mand, parameter or operand. The NC record is con-
cluded with the Enter key. Program entry is concluded
with the ESC key.

6-36 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.3.3 Instruction set on the control panel

First NC word

NC Description Operating mode supported

command
Start/stop Record
selection
* Positioning with the stored values. ä ä
The most recently programmed position
command (G00,G01 or G02) remains active.
G00 Move to position at the highest possible speed ä ä
G01 Move to position at specified speed ä ä
G02 Move smoothly to position at specified speed ä ä
Move to position at start/stop frequency
G04 Dwell time in 100 th. of second ä ä
G08 Acceleration for approach ramp in % steps of ä -
the defined maximum acceleration
G09 Acceleration for brake ramp in % steps of ä ä
the defined maximum acceleration
G25 Position-dependent record indexing ä ä
G26 Reserved for later expansions - -
G27 Reserved for later expansions - -
G28 Load position value into position register ä -
G29 Add position value and position register ä -
G60 Precision stop ä ä
G61 Set quality class ä ä
G62 Fast stop ä ä
G74 Start reference travel ä ä
M00 Programmed stop ä -
M02 End of subroutine ä -
= Command is supported; - = Command is not supported in record selection mode

SPC200... 9904a 6-37

6. Operation of the SPC200 via the control panel

First NC word (continued)

NC Description Operating mode supported

command
Start/stop Record
selection
M10 Activate analogue reference value input ä -
M11 Offset for analogue reference value input ä -
M12 Deactivate analogue reference value input ä -
M13 Set analogue positioning mode ä -
M14 Assign analogue input ä -
M30 End program with repeat ä -
M37 Set mass percentage ä -
M38 Load actual value into position register ä -
M39 Reserved for later expansions - -
L Call subroutine ä -
E05 Unconditional jump ä -
#S Set single-bit operand ä -
#R Reset single-bit operand ä -
#T Test single-bit operand for 1-signal ä -
#TN Test single-bit operand for 0-signal ä -
#LR Load register with value ä -
#AR Add value to register ä -
#TR Test / compare register ä -
= Command is supported; - = Command not supported in this mode

6-38 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Second NC word

NC Description Operating mode supported

command
Start/stop Record
selection
* Use last positioning mode (G90,G91). ä ä
The last positioning mode used (relative or
absolute method) remains active.
G90 Absolute measurement ä ä
(default setting at start of program)
G91 Relative measurement ä ä
ä = Command is supported; - = Command is not supported in record selection mode
There is a detailed description of the NC commands
together with example programs in Chapter 7.

SPC200... 9904a 6-39

6. Operation of the SPC200 via the control panel

6.3.4 Editing an existing program

1. In the initial display press the ← or → key re-
peatedly, until the EDIT PROGRAM menu is dis-
played.

SPC200 READY
EDIT PROGRAM >

2. Press the Enter key to open the EDIT PROGRAM

menu. The first command (New Program) will then
be displayed in the lower line.

EDIT PROGRAM
NEW PROGRAM >

3. Select the command MODIFY PROGRAM using the

← or → keys.

EDIT
MODIFY PROGRAM >

4. Press the Enter key to select the MODIFY PRO-

GRAM command.

NEW PROGRAM
PROGRAM NO: 00?

5. Insert the desired program number using the cursor

keys, e.g. Program No. 03:

NEW PROGRAM
PROGRAM NO: 03?

6. Press the Enter key to edit the program.

6-40 SPC200... 9904a

6. Operation of the SPC200 via the control panel

After a program has been selected the number of the

program will be displayed in the first 3 positions (here
P03). After this, the first NC record of the program will
be displayed, e.g.:

P03:N000 G00 *
X+0100.00

The cursor stands on the current NC record number

(here N000). Using the ↑ ↓ keys you can scroll through
all NC records in the program.

Please note that in programming multi-axis systems, for

reasons of space, only the parameter for the currently
selected axis is displayed.

Notes on editing are to be found in Section 6.3.2.

SPC200... 9904a 6-41

6. Operation of the SPC200 via the control panel

6.3.5 Deleting a program

1. In the initial display press the ← or → key re-
peatedly, until the EDIT PROGRAM menu is dis-
played.

SPC200 READY
EDIT PROGRAM

2. Press the Enter key to open the EDIT PROGRAMS

menu. The first command (New Program) will then
be displayed in the lower line.

EDIT PROGRAM
NEW PROGRAM

3. Select the DELETE PROGRAM command with the

← or → keys and press the Enter key.

DELETE PROGRAM
PROGRAM NO: 00?

4. Insert the desired program number using the cursor

keys, e.g. Program No. 03:

DELETE PROGRAM
PROGRAM NO: 03?

5. Press the Enter key to delete the program.

The program will then be deleted.

6-42 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.4 Editing the position register

In programming, as an alternative to direct input of po-
sition values (e.g. X100), you can also specify positions
by position register. Then you only need to specify the
desired number of the position register (e.g. X@01) in
the program.

With programming in WinPISA, the position registers

are pre-assigned with the values of the position list (see
WinPISA manual).

The desired position values are filled into the position

register using the following commands in the EDIT
PROGRAM menu.

EDIT PROGRAM menu (for editing programs)

EDIT PROGRAM Modify the position register

MODIFY POSREG. > (Edit position register)

EDIT PROGRAM Teach mode

TEACH IN > (Teach position register)

Modify position register

1. In the initial display press the ← or → key re-
peatedly, until the EDIT PROGRAM menu is dis-
played.
2. Press the Enter key to open the EDIT PROGRAM
menu. The first command (New Program) will then
be displayed in the lower line.

SPC200... 9904a 6-43

6. Operation of the SPC200 via the control panel

3. Select the MODIFY POSRG command with the

← or → keys and press the Enter key.

MODIFY POSREG.
X:@00

4. Using the cursor keys, enter the desired axis code

and the register number, e.g. X:@03, and press the
Enter key. The current value of the register will then
be shown.

MODIFY POSREG.
X:@03: +0123.00

The value -9999.99 is reserved as code for unused po-

sition register.

5. You can modify the value with the cursor keys.

Press the Enter key to save the change.
6. If you wish to alter another position register, press
the ESC key and repeat Items 4 and 5.

6-44 SPC200... 9904a

6. Operation of the SPC200 via the control panel

Teaching positions

WARNING
In this function, one or more system axes will be set
in motion. Take care that no one can reach into the
path of the moving object while compressed air is
applied.

The following requirements must be fulfilled for the

teach mode:
– the positioning system must be set up completely,
wired and supplied with voltage and compressed air;
– the axis and application parameters must be set cor-
rectly;
– the inputs ENABLE (I0.9) and STOP (I0.7) must be
supplied with 24 V.
1. Press key ← or → in the initial display repeatedly
until the EDIT PROGRAM MENU is shown.
2. Press the ENTER key to open the EDIT PROGRAM
MENU. The first command (NEW PROGRAM) will
then be shown in the bottom line.
3. Select the command TEACH IN with the keys ←
and → and press the Enter key.

TEACH IN
X:@00 CONT

SPC200... 9904a 6-45

6. Operation of the SPC200 via the control panel

4. Set the desired axis code, the register number and

the positioning mode with the cursor keys.

The following modes are possible:

Positioning mode Description

CONT Move continuously
STEP Move in steps twice the set positioning
tolerance

5. Press the Enter key to confirm the selected position-

ing mode. The current position will then be shown in
the bottom line.

TEACH:@03 CONT
X:+0123.00 +

6. You can now set the positioning direction with the

keys ↑ ↓ (+ = in positive direction: - = in negative
direction). To move the slide, set the desired direc-
tion and proceed as follows:

Positioning mode Description

CONT Hold Enter key pressed down until the
slide is to stop.
STEP Press Enter key to move the
appropriate step.

7. In order to save the current position, select the com-

mand SAVE with the keys • — and press the Enter
key.

6-46 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.5 Controlling the program run

WARNING
Take care that no one can reach into the path of the
moving object and that no objects lie in this path.

Require- In order to be able to control program runs with the

ments control panel, the following requirements must be met:
– the positioning system is fully installed, wired up and
supplied with voltage and compressed air
– the parameters in the menus AXIS PARAM,
APPLIC.PARAM and CONFIG. SYSTEM are correct-
ly set
– 24 V is available at the ENABLE (I0.9) and STOP
(I0.7) inputs
– there is at least one program in the memory.

Programs can be started, stopped and reset with the

following commands in the SYSTEM CONTROL me-
mory.

SPC200... 9904a 6-47

6. Operation of the SPC200 via the control panel

SYSTEM CONTROL menu

SYSTEM CONTROL Start system

START SYSTEM ? (only supported in start/stop mode)
The programs created are started or continued with this
command.
Requirement:
- 1-signal at STOP input
- 1-signal at ENABLE input
When the system is started, the display will show the
command STOP SYSTEM, so that an unintentional start can
be cancelled immediately.

SYSTEM CONTROL Stop system

STOP SYSTEM ? The program and the axes are both stopped with this
command. The current position becomes the nominal position
(closed-loop controlled stop).

SYSTEM CONTROL Reset system

RESET SYSTEM ? The SPC200 is reset to the status it was in after it was
switched on. A program reset and hardware recognition is
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.

SYSTEM CONTROL Reset programs

RESET PROGRAMS ? Here the:
- NC record pointer is reset to 0
- the pre-settings G90 and G02 (speed, acceleration and mass
load factor 100%) as well as the positioning quality class set
in the application parameters become valid
- the analogue channel will be switched off (M12)
- all freely programmable outputs and the SYNC outputs will
be reset
- the set starting programs are made ready
- any errors will be acknowledged.

SYSTEM CONTROL Reset error

RESET ERROR ? The error code is reset to 0 with this command.

SYSTEM CONTROL Reset all data to the status as at delivery.

RESET DATA ? With this command, all data will be reset to the status as at
delivery. All user data will then be lost.

6-48 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.6 Display of operands and system states

For program control, it is possible to have a permanent
display of the operands and system states. The com-
mands for this are in the Display menu. The following
operands and system states can be displayed, provid-
ing the appropriate modules are fitted.

DISPLAY menu

TASK STATE Task state

TA:P00 N000 S00 Tn = Task (A or B) A...B
Pn = Current program number 0...99
Nn = NC record number 0...999
Snm = Program/record status 00...11*)
n = Record status,
m = Program status
*) 0 = inactive; 1 active

REFERENCE POS. Reference position

X:+0000.00 mm X, Y, Z, U = axis identifier

CURRENT POS. Current position

X:+0000.00 mm X, Y; Z, U = axis identifier

POS. DIFFERENCE Position difference

X:+0000.00 mm X, Y, Z, U = axis identifier

DIGITAL INPUT Status display for digital inputs

I0.00:0 I = Input I0.0...I3.15

FIELDBUS INPUT Status display for field bus inputs

I10.00:0 I = Input I10.0...I13.15

DIGITAL OUTPUT Status display for digital outputs

Q0.00:0 Q = Output I0.0...I3.15

FIELDBUS OUTPUT Status display for field bus outputs

Q10.00:0 Q = Output I10.0...I13.15

SPC200... 9904a 6-49

6. Operation of the SPC200 via the control panel

DISPLAY menu

MEMORY FLAG Status display for memory flag

F00:0 F = Flag F00...F63

REGISTER Status display for register

R00:+0000 R = Register R00...R99

ERROR Error number

No.00000000 (see section 8.2)

STEP MOTOR Status display for sensors on the

INPUT electric axis.
Y: LIM+ = 1 If the cursor is positioned at LIM+, you
can switch between:
- LIM + (positive limit switch)
- LIM - (negative limit switch)
- REF (reference switch)
- SRDY (ready signal of the power
controller)
The status of each input is shown by
"0" or "1". If a stepping motor indexer
module is not installed, the message
"NO STEP MOTOR" will appear.

When checking the sensors, note the different designs

of sensors:
– LIM +, LIM -
limit switch: normally closed contact
– REF
reference switch: normally open contact.

6-50 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.7 Setting the closed loop control factors

Menu The controller parameters are calculated by the
CONTROL. SPC200 from various basic factors. The controller
PARAM factors are standardized to 1.0. By means of these fac-
tors you can manually influence the calculated control-
ler parameters.
A detailed description of the controller parameters as
well as instructions on optimizing the positioning behav-
iour can be found in Appendix A.

Control factors for pneumatic axes:

CONTROL. PARAM. menu (Controller parameters)

Pneumatic axis

Gain factor 0.1 ... 10.0

GAIN FACTOR With the gain factor you can influence the sensitivity with which
X:+0001.00 the positioning controller reacts to the modifications to the
"measured variables" (position, speed, acceleration)

Damping factor 0.1 ... 10.0

DAMPING FACTOR Damping is a measure of the transition behaviour of the system
X:+0001.00 from the actual to the nominal status, especially with fast
modifications of reference values. The system should normally
guarantee low-swing behaviour with reference value specification
and no-swing movement to the destination position.

SPC200... 9904a 6-51

6. Operation of the SPC200 via the control panel

CONTROL. PARAM. menu (Controller parameters)

Signal filter factor 0.1 ... 10.0

FILTER FACTOR Speed and acceleration are derived from the positioning signal
X:+0001.00 and filtered to improve the signal quality. If bad signal quality
exists in practice, e.g. due to electrical interference, the filtering
of the signal can be influenced by the signal filter factor. If the
filtering is too strong, it may destabilize the positioning.

Positioning timeout 0.0 ... 99.99 s

POS. TIMEOUT This monitors to see whether the positioning procedures are
X:01.00 carried out quickly enough. The SPC200 issues an MC error if:
- the drive does not start to move within the specified positioning
timeout entered after receiving a positioning command;
- the drive exceeds the maximum permitted positioning time
(sum of the internally calculated positioning time and the
positioning timeout).
If there is an NC error, the drive will be stopped. The current
position becomes the reference position. The error can be quitted
with a new positioning command.
Select the positioning timeout so that the positioning movements
can definitely be concluded within the selected time (e.g. 0.5 to
1.0 seconds). You can switch off the monitoring of the positioning
time with the value 0.0.

6-52 SPC200... 9904a

6. Operation of the SPC200 via the control panel

6.8 Test and diagnostic functions of the control panel

A ready-to-operate system is required for some of the
commands in this menu. The following conditions must
be fulfilled:
• the positioning system must be completely set up,
wired and supplied with voltage and compressed air
• the axis and application parameters must be set cor-
rectly
• The inputs ENABLE and STOP must supply a
1-signal.
– After opening the menu, you can test either the:
system functions (SYSTEM) or
– the axis functions (AXIS)

SPC200... 9904a 6-53

6. Operation of the SPC200 via the control panel

TEST/DIAG. menu (test and diagnostics)

Submenu SYSTEM

SINGLE STEP Program test in single step P00 ... P99

P00 (only supported in start/stop mode)
With this function you can test an existing program in single step
mode.
Proceed as follows:
1. Set the program number.
2. Press the Enter key to confirm the selection.
3. Press the Enter key to start the NC record.
4. Repeat point 3 to start the next NC record.

INPUT TEST Test inputs1)

I0.00:0 I = input I0.00 ... I3.15
With this command you can check the functioning of the inputs of
the system. The input signal entered suppresses the actual
signal present and is taken into account for the sequence control
(e.g. start/stop) as well as for the program run. The actual input
signal present is then finally valid again.

1)
FB INPUT TEST Test field bus inputs
I10.00:0 I = input I10.00...I13.15

OUTPUT TEST Test outputs1)

Q0.00:0 Q = output Q0.00...Q3.15
The READY output (Q0.7) and the ACK outputs used by the
system (Q0.5 and Q0.6) are continually updated by the operating
system and cannot, therefore, be influenced.

FB OUTPUT TEST 1)
Test field bus outputs
Q10.00:0 Q = output QI10.00...Q13.15

FLAG TEST Test flags1)

F00:0 F = flag F00...F63

REGISTER TEST Test registers1)

R00:0 R = register R00...R99

1) With this command the status of the appropriate operand can be modified.

6-54 SPC200... 9904a

6. Operation of the SPC200 via the control panel

TEST/DIAG. menu (test and diagnostics)

Submenu AXIS: pneumatic axis

JOG AXIS Jog axis

X: CONT CONT : move continuously
STEP : move step-by-step twice the
set positioning tolerance
Proceed as follows:
1. Select the desired axis (X or Y)
2. Select the positioning mode (CONT, STEP).
3. Press the Enter key to confirm the selection.
4. Select the positioning direction (+ or -).
5. With positioning mode STEP:
- Press the Enter key to move one step.
With positioning mode CONT:
- Press and hold down the Enter key until positioning
is complete.

MOVEMENT TEST Movement test 00.00 ... 10.00 V

X:05.00 V With this command you can check whether the proportional
directional control valve is correctly connected to the axis.
Instructions on this procedure can be found in section 4.3.

IDENTIFICATION Identification
X:STATIC STATIC :static identification
DYNAMIC1 :dynamic identification with work load
DYNAMIC2 :dynamic identification without work load
(the work load set in the application parameters is valid)
Instructions on this procedure can be found in section 4.3.

SPC200... 9904a 6-55

6. Operation of the SPC200 via the control panel

TEST/DIAG. menu (test and diagnostics)

Submenu AXIS: electric axis

JOG AXIS 1)
Move axis
X: +0000.00 +

EXIT FROM LIMIT 1)

Emergency travel
X:+0000.00 ?

1)
REFER. TRAVEL Reference travel
X:+0000.00 ?

1) Explanations and instructions on how to carry out these activities can be found in the
manual for the stepping motor indexer module type P.BE-SPC200-SMX-1-... .

6-56 SPC200... 9904a

7. Description of the commands

Chapter 7

Description of the commands

SPC200... 9904a 7-1

7. Description of the commands

Contents

7. Description of the commands

7.1 General notes on programming..................................................... 7-4
7.1.1 Coordinated and autonomous mode ............................................. 7-5
7.2 Notes on programming via the control panel ................................ 7-8
7.2.1 Explanation of the NC commands on the control panel ............. 7-13

7-2 SPC200... 9904a

7. Description of the commands

Contents of This chapter contains basic information on programm-

this chapter ing the SPC200 by means of the control panel. Both
the coordinated mode and the autonomous mode of
operation are explained, as well as all the NC com-
mands.
Further Before programming with the control panel, you should
information be familiar with the way in which the control panel func-
tions. Please refer to chapter 6 for a description of how
you can create and edit NC programs with the control
panel.

WinPISA offers user-friendly editing functions. Informa-

tion on this can be found in the WinPISA manual.

SPC200... 9904a 7-3

7. Description of the commands

7.1 General notes on programming

The following must be taken into account in preparing
NC programs:
– the operating mode, in which the SPC200 is used.
All NC commands are supported in start/stop mode.
In record select mode only motion commands (G00,
G01, G02 and G74) motion conditions (G08, G09,
G90 and G91) and commands for setting the quality
class (G60, G61, G62) are supported.
– the number of starting programs.
If a single axis system or a multi-axis system is con-
trolled with one 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).

Parallel program processing

The SPC200 has a parallel program processing capabi-
lity to provide a cost-effective way of implementing two
work stations. For this purpose, two programs, which
can be run in parallel as Task A and Task B, must be
defined as starting programs.

Each task, and thus each starting program and

subroutine may only contain commands for the relevant
assigned work station.

7-4 SPC200... 9904a

7. Description of the commands

7.1.1 Coordinated and autonomous mode

Coordinated Parallel program processing is not usually used in the
mode coordinated control of two axes. Only one program is
defined as the starting program. The motion commands
for all the axes are programmed in this program.
If a motion command relates to all the axes, it is only
terminated when all the axes have reached the target
position. The movement of all the axes is thus
synchronised. A second starting program can be used
for supervisory functions.

1
N00010
N00020
G62 X Y
G00 X100 Y150
6
2 N00030
N00040
#TNI0.0 30
G01 X100 FX10
N00050 G00 X300 Y100 X
N00060 G00 X500 Y200
N00070 G01 Y400 FY20
...

3
4 5
1 4
2 5
Task A Motion command for the X axis

3 6
Starting program for task A Motion command for the Y axis
Subroutines Workstation A (two coordinated axes)

Fig. 7/1: Coordinated mode for two axes (example of two-axis system)

SPC200... 9904a 7-5

7. Description of the commands

Autonomous In autonomous mode two separate work stations are

mode controlled with one SPC200. Two different programs
which operate independently of one another (parallel)
are defined as starting programs for this special case.
The two parallel running programs have the output
READY in common and the inputs ENABLE, STOP and
START/RESET.

1 5
N00010 G62 X 2 N00010 G62 Y 6 9
N00020 G00 X100 N00020 G00 Y150
N00030 #TNI0.0 30 N00030 G01 Y300 FY10 X
N00040 G01 X100 FX10 N00040 #TNI0.1 40
N00050 G00 X300 N00050 G00 Y100
N00060 G00 X500 N00060 G04 500

0
N00070 G00 X500
...

3 7
4 8
1 6
2 7
Task A Starting program for task B

3 8
Starting program for task A Subroutine for task B

4 9
Subroutine for task A Motion command for the Y axis

5 0
Motion command for the X axis Workstation A (X axis)
Task B Workstation B (Y axis)

Fig. 7/2: Autonomous operation of two work stations (example)

7-6 SPC200... 9904a

7. Description of the commands

In autonomous mode the programs for the two work

stations run independently. Each work station can be
controlled independently of the other via the freely pro-
grammable I/Os (start/stop mode) or the command I/Os
(record select mode).

Note in using parallel program processing in autono-

mous mode:
– Starting programs may not be called up as subrou-
tines.
– Subroutines which contain motion commands may
only be used by one starting program.
– Each task and all programs used may each only
contain motion commands for the relevant work
station, e.g.:
Task A only commands for the X axis
Task B only commands for the Y axis

SPC200... 9904a 7-7

7. Description of the commands

7.2 Notes on programming via the control panel

The SPC200 can employ up to 100 motion programs
with an overall maximum of 2000 NC records. Each
program can be called as a subroutine. 4 nested sub-
routine calls are possible for this purpose.

One program can consist of up to 1000 NC records

(000...999). Each NC record is given a record number.
Record numbers begin with the letter N (for NC record
number).

When programming with the control panel the records

are numbered in strict numerical order, beginning with
N000. The NC programs are based on DIN 66025. The
following symbols are employed in programming:

Symbol Description
N Identifier for record numbers (N000...N999)
G Positioning conditions
M Auxiliary functions
E Jump functions
L Call subroutine
X, Y, Z, U Axis identifiers: X axis, Y axis, etc.
F Speed
@ - Identifier for position register
- Identifier for symbolic position*)
# Single and multiple-bit operations
; Start of comment, valid to end of line*)

*) only in programming with WinPISA

7-8 SPC200... 9904a

7. Description of the commands

Addressing
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 0.0 ... 0.9 will remain unas-
signed. The assignment of the I/O addresses for con-
figurations with and without the field bus module are
shown in the following table.

Configuration without Configuration with Maximum address range

field bus module field bus module
1) 1)
First I/O module - I0.0 ... I0.9 Q0.0 ... Q0.7 1)

I/O module on first axis interface string I1.0 ... I1.15 Q1.0 ... Q1.15

Second I/O module First I/O module I2.0 ... I2.9 Q2.0 ... Q2.7

I/O module on first axis interface string I3.0 ... I3.15 Q3.0 ... Q3.15

Third I/O module Second I/O module I4.0 ... I4.9 Q4.0 ... Q4.7

Fourth I/O module Third I/O module I5.0 ... I5.9 Q5.0 ... Q5.7
2) 2)
- Field bus module I10.0 ... I13.15 Q10.0 ... Q13.152)

1) Address range not available if a field bus module is fitted

2) Address range not available if a field bus module is not fitted

Control inputs and outputs are reserved for pre-

assigned functions (see chapter 5).

SPC200... 9904a 7-9

7. Description of the commands

Operand Description Address range Value range

1)
F Flag F0 .. F63 0/1
1)
R Register R0 .. R99 -32767...+32767
Position Description Number Value range
register
1)
@ 100 position register per axis @00...@99 -9999.98...+9999.992)
1) These operands are saved in the event of a power failure (remanent)
2) Value -9999.99 is reserved as code for unused position registers

Explanations of syntax
To explain the syntax the following symbols are used in
the summary tables:

Symbol Description
n Placeholder for numerical values
<Operand> Placeholder for operands (e.g. F0.0)
[] Parameters given in square brackets can be
supplied as an alternative or in addition 1)
| Parameters separated by a vertical stroke
can be supplied as alternatives
1) To facilitate reading, axis identifiers are shown in a simplified
form [Y., Z.., U..]. Additional parameters have been omitted
intentionally.

7-10 SPC200... 9904a

7. Description of the commands

All NC commands are supported in start/stop mode. NC

commands, which are supported in the record select
operating mode, are marked as follows:

x Record select

If the manual refers to a certain type of axis, this is also

marked. The meanings are:

Axis type Manual

Pneu. axis Description of NC command refers to
pneumatic axes
Step. Axis Description of NC command refers to
stepping motor axis

Pneu. Axis Axis type

NC-command
G00
x Record select Available in record select mode

If no identifier is specified for a certain type, the de-

scription of the command applies to both types of axes.

SPC200... 9904a 7-11

7. Description of the commands

Presetting The following are preset for positioning:

– Positioning command G02
with pneumatic axes: move smoothly to position at
defined speed (G02);
with stepping motor axes: move to position at
start/stop frequency
– Absolute positioning (G90)
– With pneumatic axes:
the positioning quality class (1...6) set in the applica-
tion parameters is valid; speed factor, acceleration
factor and mass load factors are 100 %

The commands are explained in the sequence in which

they appear when selected on the control panel.

7-12 SPC200... 9904a

7. Description of the commands

7.2.1 Explanation of the NC commands on the control panel

NC commands for the SPC200

Pneu. axis
Move to position at the highest possible
G00
x
speed (point to point)
Record selection

Structure Nn G00 [G90|G91] Xn|X@n [X..,Y..,Z..,U..]

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
Action The pneumatic axis moves at the highest possible speed from the
present position to the reference position (absolute or relative, see
under G90/G91).
The automatically generated reference values for speed and
acceleration are limited to the maximum values determined
during identification, in order to avoid overswing as a result of
stress (see following diagram).
Example N000 G00 G91 X100 ;Move 100 mm in positive direction
N001 G00 G90 X@2 ;Move to position from position
;register 2 of the X axis
N003 G00 X100 Y-100 ;Move to X100 and Y-100
N004 G00 X@5 Y@1 ;Move to position from position reg-
;ister 5 (X) and position register 1 (Y)
Remarks The following is set when the system is started:
- Absolute positioning (G90)
The command G00 will be stored. It will remain active until
cancelled by a G01 or G02 command.
Example: N000 G00 X100
N001 X200
N002 G01 X300
When programming with WinPISA positions can also be specified
symbolically. For this purpose the position values and the position
names are entered in the position list.
Example: N006 G00 x@ABHOL_POS
N007 x@ABLAGE_POS

SPC200... 9904a 7-13

7. Description of the commands

With the command G00, reference value curves are

specified by the SPC200 for path, speed and accelera-
tion. These values enable a reproducible fast and no-
overswing approach of the reference position.

The defined maximum speed and acceleration is only

effective with the positioning commands G01 and G02.

v [m/s] s [m]
4
1

t [s] t [s]
a [m/s2]
5

t [s]

1 Reference speed 5 Reference acceleration

2 Identified maximum speed 6 Identified maximum acceleration
3 Configured maximum speed (G01/G02) 7 Configured maximum acceleration
4 Reference position (G01/G02)

Fig. 7/3: Reference values with command G00 (pneumatic axis)

7-14 SPC200... 9904a

7. Description of the commands

Step. axis
Move to position at highest possible speed
G00
x
(point to point)
Record selection

Structure Nn G00 (G90|G91) Xn|X

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
Action The stepping motor axis moves at the maximum speed and
maximum acceleration specified in the application parameters
from the current position to the defined position (absolute or
relative, see under G90/G91).
Example As with pneumatic axes (see under G00 for pneumatic axis)
Remarks As with pneumatic axes (see under G00 for pneumatic axis)

SPC200... 9904a 7-15

7. Description of the commands

With the stepping motor axis, the setpoint speed value

increases at first in ramp form with command G00, until
the maximum speed specified in the application par-
ameters is reached. Before the setpoint position is
reached, the setpoint speed value falls again in ramp
form. The steepness of the approach and braking
ramps is preset by the maximum acceleration defined in
the application parameters.

v [m/s] s [m]
3
1

t [s] t [s]
a [m/s2]
4

t [s]

1 Setpoint speed value 4 Setpoint acceleration value

2 Configured maximum speed 5 Configured maximum acceleration
3 Setpoint position value

Fig. 7/4: Setpoint specifications with command G00 (stepping motor axis)

7-16 SPC200... 9904a

7. Description of the commands

G01 Move to position at specified speed

x Record selection

Structure Nn G01 [G90|G91] Xn|X@n FXn [Y..,Z..,U..]

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
FXn Speed of movement in % of the
specified maximum speed;
n = 0...99
0 = 100 %, 1 = 1 % ...99 = 99 %
Action The axis moves at the specified speed and acceleration from the
present position to the specified position (absolute or relative),
subject to the speed being attainable by the system (see following
diagram).
With pneumatic axes: The reference values for speed and
acceleration will be limited automatically to the maximum values
determined during dynamic identification in order to avoid
overswing as a result of stress.
Example N000 G01 X100 FX10 ;Move to position 100 at 10 % of the
;specified maximum speed
N001 G01 X@2 FX30 ;Move to position from register 2
;at 30 % of the specified maximum
;speed
Remarks To determine the set positioning time resulting from the reference
values see appendix A.
The following are set when the system is started:
- Positioning mode = Absolute positioning (G90);
- Approach ramp = 100 % of the maximum acceleration (G08);
- Brake ramp = 100 % of the maximum acceleration (G09).
The command G01 will be stored. It will remain active until
cancelled by a G00 or G02 command.
Example: N003 G01 X100 FX10
N004 X200
N005 G00 X300
When programming with WinPISA positions can also be allocated
symbolically. For this purpose the position values and the position
names are entered in the position list.
Example:
N005 G01 x@ABHOL_POS FX20 y@ABHOL_POS FY30
N006 x@ABLAGE_POS

SPC200... 9904a 7-17

7. Description of the commands

With the G01 command the reference speed increases

ramp-like initially, until the maximum speed of move-
ment programmed with FX or FY is reached. Before
reaching the intended position the reference speed
drops again ramp-like. The steepness of the approach
ramp and brake ramp is preset by the maximum ac-
celeration defined by the system data. The slope of the
ramps can be set by program independently of each
other using the G08 and G09 commands.

v [m/s] s [m]
4
1

t [s] t [s]
a [m/s2]
5

t [s]

1 Reference speed 5 Reference acceleration

2 Configured maximum speed 6 Configured maximum acceleration
3 Programmed speed 7 Programmed acceleration for approach ramp (G08)
4 Reference position 8 Programmed acceleration for brake ramp (G09)

Fig. 7/5: Reference values with command G01

7-18 SPC200... 9904a

7. Description of the commands

Pneu. axis
Move smoothly to position at specified speed
G02
x Record selection

Structure Nn G02 [G90|G91] Xn|X@n FXn [Y..,Z..,U..]

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
FXn Positioning speed in % of the
specified maximum speed;
n = 0...99
0 = 100 %, 1 = 1 % ... 99 = 99 %
Action The pneumatic axis moves smoothly at the specified speed and
acceleration from the present position to the specified position
(absolute or relative), provided the system can reach this speed.
The programmed reference acceleration values are medium
values (see following diagram). The resulting reference values are
limited automatically to the maximum values determined during
dynamic identification, in order to avoid overswing as a result of
stress.
Example N010 G02 X90 FX0 ;Move to position X90 at 100 % of the
;specified maximum speed
N011 G02 X@2 FX30 ;Move to position from register 2
;at 30 % of the specified maximum
;speed
Remarks To determine the set positioning time resulting from the reference
values see appendix A.
This command reduces jolting movements of the slide during
starting and braking.
The following are set when the system is started:
- Absolute positioning (G90);
- Approach ramp = 100 % of the maximum acceleration (G08);
- Brake ramp = 100 % of the maximum acceleration (G09).
The command G02 will be stored. It will remain active until
cancelled by a G00 or G01 command.
When programming with WinPISA positions can also be allocated
symbolically. For this purpose the position values and the position
names are entered in the position list.
Example:
N10 G02 x@ABHOL_POS FX20 x@ABHOL_POS FY30

SPC200... 9904a 7-19

7. Description of the commands

In the case of the G02 command the acceleration refer-

ence value has a sine2-shaped curve. The effect of this
is to reduce sudden changes in the positioning signal
and consequently any jolting motion of the slide on
approach ramp and brake ramp. As with the G01 com-
mand, the G02 command increases the reference
speed ramp-like initially, until the given speed of move-
ment is attained. The programmed reference accelera-
tion values of the approach ramp and brake ramp are
medium values. The peak values lie higher by the fac-
tor 2, in order to reach the same positioning times as
with G01.

v [m/s] s [m]
4
1

t [s] t [s]
a [m/s2]
5

t [s]

1 Reference speed 5 Reference acceleration

2 Configured maximum speed 6 Effective reference acceleration value
3 Programmed speed 7 Programmed acceleration for approch ramp (G08)
4 Reference position 8 Programmed acceleration for brake ramp (G09)

Fig. 7/6: Reference values with command G02

7-20 SPC200... 9904a

7. Description of the commands

Step. axis
Move to position at start/stop frequency
G02
x Record selection

Structure Nn G02 [G90|G91] Xn|X@n FXn [Y..,Z..,U..]

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
FXn reserved; n = .. 99
parameter must be specified, but it will
be ignored
Action The stepping motor axis moves at the defined start/stop frequency
from the current position to the defined position (absolute or
relative).
Example N010 G02 X90 FX0 ;Move to position X90 at start/stop
;frequency
N011 G02 X@2 FX30 ;Move to position from register 2
;at start/stop frequency
N012 X100 ;Move to position 100 at start/stop
;frequency
Remarks A parameter F...n must be specified in order to avoid syntax
errors. The parameter value will be ignored as movement is made
at start/stop frequency.
The approach and braking ramps defined with G08 and G09 will
also be ignored.
The following is preset when the system is started:
- absolute positioning (G90)
The command G02 has a saving effect. It remains effective until it
is cancelled by command G00 or G01.
During programming with WinPISA, positions can also be
specified symbolically. For this purpose the position values and
position names are entered in the position list.
Example:
N10 G02 x@ABHOL_POS FX20 x@ABHOL_POS FY30

SPC200... 9904a 7-21

7. Description of the commands

G04 Dwell time

Structure Nn G04 n
Parameter n Dwell time in 10 ms; n = 1...9999
Action Switching to the next NC record does not take place until the
dwell time has expired.
Example N010 G00 X100 ;Move to position X100
N011 G04 250 ;Wait 2.5 seconds
N012 G00 X200 ;Move to position X200

G08 Acceleration for approach ramp

x Record selection

Structure Nn G08 Xn [Y..,Z..,U..]

Parameter Xn Acceleration in % steps of the
defined maximum acceleration;
n = 0...99,
0 = 100 %, 1 = 1 % ...99 = 99 %
Action When positioning takes place with the following commands,
approach will be made at maximum with the acceleration
specified here.
With pneumatic axes: G01 and G02
With stepping motor axis: G01
Example N020 G08 X50 Y50 ;Approach ramp = 50 %
N021 G01 X80 FX50 ;Move to position X80
N022 G08 X0 ;Approach ramp at maximum
;acceleration

The X axis will only be accelerated at 50 % of the defined

acceleration in moving to position X80. Finally, the acceleration for
the X axis will be switched to maximum acceleration.
Remarks This command will be stored. It will remain active until a new
approach ramp is defined.

7-22 SPC200... 9904a

7. Description of the commands

G09 Acceleration for brake ramp

x Record selection

Structure Nn G09 Xn [Y..,Z..,U..]

Parameter Xn Acceleration in % steps of the
defined maximum acceleration;
n = 0...99,
0 = 100 %, 1 = 1 % ...99 = 99 %
Action When positioning takes place with the following commands,
braking is made at maximum with the following acceleration.
With pneumatic axes: G01 and G02
With stepping motor axis: G01
Example N000 G09 X50 ;Brake ramp = 50 %
N001 G01 X100 FX50 ;Move to position X100
N002 G01 X150 FX50 ;Move to position X150
N003 G09 X0 ;Brake ramp at maximum
;acceleration
Remarks This command will be stored. It will remain active until a new
brake ramp is defined.

SPC200... 9904a 7-23

7. Description of the commands

G25 Position-dependent switch to next record

Structure Nn G25 Xn [Y..,Z..,U..]

Parameter n Preselect value in % of positioning
path;
0 = 100 %, 1 = 1 % ...99 = 99 %
Action If an axis, for which a position-dependent switch to the next
record has been programmed, is moved, a switch to the next NC
record will be made, if the path is traversed at the specified per
cent rate. The SPC200 is then able to process further NC records,
while the axis traverses the rest of the path to the destination
position.
All NC commands can be used after this. Positioning commands
must, however, not require a change of directon of the current
positioning procedure.
With stepping motor axes:
If command G25 refers to a stepping motor axis, the following
commands must not refer to the same stepping motor axis.
With multi-axis systems:
You can program the preselect values for several axes in one NC
record. The preselect values for the individual axes are valid until
a positioning command for the relevant axis is executed and the
preselect value thereby reached.
The further switching conditions of several axes can be linked by
means of a positioning command (see example 4).
Example see Example 1...4
Remarks This command enables:
- the speed in the case of pneumatic axes and the acceleration to
be switched during the current positioning procedure.
- obstructions to be avoided time-optimized with two-axis systems.
If a stop is triggered when the preselect value is exceeded and
when a switch is made to the next NC record, the destination
position will be maintained.
If a stop is triggered before the preselect value is reached, the
position of the preselect value will also be maintained.

7-24 SPC200... 9904a

7. Description of the commands

Switching over the speed/acceleration

(only with pneumatic axes)
Transfer to a new setpoint speed is made with the cur-
rent set values for approach acceleration and braking.
Automatic limiting to realizable braking values is not
undertaken.

CAUTION
Unrealistically high acceleration values can lead to
high oscillation and therefore to damage to the axis.
If you use command G25, make sure that realizable
acceleration values are set in relation to the axis
used and the remaining positioning path.

If the remaining positioning path is not sufficient for

coming to a stand with the set braking, a stop will be
triggered automatically (error no. nnn03x06). In this
case, move the switching conditon forwards or set a
steeper braking ramp.

With G02 positioning commands, an automatic stop can

also be triggered when the conditon for further switch-
ing is in the range of the braking phase. In this case,
use positioning command G01 (calculation forms see
Appendix A).

SPC200... 9904a 7-25

7. Description of the commands

Example 1 Modify speed; only permitted with pneumatic axes

N000 G00 X0
N001 G25 X60
N002 G01 X500 FX75
N003 G01 X500 FX50
The SPC200 reduces the speed from 75 % to 50 % of
the specified maximum speed after covering 60 % of
the distance from position 0 to position 500.

75%

50%

2
25%

100 200 300 400

1 Speed in % of the specified maximum speed

2 Pre-shutdown value of the X axis

Fig. 7/7: Example - modify speed (only permitted with

pneumatic axes)

Switching to the highest possible speed (NC command

G00) whilst the system is running is not permitted.

7-26 SPC200... 9904a

7. Description of the commands

Example 2 Time-optimized translation

N010 G00 X100 Y100

N011 G25 X50
N012 G00 X400
N013 G00 Y300
After moving 50 % of the distance from position X100
to position X400 the axis controller sets the processes
the next NC record.

300

200

100

100 200 300 400 3

1 Positioning path of the Y axis in mm

2 Pre-shutdown value of the X axis
3 Positioning path of the X axis in mm

Figure 7/8: Example: Time-optimized translation

The Y-axis therefore begins to move to position Y300,

although the X-axis has not yet concluded the position-
ing movement.

SPC200... 9904a 7-27

7. Description of the commands

Example 3 Event-dependent switching to next record

N010 G00 X0
N011 G25 X1
N012 G01 X500 FX60
N013 #TNI0.0 13
N014 G01 X500 FX10

When 1% of the positioning path from X0 to X500 has

been traversed, the SPC200 switches further to NC
record N013. A pause is made in this record until the
event takes place (here 1-signal at input I0.0). Only
then or during positioning, a switch is made to the next
positioning task (here speed reduction).

If the event occurs after the destination position has

been reached, the following positioning command in
this example will have no effect, as the same destina-
tion position (X500) has been programmed.

7-28 SPC200... 9904a

7. Description of the commands

Example 4 Linked further switching condition

N010 G01 X0 FX0 Y0 FY0 Z0 FZ0
N011 G25 X10 Y10 Z10
N012 G01 X100 FX10
N013 #SQ0.0
N014 G01 Y100 FY10 Z100 FZ10
N015 .......

In NC record N011, the SPC200 saves preselect values

for the axes X, Y and Z. In the next NC record only the
X-axis will be moved. When the X-axis reaches the
preselect value, output Q0.0 will be set.

In NC record N014 the axes Y and Z are moved. A

switch is made to the next NC record when both axes
reach the preselect value programmed under N011
(AND linking).

If, in addition to the axis for which a preselect value has

been programmed, other axes are to be positioned with
the same NC record, a preselect value of 100% will
apply to these axes.

N015 G01 X0 FX0 Y0 FY0

N016 G25 X50
N017 G01 X200 FX0 Y200 FY0
N018 #SQ0.0
N019 .......

Output Q0.0 will be set when the Y-axis reaches posi-

tion Y200 and when the X-axis reaches the pro-
grammed preselect value (here X100).

SPC200... 9904a 7-29

7. Description of the commands

G26 Reserved for later expansions

Structure

Parameter

Action

Example

Remarks

G27 Reserved for later expansions

Structure
Parameter

Action

Example

Remarks

7-30 SPC200... 9904a

7. Description of the commands

G28 Load position value into position register

Structure Nn G28 @n Xn [Y..,Z..,U..]

or
Nn G28 @n X@n [Y..,Z..,U..]
Parameter @n Target position register; n = 0...99
Xn Position in mm; n = ± 9999.99
X@n Source position register; n = 0...99
Action Loads the position value or register value into the target position
register.
Example N010 G28 @0 X10 Y10 ;Load the value 10 into position
;register 0 of the X and Y axes;
N011 G28 @1 X@99 ;Load the value from position
;register 99 of the X axis into
;position register 1 of the X axis
Remarks Position registers are saved in the event of a power failure
(remanent). Each configured axis has its own position register
record. This stores the positions contained in the position list.

SPC200... 9904a 7-31

7. Description of the commands

G29 Add position value and position register

Structure Nn G29 @n Xn [Y..,Z..,U..]

or
Nn G29 @n X@n [Y..,Z..,U..]
Parameter @n Target position register; n = 0...99
Xn Position in mm; n = ± 9999.99
X@n Source position register; n = 0...99
Action Forms the sum of the position value and register value or of two
register values and stores the result in the target register.
Example (Register @X10=20)
N010 G29 @10 X+10.5 ;Add position value and position
;register value of the X-axis

The reference position 10.5 and the value from position register
10 of the X axis (here 20) are added. The result (30.5) is stored in
position register 10 of the X axis.
Remarks Position registers are saved in the event of a power failure
(remanent). Each configured axis has its own position register
record. This stores the positions contained in the position list.

7-32 SPC200... 9904a

7. Description of the commands

Pneu. axis
Precision stop
G60
x Record selection

Structure Nn G60 X [Y, Z, U]

Parameter X Axis designation
Action Switches to precision stop (Quality class 3). The MC signal is sent
if the specified axis is still in the tolerance range when the
monitoring time has expired.
Example N000 G60 X ;Activate precision stop
N001 X100 ;Move to position X100

(Example: Tolerance = 0.2 mm):

During movement to position 100 mm, the MC signal is sent
providing the X-axis remains for a long period in the tolerance
range (between 99.8 mm...100.2 mm).
Remarks This command will be stored. It will remain effective until a fast
stop is selected with the G62 command or any other quality class
with G61.

s [m]
2
3

t [s]
1 4
5
0

6 1

1 Reference positioning value 4 Expiration of monitoring period

2 Tolerance range 5 Monitoring period
3 Duration of monitoring period per cylinder length 6 MC signal on precision stop

Fig. 7/9: Precision stop

SPC200... 9904a 7-33

7. Description of the commands

Pneu. axis
Set quality class
G61
x Record selection

Structure Nn G61 Xn [Yn]

Parameter Xn Quality class; n = 0...6
Action Switches to the set quality class. The MC signal (motion
complete) will only be issued when the axis has met the required
criteria for the chosen quality class (see Fig. 7/9).
Example N005 G61 X1 ;Quality class = 1, Fast stop
N006 G00 X100 ;Move to position 100 mm
N007 G60 X ;Precision stop

In moving to the X100 position the MC signal will be sent if the

axis enters the tolerance range (fast stop). Then it will switch to
precision stop.
Remarks This command will be stored. The quality class will remain active
until another quality class is selected. The various quality classes
are described in the following table.

7-34 SPC200... 9904a

7. Description of the commands

Type Quality Description

class
Presetting 0 Switches to the positioning quality class (1...6) set in the
application parameters.
Fast stop 1 Fast stop without damping time
The MC signal is always sent when the axis moves into
the tolerance range (see Fig. 7/10).
2 Fast stop with damping time
The MC signal is always sent when the axis moves into
the tolerance range and the damping time has expired.
Precision 3 Precision stop without damping time
stop The MC signal is sent if the specified axis remains in the
tolerance range for the duration of the monitoring time.
4 Precision stop with damping time
The MC signal is sent if the specified axis remains in the
tolerance range for the duration of the monitoring time
and the damping period.
5 Precision stop with end speed control
The MC signal is sent if the specified axis remains in the
tolerance range and is standing still for the duration of the
monitoring time.
6 Precision stop with damping time and end speed control
The MC signal is sent if the specified axis remains in the
tolerance range and is standing still for the duration of the
monitoring time and the damping time.

The length of the damping time and monitoring time is

specified automatically by the SPC200.

SPC200... 9904a 7-35

7. Description of the commands

Pneu. axis
Fast stop
G62
x Record selection

Structure Nn G62 X [Y, Z, U]

Parameter X Axis designation
Action Switches to fast stop. The MC signal (motion complete) is always
sent when the axis moves into the tolerance range the first time
(see Fig. 7/9).
Example N000 G60 X ;Activate precision stop
N001 G00 X200 ;Move to position X200
N002 G62 X ;Activate fast stop
N003 G00 X100 ;Move to position X100
N004 G00 X300 ;Move to position X300

In moving to the X100 position the MC signal (motion complete)

will be sent if the axis enters the tolerance range. The SPC200 is
immediately ready to move to position X300.
Remarks This command will be stored. The fast stop will remain active until
another quality class is selected.

1
4
0

1 Reference positioning value 3 Reaching the tolerance range

2 Tolerance range 4 MC signal in the case of fast stop

Fig. 7/10: Fast stop

7-36 SPC200... 9904a

7. Description of the commands

Step. axis
Start reference travel
G74
x Record selection

Structure Nn G74 X [Y..,Z..,U..]

Parameter X Reference travel mode; n = 0...4
Action Starts reference travel in the specified mode (see diagram below)
Example N000 G74 X0 ;transfer current position as reference
;point
Remarks All positions refer indirectly to the reference point. The exact
position of the switching point of the reference switch depends on
the reference travel mode selected.

Mode Description

0 Transfers current axis position as reference point

1 Reference travel in negative direction up to reference switch

(REF) with transfer as reference point

2 Reference travel in negative direction up to negative end switch

(LIM-) with transfer as reference point

3 Reference travel in positive direction up to reference switch (REF)

with transfer as reference point

4 Reference travel in positive direction up to positive end switch

(REF) with transfer as reference point

SPC200... 9904a 7-37

7. Description of the commands

Mode 0:

Mode 1:
case a:
1

case b:
2

Mode 2:

Mode 3:
case a:

case b:

Mode 4:

1 Starting position 3 Switching range of end

2 Position transferred as switch and reference
reference point switch

Fig. 7/11: Reference travel modes

Detailed instructions on carrying out the reference travel

can be found in the manual for the stepping motor mo-
dule type P.BE-SPC200-SMX-... .

7-38 SPC200... 9904a

7. Description of the commands

G90 Absolute measurement

x Record selection

Structure Nn G90 Xn|X@n [Y..,Z..,U..]

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
Action Switches to absolute positioning and moves at current speed and,
if relevant, with current ramp to given absolute position. All
subsequent positions in the program will be interpreted as
absolute. The positioning mode remains valid until a new
positioning mode is set (see also under G00/G01/G02).
Example N000 G00 G90 X200 ;Move at highest possible speed to
;absolute position X200
N001 X100 ;Move at highest possible speed to
;absolute position X100
N002 X@5 Y@1 ;Move to position from Register 5
;and Register 1
N003 G90 Y100 ;Move to absolute position Y100
N004 G91 X100 ;Move 100 mm in positive direction
Remarks The default for positioning is:
- Absolute positioning (G90)
The command G90 will be stored. It will remain active until
cancelled by a G91 command.
Example: N010 G90 X100
N011 X200
N012 G91 X300
During programming with WinPISA positions can also be specified
symbolically. For this purpose, the position values and the position
names are entered in the position list.
Example: N010 G00 x@ABHOL_POS y@ABHOL_POS
N011 x@ABLAGE_POS

SPC200... 9904a 7-39

7. Description of the commands

G91 Relative measurement

x Record selection

Structure Nn G91 Xn|X@n [Y..,Z..,U..]

Parameter Xn Position in mm; n = ± 9999.99
X@n Position register; n = 0...99
Action Switches to relative positioning and moves at current speed and,
if relevant, with current ramp to the given section. All subsequent
positions in the program will be interpreted as relative. The
positioning mode remains valid until a new positioning mode is set
(see also under G00/G01/G02).
Example N000 G00 G91 X200 ;Move relative at highest possible
;speed by 200 mm
N001 X100 ;Move relative at highest possible
;speed by 100 mm
N002 G90 X@5 Y@1 ;Move to position from Register 5
;and Register 1
N003 G91 X-100 ;Move 100 mm in negative
;direction
N004 X200 ;Move 200 mm in positive direction
Remarks The default for positioning is:
- Absolute positioning (G90)
The command G91 will be stored. It will remain active until
cancelled by a G90 command.
Example: N010 G91 X100
N011 X200
N012 G90 X300
During programming with WinPISA positions can also be specified
symbolically. For this purpose, the position values and the position
names are entered in the position list.
Example: N013 G91 x@ABHOL_POS
N014 x@ABLAGE_POS

7-40 SPC200... 9904a

7. Description of the commands

M00 Programmed stop

Structure Nn M00
Parameter none
Action The program run will be stopped with the M00 command and will
only continue after receipt of a synchronisation signal. In start/stop
mode a negative edge at the SYNC_IA/IB input is interpreted as a
synchronisation signal.
Example N005 M00 ;Wait for SYNC signal
N006 G00 X100 ;Move to position X100
Remarks In start/stop mode use this command to synchronise the program
run with other devices.

M00 G00/G01/G02 M00 G00/G01/G02

1 1

1
SYNC_IA/IB
0

1
SYNC_OA/OB
0

1
MC_A/B
0

3 2 3 2

1 Externally controlled process

2 Programmed stop
3 Program run

Fig. 7/12: Programmed stop

SPC200... 9904a 7-41

7. Description of the commands

M02 End of subroutine

Structure Nn M02
Parameter none
Action This command must be used to mark the end of subroutines. If
the program is called up as a main program, it will be issued
once. Then it must be reentered.
Example see under L
Remarks see also under M30

M10 Activate analogue input

Structure Nn M10 Xn [Y..,Z..,U..]

Parameter Xn Scaling factor in mm/V;
n = 0.1...9999.9 (see Fig. 7/13)
Action The analogue reference value input will be activated. Five modes
of analogue reference input value specification are distinguished.
The desired mode is defined with the M13 command. The default
is mode 0 (continuous tracking of the position).
Using the scaling factor (mm/V) indicate which section should be
covered by the analogue reference value input
(0...10 V) (e.g. factor = 20, possible travel distance = 200 mm).
Example see following pages
Remarks The reference point for the travel range is the zero point of the
project. By specifying the offset (command M11) you can shift the
reference point (see Fig. 7/13).
In modes 0 and 1, the analogue input must be deactivated with
M12 before it is activated again with M10.
With stepping motor axes: modes 0 and 1 are not supported.

7-42 SPC200... 9904a

7. Description of the commands

CAUTION
Analogue mode 0 or 1 does not offer MC monitoring.
If, therefore, the analogue input is activated several
times quickly, the drive may move further from its set
position.
In this case, avoid this error by programming a "zero
stroke" (G00 G91 X0).

The M12 command can be used to deactivate the

analogue channel again. It will be automatically
deactivated in the following cases:
– during a stop (controlled stop)
– if release is not activated (ENABLE supplies a
0-signal)

If there is once again a 1-signal at the relevant output

after a stop or when there is no enable, the analogue
channel will automatically be activated again.

SPC200... 9904a 7-43

7. Description of the commands

Example

Mode 0 Continuous position tracing

....
N010 M11 X100 ;Offset 100 mm
N011 M13 X0 ;Set mode 0
;Continuous motion
N012 M10 X30 ;Activate analogue input
;Scaling factor = 30 mm/V
N013 #TNI0.0 013 ;Waits if I0.0 gives a 1-signal
N014 M12 X ;Deactivates analogue input
....
....
N020 M30 ;End of program with repeat

In this example the analogue input remains active while

the I0.0 input supplies a 0-signal. If this input provides a
1-signal, the program will be continued in line N014 and
the analogue input will be deactivated.

Mode 3 Analogue reference value input without tracking, ramp

N001 M11 X100 ;Offset 100 mm
N002 M13 X3 ;Set mode 3
;Move once
N003 G01 G91 X0 FX30;Moves relative 0 mm
;Speed ramp = 30 %
N004 G61 X1 ;Fast stop
N005 M10 X30 ;Factor = 30, moves once to an
;analogue predetermined position
N006 G00 X300 ;Move to position X300
.....
.....
N020 M30 ;End of program with repeat

The speed can be preset with the aid of the G01 and
G02 commands. For this it is programmed to move
relatively by 0 mm (see line N003). The speed ramp
given in this record is relevant for this purpose, without
being followed by a positioning process.

7-44 SPC200... 9904a

7. Description of the commands

M11 Offset for analogue reference value

Structure Nn M11 Xn [Yn]

Parameter Xn Offset in mm; n = ± 9999.99
-ML < n < ML (ML = length of
measuring system)
Action Matches the voltage/position assignment (see following Fig.).
Example Example see under M10
Remarks Preset reference point for the analogue reference value
specification is the project zero point. By specifying the offset you
can shift the reference point. Command M11 must be processed
before M10.

10 V

5
4

0V
100 200 300 400
1

1 Project zero point 4 Scaling factor = 30, Offset = 0

2 Measuring system length 5 Scaling factor = 10, Offset = 0
3 Scaling factor = 30, Offset = 100

Fig. 7/13: Scaling factor and offset with analogue reference

value specification

SPC200... 9904a 7-45

7. Description of the commands

M12 Deactivate analogue input

Structure Nn M12 X [Y, Z, U]

Parameter X Axis designation
Action All the axes named will be stopped.
The input for analogue reference value specification is deactivated.
Example Example see under M10
Remarks In modes 0 and 1, the analogue input must be deactivated with
M12 before it is activated again with M10.

7-46 SPC200... 9904a

7. Description of the commands

M13 Set analogue positioning mode

Structure Nn M13 Xn [Y..,Z..,U..]

Parameter Xn Mode; n = 0...4
Explanation see table below.
Action Switches to the specified mode.
Example Example see under M10

Type Mode Description

1)
Tracking 0 This mode is only supported by pneumatic axes:
- continual position adjustment
- with MC monitoring (motion complete)
- continuous parallel program processing possible

11) This mode is only supported by pneumatic axes:

- continual position adjustment
- MC monitoring is switched off
- continuous parallel program processing possible
Single 2 - current reference value is read once
positioning - move in jump (as with G00)
Only with pneumatic axes:
- current quality class is active (see under G61)
2)
3 - current reference value is read once
- move with current ramp (as with G01)
Only with pneumatic axes:
- current quality class is active (see under G61)
2)
4 - current reference value is read once
Only with pneumatic axes:
- smooth move with current ramp (as with G02)
- current quality class is active (see under G61)
Only with stepping motor axes:
- move to position at start/stop frequency (see under G02)
1) Positioning quality class and positioning timeout have no effect in this mode
Stepping motor axes are not supported in this mode
2) In this mode, the approach and braking ramps set with G08 and G09, as well as the
last programmed positioning speed, are valid.

SPC200... 9904a 7-47

7. Description of the commands

M14 Assign analogue input

Structure Nn M14 Xn [Y..,Z..,U..]

Parameter Xn Number of differential input
n = 1...4
Action The analogue input module type SPC200-2AI-U has two
reference value inputs (differential inputs).
reference value module no. 1: reference value inputs 1 and 2
reference value module no. 2: reference value inputs 3 and 4
With command M14, one or several axes can be assigned to
each differential input.
Example N007 M14 X2 U1 ;the X-axis is assigned to reference
;value input 2
;the U-axis is assigned to reference
;value input 1

7-48 SPC200... 9904a

7. Description of the commands

M30 End program with repeat

Structure Nn M30
Parameter none
Action This command must be used to mark the end of programs. It
causes the program to be continued at the first NC record.
Example N007 G00 X100 ;Move to position X100
N008 M30 ;Terminate program
Remarks Subprogram end see under M02

Pneu. axis
Set mass percentage
M37
Structure Nn M37 Xn [Y..,Z..,U..]
Parameter Xn Take into consideration the mass load
in % of the specified working load;
n = 0...99
0=100 %, 1=1 %.....99=99 %
Action Sets controller to the specified load.
Example Nn M37 X50 ;Load = 50 % of the specified working
;load
Remarks The work load is an application parameter. This command will be
stored and supports positioning with different work loads.

Recommendation: Carry out the dynamic identification with

minimum and maximum work load if you wish to use this
NC record.

SPC200... 9904a 7-49

7. Description of the commands

M38 Load actual value into position register

Structure Nn M38 @n X [Y, Z, U]

Parameter @n Register number n = 0...99
Action The current position is loaded into the specified position register.
Example N003 G00 G91 X100 ;Move relative by 100 mm
N004 M38 @1 X ;Load current position into
;position register 1 of the X axis
N005 G29 @0 X@1 ;Form the sum of the two position
;registers 0 and 1, Store result in
;position register 0
N006 G00 G90 X@0 ;Move to position in Register 0

M39 Reserved for later expansions

Structure
Parameter

Action

Example

Remarks

7-50 SPC200... 9904a

7. Description of the commands

L Access subroutine (load subroutine)

Structure Nn Ln
or
Nn LRn
Parameter n Program number
n = 0...99
Rn Register number
n = 0...99
Action Access the given program as subroutine.
Example See below
Remarks The program number can be specified directly (n) or indirectly via
a register (Rn). Nesting depth = 4

Example Palletizing

0 mm

200 mm

50 mm 250 mm

1 Distance between rows

2 Positions

Fig. 7/14: Palletizing

SPC200... 9904a 7-51

7. Description of the commands

Program 0
...
N003 G28 @1 X200 ;Load topmost pallet row
N004 G28 @2 X50 ;Load distance between rows
N005 #LR0=0 ;Initialize number of rows
N006 L1 ;Call Program 1
N007 #AR0=1 ;Update counter
N008 #TR0=0 10 ;Column filled?
N009 E05 6 ;Jump to N006
.... ;further commands
....
N080 M30 ;End of program

Subprogram 1 Fill pallet gap

N000 #TNI0.0 0 ;Wait for part
N001 G00 X0 ;Fetch part, position 0 mm
N002 #SQ0.0 ;Close grips
N003 G00 X@1 ;Move to pallet position
N004 #RQ0.0 ;Open grips, deposit part
N005 G29 @1 X@2 ;Calculate next position
.... ;Further commands
....
N016 M02 ;End of subroutine

Position register @1 contains the current pallet position.

Position register @2 contains the distance between
rows. These position registers are initialized in lines
N003 and N004 (program 0).

Register R0 serves as a loop counter and is initialized

with the number of rows. Subprogram 1 is accessed 6
times and the current pallet gap is filled.

7-52 SPC200... 9904a

7. Description of the commands

E05 Unconditional jump

Structure Nn E05 n|Rn

Parameter n NC record number
n = 0...99999
Rn R<Register number>
Rn = R0...R99
Action The program run will always continue at the given jump mark.
Example N005 #TNI1.1 5 ;Wait for 1-signal at input I1.1
N006 G00 X100 ;Move to position X100
N007 E05 5 ;Jump to NC record 5

In NC record 7 the program always branches to NC record 5.

#S Set single-bit operand

Structure Nn #S<Operand>
Parameter <Operand> Permitted operands are single-bit
operands, but no inputs.
Flags: F0...F63
Outputs: all freely programmable
Action The given single-bit operand is set.
Example N10 #SQ0.0 ;Set output Q0.0

After this record has been processed the output Q0.0 provides a
1-signal.
Remarks Certain outputs are reserved by previously stored functions.
Flags are remanent.

SPC200... 9904a 7-53

7. Description of the commands

#R Reset single-bit operand

Structure Nn #R<Operand>
Parameter <Operand> Permitted operands are single-bit
operands, but not inputs.
Flags: F0...F63
Outputs: all freely programmable
outputs
Action The given single-bit operand is reset.
Example N10 #RQ0.0 ;Reset output Q0.0

After this record has been processed the output Q0.0 provides a
0-signal.
Remarks Certain outputs are reserved by previously stored functions.
Flags are remanent.

#T Test single-bit operand for 1-signal

Structure Nn #T<Operand> <Record number>

Parameter <Operand> All single-bit operands are permitted.
Flags: F0...F63
Permitted inputs:
all available inputs
Permitted outputs:
all available outputs

<Record number> Specification of record number as

numerical value or as register number.
<Record number> = 0...999
or
<Record number> = R0...R99
Action If the single-bit operand supplies a 1-signal, the program will
branch to the given NC record. Otherwise the following NC record
will be processed.
Example see below
Remarks see also under "Test register".

7-54 SPC200... 9904a

7. Description of the commands

Example For this example, the following apply:

Operating mode: start/stop
In the following example binary-coded position numbers
are sent to the SPC200 through the inputs I0.0 and
I0.1. This allows four position numbers to be preset:

I0.1 I0.0 Positions

0 0 Po_1
0 1 Po_2
1 0 Po_3
1 1 Po_4

At the start of the program, the programmed stop is

used to effect synchronisation with the host SPC. The
SYNC signal also allows the outputs of the SPC for the
binary-coded position numbers to be controlled simul-
taneously. For this purpose, a debounce time of 30 ms
is preset in NC record 1.
N000 M00 ;Waits for SYNC signal
N001 G04 3 ;Debounce time 30 ms
N002 #TI0.1 8 ;Po_3 or Po_4, if 1-signal
N003 #TI0.0 6 ;Po_2, if 1-signal
N004 G00 X@Po_1 ;Po_1, if both inputs 0
N005 E05 0 ;Rebound
N006 G00 X@Po_2 ;Po_2, if 1-signal only on I0.0
N007 E05 0 ;Rebound
N008 #TI0.0 11 ;Po_4, if both inputs 1
N009 G00 X@Po_3 ;Po_3, if 1-signal only on I0.1
N010 E05 0 ;Rebound
N011 G00 X@Po_4 ;Po_4, if both inputs 1
N012 E05 0 ;Rebound

SPC200... 9904a 7-55

7. Description of the commands

#TN Test single-bit operand for 0-signal

Structure Nn #TN<Operand> <Record number>

Parameter <Operand> All single-bit operands permitted.
Flags: F0...F63
Permitted inputs:
all available inputs
Permitted outputs:
all available outputs

<Record number> Specification of the record number as

a numerical value or as a register
number.
<Record number> = 0...999
or
<Record number> = R0...R99
Action If the single-bit operand supplies a 0-signal, the program will
branch to the given NC record. Otherwise the following NC record
will be processed.
Example N30 #TNI0.0 30 ;Wait until I0.0 supplies a 0-signal

#LR Load register

Structure Nn #LR<Register number>=n

Parameter <Register number> Register number = 0...99

n Value or register:
n = - 32767...32767
or
n = R0...R99
Action The value given by n is loaded into the register.
Example N011 #LR1=100 ;Load value 100 into Register R1
Remarks Registers are remanent

7-56 SPC200... 9904a

7. Description of the commands

#AR Add to register

Structure Nn #AR<Registernummer>=n
Parameter <Register number> Register number = 0...R99

n Value or register:
n = - 32767...32767
or
n = R0...R99
Action The contents of the register will be added to the given value.
Example N010 #LR0=0 ;Cancel register 0
N011 #AR0=1 ;Increment register 0 by 1
Remarks Registers are remanent

#TR Test register

Structure Nn #TR<Registernummer>=n <Record number>

Parameter <Register number> Register number = 0...99

n Value or register:
n = - 32767...32767
or
n = R0 ... R99

<Record number> Value or register:

<Record number> = 0...999
or
<Record number> = R0...R99
Action If the register contains the given value, branch to
NC record n.
Example N10 #TR0=100 350 ;If Register 0 =100, jump to NC
;record 350

If register 0 holds the value 100, the program will branch to NC

record 350.

SPC200... 9904a 7-57

7. Description of the commands

7-58 SPC200... 9904a

 8. Diagnosis and error treatment

Chapter 8

Diagnosis and error treatment

SPC200... 9904a 8-1

8. Diagnosis and error treatment

Contents

8. Diagnosis and error treatment

8.1 On-the-spot dagnosis .................................................................... 8-4
8.2 Error messages on the control panel ............................................ 8-9
8.3 Eliminating errors on the system................................................. 8-24
8.3.1 Errors when the system is switched on ...................................... 8-24
8.3.2 Errors in positioning..................................................................... 8-25

8-2 SPC200... 9904a

 8. Diagnosis and error treatment

Contents of The SPC200 offers extensive and user-friendly possi-

this chapter bilities for diagnosis and error treatment. The following
possibilities are available:
– The LEDs on the SPC200 and on the connected field
devices show directly configuration errors, hardware
errors, string errrors, etc.
– The control panel shows detailed error messages
coded in the form of a hexadecimal number. These
error messages describe in detail the error class, the
error number and give additional information for loca-
lizing the error (see section 8.2).
Further infor- WinPISA shows error messages in plain text in online
mation mode. Information on the LED functions of the field bus
and stepping motor indexer module can be found in the
manual for the relevant module.
A description of the time behaviour of the I/O signals
when errors are acknowledged can be found in Chapter
5.

SPC200... 9904a 8-3

8. Diagnosis and error treatment

8.1 On-the-spot dagnosis

The LEDs on the power supply module, the axis inter-
face and on the I/O modules (optional) give information
about the operating status of the system. The following
tables show how the various operating states are indi-
cated by the LEDs. The meaning of the displays is as
follows:

LED Meaning
LED lights up
LED out
LED flashes
- continuously without a break
or
- several times with break (flash sequence
corresponding to the error class occuring with a
1 second break, see also section 8.2)

LED on the SPC200 Smart Positioning Controller

Reaction Sequence Operating status Error remedy

POWER LED

ON
Operating voltage applied None
OFF

Operating voltage not applied • Check operating voltage

ON
connection of electronic
OFF
components (pin 2).

8-4 SPC200... 9904a

 8. Diagnosis and error treatment

Reaction Sequence Operating status Error remedy

ERROR LED
- Starting phase • None
ON
(3...4 seconds) or
OFF - hardware error, SPC200 is • Servicing required
not ready for communication
ON No internal error registered None
OFF

- lights up briefly once when None

ON
SPC200 is switched on
OFF
Flash sequence correspond-
ing to error class occuring
with a 1 second break: • Install components
- flashes once (error class 1) and modules correctly or
error in initialization replace defective module1) 2)

- flashes twice (error class 2) • (reserved)

reserved
- flashes three times
(error class 3)
user data damaged
- flashes four times
(error class 4)
hardware error during
running time
- flashes five times
(error class 5)
control sequence error
- flashes six times
(error class 6)
error in positioning order
- flashes seven times
(error class 7)
pre-parametrizing error
- no flashing (error class 8)
- flashes nine times
(error class 9)
Flashes continuously without
a break:
- firmware deleted by user
• Carry out data reset
and enter or reload
data again 1) 2)
• Download error message
and remedy error1)
• Download error message
and remedy error1)
• Download error message
and remedy error1)
• Download error message
and remedy error1)
• None
• Carry out data reset
and enter or reload
data again 1) 2)
• Load firmware

1) Download error message and remedy error (see section 8.2)

2) Or Servicing required

SPC200... 9904a 8-5

8. Diagnosis and error treatment

LED on the axis interface

Reaction Sequence Operating status Error remedy
POWER LED
Operating voltage applied None
ON
OFF

No operating voltage present Check operating voltage and

ON
OFF
ERROR LED
- Starting phase
ON (3...4 seconds) or
OFF - hardware error, SPC200 is
not ready for communication
ON - No internal error
OFF registered
- lights up briefly when
ON
SPC200 is switched on
OFF
Flashes at 1 second intervals:
- once (error number 1)
axis interface has not been
initialized
- twice (error number 2)
a CAN module on the bus
is in the OFF status
- three times (error number 3)
incorrect type ID loaded
- four times
emergency stop is activated
- five times
linear potentiometer is in
end position or is not
connected
- six times timeout
- seven times
load voltage too low
load voltage connection on
the SPC200 (Pin 1 and
Pin 2).
• None
• Servicing required
None
None
• Switch on system again,
if necessary, replace
defective axis interface
• Switch on system again,
if necessary, replace
defective CP module
• Remove non-permitted
module or servicing required
• None
• Bring linear potentiometer
out of end position
or connect
• Servicing required
• Check load voltage

8-6 SPC200... 9904a

 8. Diagnosis and error treatment

LEDs on the I/O function module

Status LED The operating status of the input module is indicated by
the status LED (POWER/DIAG) on the I/O function
module. The displays mean:

Reaction Sequence Operating status Error remedy

POWER/DIAG (status LED)

Operating voltage applied None

ON
OFF

- Operating voltage • Check CP cable and

ON not applied operating voltage and load
OFF or voltage connections on
- no connection to the SPC200 (pins 1 and 2).
the SPC200 Switch on SPC200 again
or carry out system reset

- Test phase when power • None

supply is switched on
ON
or or
OFF
- short circuit in sensor • eliminate short circuit
1)
supply and acknowledge error

1) The error is cancelled when the operating voltage for the SPC200 is switched on.

SPC200... 9904a 8-7

8. Diagnosis and error treatment

Short circuit In the event of a short circuit, the input module switches
in sensor off and holds locked the power supply for the sensors.
supply It communicates this error to the SPC200. The status
LEDs are switched off and the inputs of the module
supply a 0-signal. When the short circuit has been
eliminated, you should delete this error by acknow-
ledging it.
Status There are green LEDs next to the sensor connections.
display These indicate the status of the signal at the relevant
input. The displays mean:

Status Sequence Status

LED

logic 1
ON
(signal present)
OFF

logic 0
ON
(no signal)
OFF

Only in the starting phase if there is:

ON - a 1-signal and
OFF - an assignment error on the
axis interface string.

8-8 SPC200... 9904a

 8. Diagnosis and error treatment

8.2 Error messages on the control panel

If errors occur, the control panel will show detailed error
messages (error codes) coded in the form of a hexade-
cimal number. The coded error messages contain infor-
mation on:
– the error class
– the error number
– in some cases additional information

Structure of the error messages

The control panel shows error messages in the form of
an eight-position hexadecimal number. The individual
positions of this hexadecimal number contain the follow-
ing information:

0 0 0 0 0 0 0 0

4 3 2 1
1 3
2 4
Error class (0...9) Error number
Axis identifier (0...4) Additional information

Fig. 8/1: Structure of the error messages (error code)

SPC200... 9904a 8-9

8. Diagnosis and error treatment

Error class The error class describes the type of error which has
occurred (e.g. hardware error, configuration error etc.).
If the SPC200 is ready for communication, the ERROR
LED will flash according to the relevant error class.
Axis In the case of errors concerning the axis, the axis
identification identifier indicates the axis on which the error has
occurred. The identifiers mean:

Axis Meaning
identification
0 Error is not axis-related (system error)
1 Error on X-axis
2 Error on Y-axis
3 Error on Z-axis
4 Error on U-axis

Error The error number indicates the source of the error. With
number and some error numbers, additional information is output as
additional a three-position hexadecimal number which contains
information further important instructions on localizing the error.

8-10 SPC200... 9904a

 8. Diagnosis and error treatment

Error stages
All errrors are assigned to a certain error stage. The
error stage specifies how the error can be acknow-
ledged and how the system reacts when the error
occurs and is acknowledged.

1) 2)
Error Error reaction Reaction to acknowledgement
stage
A Serious system error in the initialization phase

- Controller remains switched off - Initialization phase

- The following outputs remain
reset: You must switch on again, in some
READY, ACK_A/B cases a system reset is possible
B Serious system error in the operating phase

- Controller remains switched off - Controller is switched on

- The following outputs will be - Status of outputs is restored
reset: Error must be eliminated and
READY, ACK_A/B, acknowledged 3)
C System error or user error in the operating phase

- Sequence is stopped - Sequence can be started

- The following outputs - Status of outputs is restored
are reset: Error must be eliminated and
READY, ACK_A/B acknowledged 3)
D Simple user upload/download or executing error

- Error code is entered Error code is deleted

- System remains fully operational

1) With stage A to C: ERROR LED flashes and error code is entered

2) With stage A to C: error code and ERROR LED are deleted
3) Error acknowledgement by start signal (start/stop mode) or CLK signal (record select
mode) or by Reset command (Reset Error, Reset Program, Reset System)

SPC200... 9904a 8-11

8. Diagnosis and error treatment

The following tables explain all the error messages

sorted according to error classes and show the related
error stages.

Error Error Operating status Error remedy

class message
0 00000000 No error registered
1 zzzyyx01 Starting phase:
error in initialization of components and modules
sss01001 Internal system error • Servicing
required
sss02001 Errors in initializing the axis interface string • Check modules
and compo-
zzz=Additional information (1...D or 11...1D) nents on the
(A) 1....D : error on 1st. AIF string axis interface
1 or B : error on first measuring system string and
2 or C : error on second measuring system remove if
3 or 9 : error on first AIF necessary
4 or A : error on second AIF
5 : error on first CP module
6 : error on second CP module
7 or 8 or D : bus error

11....1D : error on 2nd. AIF string

11 or 1B : error on first measuring system
12 or 1C : error on second measuring system
13 or 19 : error on first AIF
14 or 1A : error on second AIF
15 : error on first CP module
16 : error on second CP module
17 or 18 or 1D : bus error
(A) = error stage, zzz = additional information, yy = error number, x = axis identifier
sss = additional information for service personnel, AIF = axis interface string

8-12 SPC200... 9904a

 8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
0 00000000 No error registered
1 zzzyyx01 Starting phase:
error in initialization of components and modules
zzz03001 Defective or non-permitted • Replace or remove
component component
zzz=Slot number 2)
00004001 Actual configuration not the • Check configuration of
same as nominal configuration internal components and
string assignment or
correct and switch on
SPC200 again or carry
out system reset,
or
• save actual configuration as
nominal configuration
(menu SET CONFIGUR.) or
(A) load project (with WinPISA)
ZZZ05x01 Initialization error with an • Check stepping motor
intelligent module 1) indexer modul, subcontroller
x = 0: initialization error and field bus module and
x = 1...4: axis 1 (X) ...4 (U) switch on SPC200 again or
x = 5: field bus module carry out a system reset
zzz = slot number 2)
or servicing required
2 zzzyyx02 Reserved
Reserved
(A) = error stage, zzz = additional information, yy = error number, x = axis identifier
sss = additional information for service personnel, ppp = program number
1) Stepping motor module, field bus module or axis interface module
2) Ascending from left to right (0...3 with 4 slots or 0...5 with 6 slots)

SPC200... 9904a 8-13

8. Diagnosis and error treatment

3 zzzyyx03 Starting phase:

user data damaged
ppp01003 User program damaged • Carry out data reset
and enter or reload
00002003 Position list damaged
data again
00003x03 Configuration data damaged or Servicing required
00004x03 System data damaged
(A)
00005x03 Dynamic identification data
damaged
00006x03 Static identification data
damaged
00007x03 Faulty PROFIBUS data
00008x03 Faulty INTERBUS data
(A) = error stage, zzz = additional information, yy = error number, x = axis identifier,
sss = additional information for service personnel, ppp = program number

8-14 SPC200... 9904a

 8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
4 zzzyyx04 Hardware error during running time
sss01004 Internal system error • Servicing required
(C)
1)
sss02004 AIF string no longer functions • Check modules on AIF
(B) zzz as with error class 1, error string and string
number 2) assignment 1)

(B)
sss03x04 AIF string no longer functions • Check modules on
or measuring system in end AIF string and string
position or measuring system assignment or bring
cable defective1) measuring system out
zzz as with error class 1, error of end position or replace
number 2) measuring system cable1)
(C)
zzz04004 Error on first I/O module • Eliminate undervoltage
zzz=short circuit at input (I) or or short circuit 2)
output (Q) or undervoltage
000: short circuit at I and Q
and undervoltage
001: short circuit at I and Q
002: short circuit at I and Q
and undervoltage
003: short circuit at I
004: short circuit at Q
and undervoltage
005: short circuit at Q
006: undervoltage
(C)
zzz05004 Error on second I/O module • Eliminate undervoltage
zzz=short circuit at input or or short circuit
output or undervoltage
000 to 006: additional
information as with error no.
zzz04004

(B), (C) = Error stage, zzz = additional information, yy = error number, x = axis identifier,
sss = additional information for service personnel
1) When this error is rectified and quitted, the system tries first of all to start the axis
interface string. If this is not possible, the axis interface string will be re-initialized.
This procedure may take a certain amount of time, depending on the system
configuration used (max. 10 sec.).
2) If there is a short circuit at the input, the operating voltage must be switched on
again.

SPC200... 9904a 8-15

8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
4 zzzyyx04 Hardware error during running time
00006x04 Load voltage for field devices • Eliminate undervoltage
(B)
and proportional directional at operating voltage
control valve too low 1) connection (X2) 1)
(C) 00007004 Fault in field bus module • Insert module fully or
replace
zzz08004 Error at analogue reference
value module
(C)
zzz:= Error type
001: Time-Out A/D converter • Replace component
002: Upper software end • Adapt voltage range to
position exceeded defined positioning range
003: Lower software end
position exceeded
zzz09004 Error at the V.24 interface (X4) • Check diagnostic module
(C) zzz:= Error type or connecting cable;
001: Overrun or use lower baud rate
002: Parity error

(C) zzz0A004 Error at the V.24 interface for • Check diagnostic module
the control panel (X3) and control panel
zzz:= Error type
001: Overrun
002: Parity error
(C) zzz0B004 Fault in: • Eliminate undervoltage or
zzz0C004 - second I/O module (B) short circuit2)
– third I/O module (C)
(C) (zzz as with error class 4,
error numbers 4 and 5
zzz0D004 Fault in AIF module • Insert module fully or
(for 2nd AIF string) replace
(C) = Error stage, zzz = additional information, yy = error number, x = axis identifier
1) When this error is eliminated and acknowledged the axis interface string will be
reinitialized. This process can take a certain amount of time.

8-16 SPC200... 9904a

 8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
4 zzzyyx04 Hardware error during running time
zzz0E004 Fault in stepping motor
(C)
module
zzz=error type
001: power controller not • Check power controller or
ready connecting cable
002: no reference travel • Carry out reference travel
carried out
003: positive limit switch • Bring drive out of end
activated position and carry out
reference travel
004: negative limit switch • Bring drive out of end
activated position and carry out
reference travel
005: reference travel • Carry out reference
interrupted travel again
zzz0F004 reserved
(C) = error stage, zzz = additional information, yy = error number, x = axis identifier

SPC200... 9904a 8-17

8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
5 zzzyyx05 Sequence control errrors
ppp01005 Start program does not exist • Correct start program
number or load/enter
start program
nnn02005 Subprogram does not exist • Correct NC record or
(L command) load/enter program
nnn03005 NC record does not exist • Correct NC record
nnn04005 Program no. with L command • Correct NC record
is identical to number of
(C) accessing program
nnn05005 Permitted nesting depth • Correct NC record
exceeded with L command
nnn06005 Analogue mode active with • Correct NC record
NC commands G00, G01,
G02 or M10
nnn07005 Arithmetical overrun in a • Correct NC record
register (R)
nnn08005 Record overrun • Conclude programs with
command M02 or M30
(C) = error stage, zzz = additional information, yy = error number, x = axis identifier,
ppp = program number, nnn = NC record number of the NC command causing the
overrun

8-18 SPC200... 9904a

 8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
6 nnnyyx06 Error in positioning task
nnn01x06 Time-out, position cannot be
reached quickly enough
(MC error)
nnn02x06 Reference position outside
the software end positions;
the positioning process is not
started
nnn03x06 Non-permitted positioning
task with position-dependent
record indexing (G25)
nnn04x06 Required speed is not reached
(C)
sss05x06 Error in identification travel
nnn06x06 NC command G00 not
possible, as dynamic
identification has not been
carried out
nnn07x06 Controller in SPC200 cannot
be initialized
• Remove obstruction in
positioning range or check
supply pressure or increase
positioning time-out or
optimize controller
• Correct NC record, position
list or software end positions
• Correct NC record or
position list (see under
NC command "G25").
• Correct maximum speed
or speed factor
• Check configuration
and supply pressure
• Carry out dynamic
identification
• Check controller, axis and
application parameters

(C) = error stage, zzz = additional information, yy = error number, x = axis identifier,
nnn = NC record number of the NC command causing this error

SPC200... 9904a 8-19

8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
6 zzzyyx06 Error in positioning task
nnn08x06 Task cannot be accepted • Correct NC record
or stop system before
(C)
carrying out activity
(C) nnn09x06 Contents of a position register • Correct NC record
not valid
nnn0Ax06 reserved reserved

(C) 0000Bx06 Identification aborted as there • Set ENABLE input and start
is no enable signal identification again

(B) nnn0Cx06 Axis oscillates • Check controller, axis and

(control not stable) application parameters
nnn=NC record number if a
program is active
nnn0Dx06 Bad positioning quality • Check controller, axis and
(B) nnn=NC record number if application parameters
a program is active

(C) 0000Ex06 Identification data not valid • Carry out identification

again
nnn0Fx06 Non-permitted positioning • Correct NC record
(C) quality class

(B), (C) = error stage, zzz = additional information, yy = error number, x = axis identifier,
nnn = NC record number of the NC command causing this error

8-20 SPC200... 9904a

 8. Diagnosis and error treatment

Error Error Operating status

class message
6 zzzyyx06 Error in positioning task
nnn10x06 With pneumatic axis: • Create positive edge at
- Controller is inactive as ENABLE input or check
there is no enable signal for first controller, axis and
(C)
commissioning or configuration application parameters
is faulty • Correct error in power
With stepping motor axis: controller
- no enable signal from
power controller
nnn11x06 Command not supported by this • Correct NC program
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 • Carry out reference
unknown travel
7 zzzyyx07 Error in pre-parametrizing
00001x07 Software end position lies outside • Correct parameter
possible positioning range (permitted value ranges
see chapter 5)
00002x07 Mass load lies outside permitted
range
00003x07 Gain factor not permitted
(C) 00004x07 Damping factor not permitted
00005x07 Filter factor not permitted
00006x07 Measuring system length not
valid or measured value
outside set cylinder length
00007x07 Parameter limit exceeded
00008x07 Measuring system type not
permittted
(C), (D) = error stage, zzz = additional information, yy = error number, x = axis identifier
ppp = program number, nnn = NC record number of the NC command causing this error

SPC200... 9904a 8-21

8. Diagnosis and error treatment

Error Error Operating status

class message
7 zzzyyx07 Error in pre-parametrizing
00009x07 Reserved
0000Ax07 Maximum permitted step • Check resolution or reduce
frequency (positioning positioning speed
frequency) exceeded
(>40000 Hz)

(C)

8 zzzyyx08 NC editor, upload/download or executing errors

nnn01x08 Syntax error or non-permitted • Correct entry
program number entered
ppp02x08 Non-permitted program num- • Correct entry
ber selected, program cannot
be created as it already
(D) exists or program cannot be
opened as it does not exist.
nnn03x08 Non-permitted record number • Correct entry
ppp04x08 No free memory space • Delete non-required
for new program program and NC records
(C), (D) = error stage, zzz = additional information, yy = error number, x = axis identifier
ppp = program number, nnn = NC record number of the NC command causing this error

8-22 SPC200... 9904a

 8. Diagnosis and error treatment

Error Error Operating status Error remedy

class message
8 zzzyyx08 NC editor, upload/download or executing errors
ppp05x08 Checksum error • Servicing required
00006x08 Error in upload/download • Check connecting cable
to with WinPISA and diagnostic module
0000Ax08 or use lower baud rate
0000Bx08 No enable signal • Apply 1-signal to input
ENABLE
0000Cx08 System has stopped, there is • Apply 1-signal to input
(D) a 0-signal at input STOP STOP
0000Dx08 Start program does not exist • Correct number of
start program
0000Ex08 Command not permitted • Do not use command in this
in this operating mode mode or modify operating
mode
0000Fx08 Command or control • Stop system and
function not permitted access command or
in active NC program control function again
00010x08 With pneumatic axis: • Check controller, axis and
- Controller is inactive as application parameters or
there is no enable signal for apply 1-signal to ENABLE
first commissioning or input
configuration is faulty
With stepping motor axis: • Correct error in power
- no enable signal from controller
power controller
9 zzzyyx09 Internal error
00001x09 Internal error • Servicing required
(B)
to
00007x09
(B), (D) = error stage, zzz = additional information, yy = error number, x = axis identifier
ppp = program number

SPC200... 9904a 8-23

8. Diagnosis and error treatment

8.3 Eliminating errors on the system

8.3.1 Errors when the system is switched on

1) No display on SPC200
Cause Remedy Remarks
Supply voltage is not correct Check supply voltage or See section 3.3
or the SPC 200 is defective servicing required

2) Axis makes small movements backwards and forwards

Cause Remedy Remarks
Axis or application Check axis or application See section 6.2
parameters not correct parameters
System identification has Carry out system See section 6.8
not been carried out identification
System is not correctly Check earthing measures See section 3.3
earthed
Measuring system or Check measuring system Check by manual
measuring system cable is or measuring system cable shifting or movement
defective and replace if necessary test, See section 4.2

3) Axis moves against end positions

Cause
Tubing is not correct
(incorrect polarity)
Measuring system cable is
defective or not connected
Proportional directional
control valve is defective
Remedy Remarks
Check See section 3.2.2
Check See section 3.4.1
Check proportional Carry out movement test,
directional control valve see section 4.3.2

8-24 SPC200... 9904a

 8. Diagnosis and error treatment

8.3.2 Errors in positioning

1) Drive does not move

Cause Remedy Remarks
No supply pressure Check
Valve cable not connected Check See section 3.4.1
correctly
Proportional directional Check and replace Carry out movement test, see
control valve is defective if necessary section 4.3.2

2) Axis moves against end positions

Cause Remedy Remarks
Tubing is not correct Check See section 3.2.2
Measuring system cable is Check See section 3.4.1
defective or not connected
Proportional directional Check Carry out movement test, see
control valve is defective section 4.3.2

3) Axis has bad positioning behaviour

Cause Remedy Remarks
System is not mounted Check mechanical Check measuring system and
correctly parts cylinder for parallelity, mechanical
play and sluggishness
System is not earthed Check See section 3.3.2
correctly
Application parameters are Check application See section 6.2
not set optimally parameters
(mass, working stroke)
System identification has Carry out system See section 4.3
not been carried out identification
Controller parameters are Optimize controller See appendix A
not set optimally parameters
(gain, damping)

SPC200... 9904a 8-25

8. Diagnosis and error treatment

8-26 SPC200... 9904a

A. Optimizing the positioning behaviour

Appendix A

Optimizing the positioning behaviour

SPC200... 9904a A-1

A. Optimizing the positioning behaviour

Contents

A. Optimizing the positioning behaviour

A.1 Basic information on control ..........................................................A-3
A.2 Description of the controller factors...............................................A-6
A.3 Optimizing the positioning behaviour ............................................A-9
A.3.1 How to deal with an instable compressed air supply..................A-15

A-2 SPC200... 9904a

A. Optimizing the positioning behaviour

A.1 Basic information on control

The basis for controlling pneumatic axes is a model po-
sitioning path incorporated in the SPC200. This model
functions on the assumption that there is a pneumatic
axis set up according to specifications, e.g. in respect
of:
– the compressed air supply
– the valve-cylinder combination used
– the permitted mass load
– the size and length of tubing, etc.
The basic parameters of this positioning path are:
– the axis and application parameters to be entered
– internal data determined by the system identification
and by adaption.

System By means of the system identification, variables such

identification as the attainable speed, acceleration capacity, friction
and the valve characteristics of the axis are determined
during commissioning.

Adaption During adaption, the positioning behaviour of the axis is

continuously monitored while the system is operating.
Internal controller parameters are adapted here to the
actual status of the axis, e.g. in order to compensate
for system wear incurred during operation.

SPC200... 9904a A-3

A. Optimizing the positioning behaviour

The SPC200 permits not only point-to-point positioning

(G00), but also profile control (G01/G02) of pneumatic
axes.

Point-to-point In the case of point-to-point positioning, reference value

curves are generated by the SPC200 for path, speed
and acceleration. These values should enable repro-
ducible no-overswing approach as fast as possible to
the reference position (see section 7.2.1, command
G00).
Profile control With profile control, the reference value curves are cal-
culated on the basis of the reference values pro-
grammed by the user for position, speed and accelera-
tion (see section 7.2.1, commands G01, G02).
The reference positioning time is the sum of the individ-
ual times for the following phases (see following diag-
ram):
– acceleration phase
– braking phase
– constant movement phase
Please note that the programmed values for speed and
acceleration are automatically limited by the positioning
stroke to values which can actually be implemented.
The maximum values which can be achieved are deter-
mined individually for each axis during dynamic identifi-
cation.

A-4 SPC200... 9904a

A. Optimizing the positioning behaviour

9 5
8
6 4
7

1 2 3
t

1 6
2 7
Acceleration phase (t1) Braking ramp (G09)

3 8
Constant movement (t3) Approach ramp (G08)

4 9
Braking phase (t2) Programmed speed

5
Reference value curve G01 Configured
Reference value curve G02 maximum speed

Fig. A/1: Reference value speed curve (G01/G02)

Phases of a Calculation Description

positioning process formulae
Acceleration v v = Programmed speed
t1 =
phase a1 a1 = Acceleration for approach ramp
a1 2 a2 = Acceleration for braking ramp
s1 = t1 t1 = Approach time
2
t2 = Braking time
Braking phase v
t2 = t3 = Time with constant speed
a2 s1 = Approach path
a2 2 s2 = Braking path
s2 = t2
2 s3 = Path with constant speed
sges = Total path
Constant s3 = sges−(s1+s2)
movement s3
t3 =
v

SPC200... 9904a A-5

A. Optimizing the positioning behaviour

A.2 Description of the controller factors

The SPC200 determines various controller parameters
from the basic parameters. These determine the
dynamics (speed) as well as the transition behaviour
(damping) of the control. The aim is to guarantee fast
no-overswing positioning with few contour errors
(dynamic control deviation).

The controller parameters calculated by the SPC200

are therefore usually the optimum values. The (real)
pneumatic axes used do not, however, always corre-
spond to the (ideal) axes used as the basis for control.
To take into consideration any possible deviations, you
can influence the controller parameters by entering fac-
tors.

Instructions on optimizing the positioning behaviour can

be found in section A.3.

The SPC200 standardizes the factors to 1.0. By

increasing the factors (>1), you can increase the
parameters; by reducing the factors (<1), you can
correspondingly reduce the parameters.

A-6 SPC200... 9904a

A. Optimizing the positioning behaviour

Gain With the gain factor, you can influence the sensitivity
factor with which the closed loop positioning circuit reacts to
modifications of the measured variables (position,
speed, acceleration).

Behaviour of axis Factor

The drive tends towards instability Reduce
(tendency to oscillate when positioning up to
constant swinging around the reference position).
Bad positioning accuracy or high contour errors Increase
as well as long positioning time.
The positioning process is carried out quickly and Optimum
accurately.

Permitted 0.1 .. 10.0

Damping Damping is a measure of the transition behaviour of the

factor system from the actual to the reference status, espe-
cially with fast modifications to the reference value. The
system should normally guarantee low-swing behaviour
in response to reference value specification and no-
overswing movement to the destination position.
By modifying the factor for damping, you can influence
the transition behaviour of the system

Behaviour of axis Factor

Bad positioning quality, reference position is Reduce
reached only slowly (underswing).
The drive tends towards instability Increase
(tendency to swinging when positioning up to
constant oscillation around the reference position,
heavy overswing).
The positioning process is carried out quickly and Optimum
accurately.

Permitted 0.1 .. 10.0

SPC200... 9904a A-7

A. Optimizing the positioning behaviour

Signal filter Speed and acceleration are derived from the path sig-
factor nal and are filtered to improve the signal quality. If sig-
nal quality is bad in practice, e.g. due to electrical inter-
ference, you can influence the filtering of the signal by
means of the signal filter factor.
If filtering is too strong, it may destabilize the control.

Behaviour of axis Factor

The drive tends towards instability Reduce
(in spite of low amplification and good cushioning)
"Noise" or loud valve noises Increase
(observe amplification, i.e too high)
The positioning process is carried out quickly and Optimum
accurately, low valve noises

Permitted: 0.1 .. 10.0

A-8 SPC200... 9904a

A. Optimizing the positioning behaviour

A.3 Optimizing the positioning behaviour

The following problems may occur during positioning:
– axis stops several times prematurely
– swinging around the reference position
– stability problems, high frequent swinging around the
reference position
– overswing
– underswing

Before starting to optimize the positioning behaviour of

the axis, you should carry out the following steps:
• Make sure that the pneumatic axis is set up
according to the specifications (see chapter 3).
• Make sure that all the axis and application
parameters are set correctly.
• Always carry out the static identification and at least
one of the dynamic identifications.
• Let the axis perform several positioning cycles.
This is to guarantee that the adaption is effective.

SPC200... 9904a A-9

A. Optimizing the positioning behaviour

If problems still occur, proceed as follows:

1. Observe the positioning behaviour. Make use here
of the software package WinPISA. With WinPISA
you can record and graphically represent reference
and actual values e.g. for path, speed and accelera-
tion.
Detailed information on WinPISA can be found in the
WinPISA user manual.
2. Compare the positioning behaviour or the graph cre-
ated with WinPISA with the following examples.
3. Optimize the positioning behaviour as described in
the table for the relevant example. First check from
top to bottom the most probable causes and their
remedies.

A-10 SPC200... 9904a

A. Optimizing the positioning behaviour

Effect Cause Remedy

Axis stops several times prematurely
- System identification • Carry out system
(s)
1 not carried out
- Adaption not yet
identification
• Move a few positioning
completed cycles (adaption)
- Bad running behaviour • Check or carry out
of cylinder/guide maintenance or
2 (stick-slip)
- Incorrect mass
replace components
• Correct mass
- Incorrect valve type • Correct configuration
configured
(t)

Swinging around the reference position with standing times

- Static identification • Carry out static system
(s)
not carried out identification
- Incorrect mass load • Correct configuration
1 configured or
programmed (M37)
or program

- Long service period of • Carry out identification

cylinder (friction again (static or dynamic)

2 has changed)
- Gain factor set • Correct parameter
too low
(t)

1
2
Reference position
Current position

SPC200... 9904a A-11

A. Optimizing the positioning behaviour

Effect Cause Remedy

Stability problems, highly frequent swinging around the reference position

(s) - Incorrect mass load • Correct configuration

1 2 configured or
programmed (M37)
or program

- Gain factor set • Correct parameter

too high
- Damping factor set • Correct parameter

3
too low
- Filter set too high • Reduce signal filter factor
(smooth acceleration/
speed signal but
(t) constant swinging)
- or loud noise with • Increase signal filter
acceleration signal factor
with high amplitude
- Minimum mass load • Increase basic load
not reached (see chapter 3)
- Too low a tolerance • Increase tolerance
demanded

1
2
Reference position

3
Current position
Speed

A-12 SPC200... 9904a

A. Optimizing the positioning behaviour

Effect Cause Remedy

Overswing (no or minimum standing time before MC)

(s) - Drop in static supply • Stabilize supply pressure

pressure below or identify with less
permitted tolerance level supply pressure

1
(see section A.3.1)
- Mass load too high • Correct mass
(or configured mass
load too small)
• Reduce reference values
2
- Overstress (reference
acceleration too high) (esp. acceleration)
or carry out dynamic
(t) identification (autom.
limiting)
- Signal filter factor set • Correct parameter
too high
- Gain factor set • Correct parameter
too high
- Damping factor set • Correct parameter
too low

1
2
Reference position
Current position

SPC200... 9904a A-13

A. Optimizing the positioning behaviour

Effect Cause Remedy

Underswing (no or minimum standing time before MC)
- Too high mass load • Reduce mass load
1
(s)
entered (can cause (see chapter 3)
overcushioned controller)

- Overstress (too high, • Adapt reference values

2
"fast“ reference values) or carry out dynamic
identification (autom.
limiting)

(t)

1
2
Reference position
Current position

A-14 SPC200... 9904a

A. Optimizing the positioning behaviour

A.3.1 How to deal with an instable compressed air supply

If your compressed air supply does not fulfil the require-
ments (tolerance of ± 1 bar in operation), although a
compressed air reservoir has already been installed
(see section 3.2), the maximum values ascertained for
acceleration and slowing down during identification may
under circumstances not be reached.

This can result, e.g. in overswing, if the operating

pressure required for slowing down cannot be provided.

In order that such overstrain can be avoided, the

dynamics of the system must be reduced. Proceed
here as follows:
1. Ascertain the minimum available static supply
pressure for positioning in your compressed air
system.
2. Lower the supply pressure statically to this level.
3. Now carry out the dynamic identification again.
4. Raise the supply pressure after identification to
the value set in the application parameters.

SPC200... 9904a A-15

A. Optimizing the positioning behaviour

A-16 SPC200... 9904a

B. Technical appendix

Appendix B

Technical appendix

SPC200... 9904a B-1

B. Technical appendix

Contents

B. Technical appendix
B.1 Internal structure of the inputs and outputs ..................................B-3
B.2 Technical specifications.................................................................B-7
B.2.1 Technical specifications of the SPC200........................................B-7
B.2.2 Technical specifications of axis interface type SPC-AIF-... ........B-13
B.2.3 Technical specifications of I/O function module
type SPC-FIO-... ..........................................................................B-14
B.2.4 Technical specifications of control panel type SPC200-MMI-1...B-15

B-2 SPC200... 9904a

B. Technical appendix

B.1 Internal structure of the inputs and outputs

Internal structure of type SPC200-DIO (PNP inputs)

24 V +10/-15%
4
1
0...9 *)

2
3
0V
0V

1 3
4
Diagnosis (short circuit, overload, Logic recognition

2
protection against incorrect polarity) 24 V sensor supply (non floating)
SPC200, inputs 0...9
*) Inscription on plug X5/X7 (inputs 0...9)

Fig. B/1: Internal structure of the SPC200-DIO (PNP inputs)

SPC200... 9904a B-3

B. Technical appendix

Internal structure of type SPC200-DIO (PNP outputs)

1
+ 24 V

3
2
0...7 *)

4
0V
0V

1 4
2
Load voltage connection Diagnosis (short circuit, overload, load

3
SPC200, outputs 0...7 voltage failure)
Electrical isolation
*) Inscription on plug X6/X8 (outputs 0...7)

Fig. B/2: Internal structure of the SPC200-DIO (PNP outputs)

B-4 SPC200... 9904a

B. Technical appendix

Internal structure of type SPC-FIO-2E/2A (PNP inputs)

1 + 24 V
Pin 1

4
Pin 2

2
3 5
0V
Pin 3

1 4
2
Sensor supply via AIF string Diagnosis (short circuit, overload,

3 5
SPC-FIO-... input 1.0 or 1.1 protection against incorrect polarity)
Electrical isolation Green LED

Fig. B/3: Internal structure of the SPC-FIO-2E/2A (PNP inputs)

SPC200... 9904a B-5

B. Technical appendix

Internal structure of type SPC-FIO-2E/2A (PNP outputs)

1 Pin 2 (n.c.)

2
3
Pin 1

4
0V
Pin 3

1 3
2 4
Load voltage via AIF string SPC-FIO-... output 1.0 or 1.1
Diagnosis (short circuit, overload, load Electrical isolation
voltage failure)
*) Inscription on plug X6/X8 (outputs 0...7)

Fig. B/4: Internal structure of the SPC-FIO-2E/2A (PNP outputs)

B-6 SPC200... 9904a

B. Technical appendix

B.2 Technical specifications

B.2.1 Technical specifications of the SPC200

Type SPC200-CPU-...
Dimensions Locations
4 6
- height 120 mm 120 mm
- width 126 mm 166 mm
- depth 96.5 mm 96.5 mm
Weight
- unfitted approx. 675 g approx. 850 g
Temperature range:
- operating temperature - 5 °C ... + 50 °C
- storage/transport - 20 °C ... + 70 °C
Relative humidity 95% non condensing
Protection class as per EN 60 529
Locations fitted or sealed with
blank panels IP 20
NC programming Program storage without battery
- in accordance with DIN 66025
- number of programs max. 100
- number of NC records max. 2000
- number of NC records per program max. 1000
- position register 100 per axis
- nesting depth of subprograms max. 4
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity grade 1
- shock Tested as per DIN/IEC 68 part 2–27
severity grade 2
Protection against electric shock By means of PELV power units
(protection against direct an indirect contact as (protected extro low voltage)
per EN 60204-1 / IEC 204

SPC200... 9904a B-7

B. Technical appendix

Type SPC200-PWR-AIF
Temperature range:
- operation - 5 °C ... + 50 °C
- storage/transport -20 °C ... + 70 °C
Weight 82 g
Relative humidity 95% non condensing
Operating voltage pin 1
(load voltage supply)
- rated value 24 V DC
- tolerance 1) -5%...+25% (22.8 V ... 30.0 V)
- residual ripple 2%
- current consumption 500 mA + 1.2 A per pneumatic axis
(SPC200-CPU4 and SPC200-CPU-6)
Operating voltage pin 2
(internal electronics)
- rated value 24 V DC
- tolerance -5%...+25% (22.8 V ... 30.0 V)
- residual ripple 2%
- power failure bridging time 10 ms
- current consumption at:
SPC200-CPU-4 400 mA + current requirement of
components connected to sensor
supply 2) + sum of current
consumption on AIF string 3)

SPC200-CPU-6 600 mA + current requirement of

components connected to sensor
supply 2) + sum of current
consumption on AIF string 3)
Electromagnetic compatibility
- interference emission Tested as per EN 55011
limit value class A 4)
- resistance to interference Tested as per EN 50082-2
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity grade 1
- shock Tested as per DIN/IEC 68 part 2–27
severity grade 2
1) Observe the tolerance of the modules connected to the axis interface string
2) Max. 0.5 A can be made available for each I/O module type SPC200-DIO
3) See technical specifications of the connected modules
4) With individual authorization can also be used in residential areas (residential,
business/commercial areas and small firms).

B-8 SPC200... 9904a

B. Technical appendix

Type SPC200-MMI-DIAG
Temperature range:
- operation - 5 oC ... + 50 oC
- storage/transport -20 oC ... + 70 oC
Weight 68 g
Relative humidity 95% non condensing
Serial interface (RS232C)
- baud rates 9600, 19200, 38400, 57600,
115200 Baud
- data bits 8 bits
- stop bits 1
- parity even
- protocol No handshake
Electromagnetic compatibility
- interference emission Tested as per EN 55011
limit value class A
- resistance to interference Tested as per EN 50082-2
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity grade 1
- shock Tested as per DIN/IEC 68 part 2–27
severity grade 2

SPC200... 9904a B-9

B. Technical appendix

Type SPC200-DIO (PNP)

Temperature range
- operation - 5 oC ... + 50 oC
- storage/transport -20 oC ... + 70 oC
Weight 62 g
Relative humidity 95% non condensing
Digital inputs 10 inputs as per IEC 1131-2 type 2
- design inputs 24 V DC
positive switching (PNP)
- logic level; ON > 11 V
OFF <5V
- current consumption (at 24 V) at "logic 1"
(input current from sensor typ. 8 mA
to input)
- response delay (at 24 V) typ. 5 ms
- reference potential 0V
Digital outputs 8 outputs as per IEC 1131-2
- design 24 V DC positive switching
- load rating per output 250 mA
- electronic fuse
(short circuit, overload)
trigger current > 2A
response time max. 1.5 ms
Sensor supply VD 24 V ± 25% max. 0.5 A
(electronic short circuit protection)
Electrical isolation
- inputs No
- outputs Yes
Electromagnetic compatibility
- interference emission Tested as per EN 55011
limit value class A
- resistance to interference Tested as per EN 50082-2
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity class 1
- shock Tested as per DIN/IEC 68 part 2–27
severity class 2

B-10 SPC200... 9904a

B. Technical appendix
Type
Temperature range
- operation
- storage/transport
Weight
Relative humidity
Analogue reference value input
- input voltage
- resolution
- input resistance
Electromagnetic compatibility
- interference emission
- resistance to interference
Oscillation and shock
- oscillation
- shock
SPC200... 9904a
SPC200-2AI-U
- 5 oC ... + 50 oC
-20 oC ... + 70 oC
approx. 55 g
95% non condensing
0...10 V
12 bits
> 200 kΩ
Tested as per EN 55011
limit value class A
Tested as per EN 50082-2
Tested as per DIN/IEC 68 part 2–6
severity class 1
Tested as per DIN/IEC 68 part 2–27
severity class 2
B-11
B. Technical appendix
Type
Temperature range
- operation
- storage/transport
Weight
Relative humidity
Current consumption
Electromagnetic compatibility
- interference emission
- resistance to interference
Oscillation and shock
- oscillation
- shock
B-12
SPC200-SCU-AIF
- 5 oC ... + 50 oC
-20 oC ... + 70 oC
approx. 80 g
95% non condensing
Tested as per EN 55011
limit value class A
Tested as per EN 50082-2
Tested as per DIN/IEC 68 part 2–6
severity class 1
Tested as per DIN/IEC 68 part 2–27
severity class 2
SPC200... 9904a
B. Technical appendix

B.2.2 Technical specifications of axis interface type SPC-AIF-...

Type SPC-AIF-...
Dimensions (plug exit upwards; without cable; Height: approx. 42 mm
incl. fastening bracket) Width: approx. 100 mm
Depth: approx. 66 mm
Weight approx. 300 g
Temperature range
- operating temperature 0 °C ... + 50 °C
- storage/transport - 20 °C ... + 70 °C
Relative humidity 95% non condensing
Protection class as per EN 60 529
Plug connector plugged in or with protective cap IP 65
Supply:
- rated value 24 V (DC)
- tolerance 1) - 25% ... + 25% 1)
SPC-...-POT SPC-...-MTS
- current consumption incl. MPYE-... 1.1 A 1.2 A 2)
(load voltage supply)
- current consumption without MPYE-... 100 mA 200 mA 2)
(internal electronics)
- residual ripple max. 6% max. 6%
Valve output (MPYE-5-...-...:
- power supply 24 V (DC)
- output voltage 0...+10 V
Potentiometer (only SPC-AIF-POT)
- reference voltage VOUT +10 V
- Rmin 2.5 kΩ
Temposonics (only SPC-AIF-MTS)
- VOUT +24 V
Electromagnetic compatibility
- interference emission Tested as per EN 55011
limit value class A
- resistance to interference Tested as per EN 50082-2
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity class 2
- shock Tested as per DIN/IEC 68 part 2–27
severity class 2

1) Observe tolerance of connected valve type MPYE-...

2) Current consumption incl. Temposonics

SPC200... 9904a B-13

B. Technical appendix

B.2.3 Technical specifications of I/O function module

type SPC-FIO-...
1)
Type SPC-FIO-2E/2A-M8 (PNP)
o o
Temperature range - operation - 5 C ... + 50 C
- storage/transport -20 oC ... + 70 oC
Weight 42 g
Relative humidity 95% non condensing
Protective class as per EN 60 529 IP 65
Plug connector plugged in or with protec-
tive cap
Electromagnetic compatibility
- interference emission Tested as per EN 55011
limit value class A
- resistance to interference Tested as per EN 50082-2
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity class 2
- shock Tested as per DIN/IEC 68 part 2–27
severity class 2
Digital inputs 2 inputs as per IEC 1131-2 type 2 inputs
- design 24 V DC positive switching PNP, status
display by LED
- protection against incorrect polarity - 30 V ... + 30 V
- logic level; ON > 11 V
OFF <5V
- reference potential 0V
- current consumption (at 24 V)
(input current from sensor to input) at "logic 1" typ. 7 mA
- response delay (at 24 V) typ. 3 ms
2)
Sensor supply VD 24 V ± 25% max. 0.5 A
(electronic short circuit protection)
Digital outputs
- design 2 outputs as per IEC 1131-2; 24 V DC
positive switching
- load rating per output 1) 250 mA
- electronic fuse (short circuit, overload)
trigger current min. >500 mA
Electrical isolation None
Internal current consumption of electronics < 40 mA

1) External load voltage supply module type SPC-EXT-PWR is required

2) Provided via module SPC200-PWR-AIF (internal electronics, pin 2)

B-14 SPC200... 9904a

B. Technical appendix

B.2.4 Technical specifications of control panel type SPC200-MMI-1

Type SPC200-MMI-1
Dimensions
- height approx. 67 mm
- width approx. 59 mm
- depth approx. 52 mm
Weight approx. 90 g
Temperature range
- operation - 5 °C ... + 50 °C
- storage/transport - 20 °C ... + 70 °C
Relative humidity 95% non condensing
Protection class as per EN 60 529
control panel fitted into place IP 20
Oscillation and shock
- oscillation Tested as per DIN/IEC 68 part 2–6
severity class 1
- shock Tested as per DIN/IEC 68 part 2–27
severity 2

SPC200... 9904a B-15

B. Technical appendix

B-16 SPC200... 9904a

C. Index

Appendix C

Index

SPC200... 9904a C-1

C. Index

C-2 SPC200... 9904a

C. Index

C.1 Index

A
Address range
basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
SPC200 modules and I/O modules. . . . . . . . . . 1-28
Analogue input module
pin assignment differential inputs . . . . . . . . . . . 3-42
Application parameters . . . . . . . . . . . . . . . . . . . . . . 6-19
Autonomous mode. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Autonomous operation. . . . . . . . . . . . . . . . . . . . . . . . 7-6
Axis designations
assigning the axis designations. . . . . . . . . . . . . 1-17
Axis interface
connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-51
pin assignment of valve connection . . . . . . . . . 3-55
Axis interface string
basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
Axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

B
Basic unit
mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

C
Components
for setting up a pneumatic axis . . . . . . . . . . . . . 1-14
range of equipment for the SPC200 . . . . . . . . . 1-7
Control factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51

SPC200... 9904a C-3

C. Index

Control panel
fitting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
layout and functions. . . . . . . . . . . . . . . . . . . . . . . 6-4
menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
test and diagnostic functions . . . . . . . . . . . . . . . 6-53
Coordinated mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Cylinder diameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Cylinder length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Cylinder type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

D
Diagnostic module
pin assignment of MMI socket . . . . . . . . . . . . . . 3-32
pin assignment of the serial interface . . . . . . . . 3-31

E
Emergency stop circuit
example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Error
acknowledging a fault . . . . . . . . . . . . . . . . . . . . . 5-8
possible problems . . . . . . . . . . . . . . . . . . . . . . . 4-32
Error messages . . . . . . . . . . . . . . . . . . . . . . 8-12 - 8-13
structure of error messages. . . . . . . . . . . . . . . . . 8-9

F
Fitting offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Fitting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
Function I/O module
connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
pin assignment of inputs . . . . . . . . . . . . . . . . . . 3-59
pin assignment of outputs . . . . . . . . . . . . . . . . . 3-58

C-4 SPC200... 9904a

C. Index

H
Half step. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Hardware configuration
save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

I
I/O module
example of circuitry . . . . . . . . . . . . . . . . . . . . . . 3-35
pin assignment of inputs (X5/X7) . . . . . . . . . . . 3-34
pin assignment of outputs (X6/X8) . . . . . . . . . . 3-35
Identification
dynamic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
static. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Initial display on the control panel . . . . . . . . . . . . . . . 6-7
Installation
measuring system . . . . . . . . . . . . . . . . . . . . . . . 2-19
proportional directional control valve. . . . . . . . . 2-19

L
LED
on SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Power LED on the axis interface. . . . . . . . . . . . . 8-6
Status LED on the function I/O module . . . . . . . 8-7
Unlock LED on the axis interface . . . . . . . . . . . . 8-7
Lower software end position . . . . . . . . . . . . . 6-22, 6-24

M
Maximum acceleration . . . . . . . . . . . . . . . . . 6-23 - 6-24
Maximum speed. . . . . . . . . . . . . . . . . . . . . . 6-23 - 6-24
Measuring system
calibrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

SPC200... 9904a C-5

C. Index

Measuring system length . . . . . . . . . . . . . . . . . . . . . 6-18

Menu system
menu structure on the control panel . . . . . . . . . . 6-8
moving in the menu system. . . . . . . . . . . . . . . . 6-12
Micro step. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Mode of reference . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Modules
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
remove . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

N
NC commands
explanation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13

O
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
record selection mode . . . . . . . . . . . 1-22, 5-4, 5-17
start/stop mode . . . . . . . . . . . . . . . . . 1-21, 5-4, 5-9

P
Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Pneumatic axis
components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
instructions on pneumatic installation . . . . . . . . . 3-5
summary of pneumatic installation . . . . . . . . . . . 3-5
Position basepoint . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Positioning tolerance . . . . . . . . . . . . . . . . . . . . . . . . 6-22
Power supply module
operating voltage connection. . . . . . . . . 3-25 - 3-26
Power supply module and display elements . . . . . . 3-24

C-6 SPC200... 9904a

C. Index

Program
adding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
deleting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
parallel program processing . . . . . . . . . . . . . . . . 7-4
testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
Programming
editing instructions . . . . . . . . . . . . . . . . . . . . . . 6-35
explanation of the NC commands . . . . . . . . . . . 7-13
general notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
instruction set on the control panel . . . . . . . . . . 6-37
notes on programming. . . . . . . . . . . . . . . . . . . . . 7-8
Project basepoint . . . . . . . . . . . . . . . . . . . . . . 6-21, 6-24
Proportional directional control valve
connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-55
fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

Q
Quality class. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

R
Record select mode
operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Reference position . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Reference speed factor . . . . . . . . . . . . . . . . . . . . . . 6-24
Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

S
Setting parameters
summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Short circuit
sensor supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

SPC200... 9904a C-7

C. Index

Slide operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

SPC200
address range . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28
basic modules . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
extension modules . . . . . . . . . . . . . . . . . . . . . . . 1-11
operating modes . . . . . . . . . . . . . . . . . . . . 1-21, 5-3
switching-on procedure . . . . . . . . . . . . . . . . . . . . 6-6
Start-stop frequency. . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Start/stop
operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Start/Stop mode
summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Supply pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

T
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
Technical specifications
type SPC-AIF-...-.... . . . . . . . . . . . . . . . . . . . . . B-13
type SPC-FIO-... . . . . . . . . . . . . . . . . . . . . . . . B-14
type SPC200-2AI-U . . . . . . . . . . . . . . . . . . . . . . B-11
type SPC200-CPU-.... . . . . . . . . . . . . . . . . . . . . B-7
type SPC200-DIO (PNP) . . . . . . . . . . . . . . . . . B-10
type SPC200-MMI-1 . . . . . . . . . . . . . . . . . . . . B-15
type SPC200-MMI-DIAG . . . . . . . . . . . . . . . . . . B-9
type SPC200-PWR-AIF . . . . . . . . . . . . . . . . . . . B-8
type SPC200-SCU-AIF . . . . . . . . . . . . . . . . . . B-12
Terms and abbrevations. . . . . . . . . . . . . . . . . . . . . . . . XI
Text markings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Time behaviour
of I/O signals when processing is started . . . . . . 5-7
of the I/O signals in record select mode . . . . . . 5-20
programmed stop. . . . . . . . . . . . . . . . . . . . . . . . 5-14
when a fault is acknowledged . . . . . . . . . . . . . . . 5-8
Tool load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

C-8 SPC200... 9904a

C. Index

U
Upper software end position . . . . . . . . . . . . . 6-22, 6-24
User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII

V
Valve type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

W
WinPISA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-26
Work load. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

Y
Yoke operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

SPC200... 9904a C-9

C. Index

C-10 SPC200... 9904a

Conditions of use

Conditions of use for Festo "electronic documentation"

I. Proprietary rights and scope of use
The file of your choice is subject to proprietary rights. Festo or third parties hold
proprietary rights in respect of this electronic documentation. Insofar as the rights
are granted to third parties, Festo has acquired the appropriate licences. Festo
grants the purchaser the right of use under the following conditions:
1. Scope of use
a) The user of the electronic documentation has the right to use this only for his
own internal purposes on as many machines as desired within his business
location (site). This right of use includes only the right to store the electronic
documentation on the central processing units (machines) on the site in ques-
tion.
b) The electronic documentation may be printed to any desired extent at the user’s
site, providing this copy is printed completely with the conditions of use and
other user instructions.
c) With the exception of the Festo logo, the user has the right to use illustrations
and texts in the electronic documentation for creating his own machine and
system documentation. The use of the Festo logo requires the written per-
mission of Festo. The user himself is responsible for ensuring that both the
illustrations and the texts used correspond with the machine/system or with the
product.
d) Further use is permitted within the following limits.
Copying exclusively for use within the framework of machine and system do-
cumentation based on electronic documents of all the documented supplier
components.
Demonstrations to third parties exclusively with the assurance that no data ma-
terial remains completely or partly in other networks or on another data medium
or that it can be reproduced there.
The transfer of copies and printouts to third parties, except as defined in Section
3 below, as well as any other processing or use is not permitted.
2. Copyright notice
Every "electronic documentation" contains a copyright notice. This notice must be
included in all copies and in all printouts.

 1999, Festo AG & Co., D-73726 Esslingen

3. Transfer of licence
The user may transfer his/her licence to a third party subject to the scope of use
and restrictions as defined in sections 1 and 2. The third party must be expressly
made aware of these conditions.

9906a I
Conditions of use

II. Exporting the electronic documentation

If exporting the electronic documentation, the licencee is required to observe the
export regulations of the Federal Republic of Germany and those of the country to
which the electronic documentation is being sent.
III. Guarantee
1. Festo products are developed further as regards their hardware and software.
The status of the hardware and software in the product can be seen on the type
plate of the product. Festo does not guarantee that the electronic documentation
corresponds to each hardware and software status of the product. The printed
Festo documentation accompanying the product is decisive for the correspond-
ance of the hardware and software status of the product and the electronic
documentation.
2. The information contained in this electronic documentation may be amended by
Festo without prior notice and does not represent any commitment by Festo.
IV. Liability/Limitation of liability
1. Festo provides this electronic documentation in order to assist the user in crea-
ting his own machine and system documentation.Festo does not guarantee that
the electro-nic documentation supplied corresponds to the product used by the
user. The latter applies also to the use of extracts for the user’s own documen-
tation.
2. Festo is also not liable for lack of economic success or for damages or claims
from third parties, with the exception of claims arising from violation of the pro-
tective rights of third parties concerning the use of the electronic documentation.
3. The limitations of liability specified in paragraphs 1 and 2 do not apply in cases
of malice aforethought or gross negligence where liability is compulsory. In such
ca-ses, Festo’s liability is limited to the damages recognizable to Festo based
on the situation at hand.
V. Safety regulations/Documentation
The guarantee and liability claims specified above (sections III and IV) only apply if
the user has observed the safety regulations in the documentation and the safety
regulations regarding the use of the machine. The user is responsible for ensuring
the compatibility of the electronic documentation with the machine he is using.

9906a II