Motor controller SFC−DC - Festo Distribution page · 2020. 4. 17. · The SFC−DC and the connectable modules and cables may only be used as follows: in accordance with designated

Manual Electronic

Motor controller

type SFC−DC−...−IO

Manual540 418en 0801a[731 438]

Motor controllerSFC−DC

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Contents and general instructions

I

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 0801a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−SFC−DC−IO−EN. . . . . . . . . . . . . . . . . . . . . . .

Order no. 540 418. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The reproduction, distribution and utilization of this docu�ment as well as the communicaton of its contents to otherswithout express authorization is prohibited. Offenders will beheld liable for the payment of damages. All rights reserved inthe event of the grant of a patent, utility module or design.

Festo P.BE−SFC−DC−IO−EN en 0801a

E (Festo SE�&�Co. KG, D�73726 Esslingen, Federal Republic of Germany, 2008)Internet: http://www.festo.com

E−Mail: [email protected]


II Festo P.BE−SFC−DC−IO−EN en 0801a


IIIFesto P.BE−SFC−DC−IO−EN en 0801a

Contents

Designated use VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scope of delivery VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manuals for the Single Field Controller SFC−DC XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Information on the version XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product−specific terms and abbreviations XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Positioning with electric drives 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Structure of the SFC−DC 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Method of operation 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Reference coordinates and working area 1−12 . . . . . . . . . . . . . . . . . . . .

1.2 EMERGENCY STOP concept 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Commissioning options 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Control panel (only type SFC−DC−...−H2−...) 1−17 . . . . . . . . . . . . . . . . . . . .

1.3.2 Festo Configuration Tool (FCT) 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dimensions of the controller 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Fitting the controller 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Notes on fitting of electric axes 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Power supply 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Earthing 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Motor connection 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−SFC−DC−IO−EN en 0801a

3.5 Controller 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 I/O controller (only type SFC−DC−...−IO) 3−11 . . . . . . . . . . . . . . . . . . . . . .

3.6 Serial interface 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 Input for external reference switch 3−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Control panel (only type SFC−DC−...−H2−...) 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Composition and function of the control panel 4−4 . . . . . . . . . . . . . . . . . . . . . . .

4.2 The menu system 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Accessing the main menu 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 �Diagnostic" menu 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Device control �HMI control" 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 �Settings" menu 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5 �Positioning" menu 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Preparing for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Check the connection to the mains power supply 5−3 . . . . . . . . . . . . . .

5.1.2 Check the drive 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 General instructions on commissioning 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with the control panel (only type SFC−DC−...−H2−..) 5−7 . . . . . . . .

5.3.1 Setting the axis type 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Setting the reference run parameters 5−9 . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Carrying out reference travel 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Teach the axis zero point and the software end positions 5−17 . . . . . . .

5.3.5 Positioning with position sets 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Teach the position sets 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.7 Test run 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Commissioning with the Festo Configuration Tool 5−23 . . . . . . . . . . . . . . . . . . . . .

5.4.1 Installing and starting the Festo Configuration Tool 5−23 . . . . . . . . . . . .

5.4.2 Procedure for commissioning with the Festo Configuration Tool 5−24 . .


VFesto P.BE−SFC−DC−IO−EN en 0801a

5.5 I/O function test (only type SFC−DC−...−IO) 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Communication with the higher−level controller (only type SFC−DC−...−IO) 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Description of the I/Os 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Function description (pulse−time diagrams) 5−34 . . . . . . . . . . . . . . . . . .

5.6.3 I/O specification 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Instructions on operation 5−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. Diagnosis and error treatment 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Diagnostic options 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LED status displays 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Fault messages on the display (only type SFC−DC−...−H2−...) 6−6 . . . . . . . . . . . . .

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical specifications A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Accessories A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Supplementary information B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 The Command Interpreter (CI) B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Procedure for data transfer B−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 Object directory B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.1 Objects for device description B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.2 General Objects B−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.3 Objects for parametrizing and commissioning B−8 . . . . . . . . . . . . . . . .

B.3.4 Objects for creating position sets B−9 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.5 Objects for controlling B−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.6 Objects for setting the operating mode and control B−10 . . . . . . . . . . . .

B.3.7 Objects for diagnosis B−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.4 CI commands B−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE−SFC−DC−IO−EN en 0801a

B.5 Object description B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.1 Object classification (overview) B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.2 Group 1xxx B−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.3 Group 2xxx B−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.4 Group 6xxx B−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.6 Converting the measuring units B−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index C−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VIIFesto P.BE−SFC−DC−IO−EN en 0801a

Designated use

The motor controller (Single Field Controller) type SFC−DC−...serves as a position controller and position servo for the elec�trical mini−slide type SLTE−...�.

This manual deals with the basic functions of the SFC−DC andthe I/O interface of the SFC−DC−...−I0. Additional informationon field bus variants of the SFC−DC can be found in the corre�sponding separate manuals. The electric slide SLTE and additional components are docum�ented in separate operating instructions.

It is absolutely necessary to observe the �Technical safetyinstructions" as well as the designated use of the relevantcomponents and modules. Please observe also the safetyinstructions in the operating instructions for the pneumaticcomponents used.

The SFC−DC and the connectable modules and cables mayonly be used as follows:

� in accordance with designated use

� only in industrial applications

� without any modifications by the user. Only the conver�sions or modifications described in the documentationsupplied with the product are permitted.

� in faultless technical condition.

If additional commercially−available components such as sen�sors and actuators are connected, the specified limits forpressures, temperatures, electrical data, torques, etc. mustnot be exceeded.

Please observe the standards specified in the relevantchapters and comply with technical regulations, as well aswith national and local regulations.


VIII Festo P.BE−SFC−DC−IO−EN en 0801a

Safety instructions

When commissioning and programming positioning systems,you must observe the safety regulations in this manual aswell as those in the operating instructions for the other com�ponents used.

The user must make sure that nobody is in the operatingrange of the connected actuators or axis system. Access tothe possible danger area must be prevented by suitablemeasures such as protective screens and warning signs.

WarningElectric axes can move suddenly with high force and athigh speed. Collisions can lead to serious injury to humanbeings and damage to components.

Make sure that nobody can gain access to the operatingrange of the axis or of other connected actuators and thatno objects lie in the path of the axis while the system is stillconnected to a power supply.

WarningFaults in parametrization can cause injury to people anddamage to property.

Enable the controller only if the axis system is correctlyinstalled and parametrized.


IXFesto P.BE−SFC−DC−IO−EN en 0801a

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosing posi�tioning systems.

Service

Please consult your local Festo repair service at the followinge−mail address if you have any technical problems:

[email protected]

Scope of delivery

The scope of delivery of the Single Field Controller typeSFC−DC includes the following:

� Single Field Controller, optionally with control panel

� FCT configuration package (Festo Configuration Tool)

� User documentation on CD ROM

Available as accessory (see appendix A.2):

� Connecting cable

� Fastening elements

� User documentation in paper form


X Festo P.BE−SFC−DC−IO−EN en 0801a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich may occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto�gram. A distinction is made between the following dangerwarnings:

WarningThis means that failure to observe this instruction mayresult in serious personal injury or damage to property.

CautionThis means that failure to observe this instruction mayresult in personal injury or damage to property.

Please noteThis means that failure to observe this instruction mayresult in damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo�nents.

Electrostatically sensitive components may be damaged ifthey are not handled correctly.


XIFesto P.BE−SFC−DC−IO−EN en 0801a

Marking special information

The following pictograms mark passages in the textcontaining special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation.

Accessories:Information on necessary or sensible accessories for theFesto product.

Environment:Information on environment−friendly use of Festo products.

Text markings

· The bullet indicates activities which may be carried out inany order.

1. Figures denote activities which must be carried out in thenumerical order specified.

� Hyphens indicate general activities.


XII Festo P.BE−SFC−DC−IO−EN en 0801a

Manuals for the Single Field Controller SFC−DC

This manual contains basic general information on operating,fitting, installing and commissioning electric positioningdrives with the Single Field Controller type SFC−DC−...�. It alsocontains information on the functions of the I/O interface fortype SFC−DC−...−IO as well as on commissioning with the FestoConfiguration Tool software package.

Product variants are available for coupling to field bus sys�tems. Special information on this can be found in the manualfor the relevant product variant.

Information on components, such as the electric slide typeSLTE−... or the reference switch can be found in the operatinginstructions supplied with the relevant product.

Type Title Contents

Docu package with briefdescription + manuals onCD ROM

P.BE−SFC−DC−UDOK Brief description: Important in�structions on commissioning andpreliminary information.Manuals: Contents as describedbelow.

Manual Single Field Controller SFC−DCP.BE−SFC−DC−IO−..

Installation, commissioning anddiagnosis of electric axes with theSingle Field Controller SFC−DCwith communication via I/O inter�face.

Help system for software Festo Configuration Tool Help(contained in the FCT software)

Function description of the FestoConfiguration Tool configurationsoftware.

Further manuals (in preparation)

Field bus variantstype P.BE−SFC−DC−CO−..type P.BE−SFC−DC−PB−..type P.BE−SFC−DC−DN−..

Communication and commission�ing the relevant field bus.

Operating instructions Electric slidetype SLTE−...

Fitting and commissioning of theelectric slide as a drive element.

Information on the version


XIIIFesto P.BE−SFC−DC−IO−EN en 0801a

The hardware version specifies the version status of themechanical parts and electronics of the SFC−DC.

The firmware version specifies the version status of theoperating system of the SFC−DC.

You can find the specifications on the version status asfollows:

� Hardware version and firmware version in the FestoConfiguration Tool with active device connection to theSFC−DC under �Device data"

� Firmware version on the control panel under [Diagnostic][Software information].

Firmwareversion from

What is new? Which FCT plug−in?

V1.10 Single Field Controller with I/O interface type SFC−DC−...−IO, supports electric mini−slide type:� SLTE−10−50−LS5,0−DC−VCSC−G04� SLTE−10−80−LS5,0−DC−VCSC−G04� SLTE−16−50−LS7,5−DC−VCSC−G04� SLTE−16−80−LS7,5−DC−VCSC−G04� SLTE−16−100−LS7,5−DC−VCSC−G04� SLTE−16−150−LS7,5−DC−VCSC−G04

SFC−DC V01.00.00


XIV Festo P.BE−SFC−DC−IO−EN en 0801a

Product−specific terms and abbreviations

The following product−specific terms and abbreviations areused in this manual:

Term/abbreviation Meaning

0−signal 0 V are present at input or output (positive logic, corresponds to LOW).

1−signal 24 V are present at input or output (positive logic, corresponds to HIGH).

Axis zero point (AZ) Measuring reference point for the project zero point and the software endpositions. Corresponds to the project zero point in the SFC−DC−...−IO (offset = 0). The reference point for the axis zero point is the referencepoint.

Axis Complete actuator, consisting of controller, motor, encoder, if applicable,gear and drive.

Controller Control electronics which evaluate the control signals and provide thepower supply for the motor via the power electronics (power electronics +controller + position controller).

Drive Mechanical component of an axis which transfers the drive power for themovement, defines the guide for the positioning movement, and enablesthe work load and the reference switch to be fitted.The electric slide type SLTE is an integrated unit consisting of a motor,encoder, gear unit and drive.

EMC ElectroMagnetic Compatibility

Encoder With the SLTE: magnetic pulse generator (rotor position transducer). Theelectric signals generated are sent to the controller, which then calculatesthe position and speed on the basis of the signals received.

Festo ConfigurationTool (FCT)

Software with uniform project and data management for all supporteddevice types. The special wishes of a device type are supported by plug−inswith the necessary descriptions and dialogues.

IOI/O

InputOutputInput and/or output

Positioning mode(Profile Position mode)

Operating mode for processing a position set.

PLC Programmable logic controller; in brief: controller.


XVFesto P.BE−SFC−DC−IO−EN en 0801a

Term/abbreviation Meaning

Position set Positioning command defined in the position set table, consisting of targetposition, positioning mode, positioning speed and accelerations. Maximum31 position sets are possible on the SFC−DC with I/O control.

Project zero point (PZ) Measuring reference point for all positions in positioning tasks (ProjectZero point). The project zero point forms the basis for all absolute positionspecifications (e.g. in the position set table or with direct control via thecontrol or diagnostic interface). Reference point for the project zero pointis the axis zero point (on the SFC−DC−...−IO the project zero point PZ and theaxis zero point AZ are identical).

Referencing (Homing mode)

Operating mode in which reference travel is carried out.

Referencing method Method for defining the reference position: against a fixed stop(overcurrent/speed evaluation) or with reference switch.

Reference point (REF) Relative point for the relative measuring system. The reference point de�fines a known position/orientation within the positioning path of the drive.

Reference switch External sensor (e.g. type SME−10/SMT−10) which serves for ascertainingthe reference position and is connected directly to the controller.

Reference travel The reference position and therefore the source of the measuring referencesystem of the axis will be defined by the reference travel.

SLTE... Type designation, electric slide.

Software end position Programmable stroke limitation (reference point = axis zero point)Software end position, positive:Max. limit position in positive direction (away from the motor); must not beexceeded during positioning.Software end position, negative:Min. limit position in negative direction (towards the motor); must not beexceeded during positioning.

Teach mode Operating mode for setting positions by moving to the target position e.g.when creating position sets.

Tip mode Manual positioning in positive or negative direction (only on field busvariants of the SFC−DC via the field bus or only with FCT or operator panel)

Tab.�0/1: Index of terms and abbreviations


XVI Festo P.BE−SFC−DC−IO−EN en 0801a

System summary

1−1Festo P.BE−SFC−DC−IO−EN en 0801a

Chapter 1

1. System summary

1−2 Festo P.BE−SFC−DC−IO−EN en 0801a

Contents

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Positioning with electric drives 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Structure of the SFC−DC 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Method of operation 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Reference coordinates and working area 1−12 . . . . . . . . . . . . . . . . . . . .

1.2 EMERGENCY STOP concept 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Commissioning options 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Control panel (only type SFC−DC−...−H2−...) 1−17 . . . . . . . . . . . . . . . . . . . .

1.3.2 Festo Configuration Tool (FCT) 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary


1.1 Positioning with electric drives

The Single Field Controller type SFC−DC with I/O interfaceenables positioning of the connected electric mini−slide typeSLTE−... in a max. of 31 position sets (+�reference run) withseparately adjustable speeds, accelerations and deceler�ations. The permissible positioning range can be limited bymeans of software end positions.

The position sets can be used to move the axis to either anabsolute position, or by a specified distance relative to thelast target position.

Parametrizing with a PC is possible via the RS232 interfacewith the FCT software package. The optional control panelwith display and four operating buttons enable the para�metrization of positions, speeds, accelerations and deceler�ations directly on the drive (see also section 1.3).

Coupling to a higher−order PLC/IPC can be accomplished viadigital inputs/outputs (SFC−DC−...−IO) or with the appropriateproduct variants via the field bus (in preparation: DeviceNet,CanOpen, PROFIBUS−DP).

For positioning systems Festo offers accessories suited to thedrive packages and linear drives (see Festo delivery programor catalogue).

1. System summary


Components

1 Higher−levelcontroller e.g.Festo type FEC...

2 Software level:FestoConfigurationTool

3 Controller level:SFC−DC

4 Motor drive level:SLTE−...

1

2

3

4

Fig.�1/1: Principle of an electric axis with the SFC−DC−...

1. System summary


For setting up an electric axis with the SFC−DC you will requirethe following components:

Controller SFC−DC, optionally with control panel

Drive with motor Electric mini−slide type SLTE−... with accessories and ifnecessary further components for the drive, such as fasten�ing elements, etc.

Power unit For operating and load voltage supply: 24 V DC

Power supply cable For supplying the SFC−DC with operating and load voltage(see accessories, appendix A.2).

Motor cable For connecting the electric mini−slide SLTE to the SFC−DC(see accessories, appendix A.2).

Control cable For transfer of information between the higher−levelcontroller and the SFC−DC (see accessories, appendix A.2).

Programming cable For transfer of information between the higher−levelcontroller and the SFC−DC (see accessories, appendix A.2).

Reference switch Optional: suitable sensor (normally open) as referenceswitch, e.g. type SME−10/SMT−10.

The SFC−DC supports the electric mini−slide SLTE−...�. ConsultFesto if you wish to use other drives.

Supporteddrive

Manual Permittedfittingposition

SLTE−... Electric mini−slide typeSLTE−...

As desired

1. System summary


Operating modes

Profile position mode Normal operation for positioning.Individual positioning travel in accordance with the confi�gured position sets:

� Moves to a target position with absolute or relativedimensions,

� with configured speed,

� with configured acceleration and braking ramp.

Homing mode Positioning travel for referencing the mechanical referencesystem.

For commissioning, for testing or for demonstration the fol�lowing functions are also available via the control panel ofthe SFC−DC−...−H2−...:

� Positioning travel for ascertaining the target position of aposition set (Teach mode)

� Positioning travel for testing all position sets in the posi�tion set table (Demo posit. tab.)

� Positioning travel for testing a certain position set in theposition set table (Move posit. set.)

1. System summary


Operational safety

An extensive system of sensors and monitoring functionsensure operational safety:

� temperature monitoring (measurement of the power endstage temperature)

� voltage monitoring

� detection of faults in the logic voltage supply

� detection of faults in the logic voltage supply

� I2t monitoring / overload protection

� following error monitoring

� software end position recognition.

1. System summary


1.1.1 Structure of the SFC−DC

1 Control panel (onlytype SFC−DC−...−H2−...:LC display and mem�brane keypad)

2 Electrical connections

3 Status indicators(LEDs)

1

2

3

Fig.�1/2: Single Field Controller SFC−DC

Control panel The control panel has an LCD graphics display (128 x 64dots). Operator control is by means of a membrane keypadwith four keys, with which all functions can be accessed bymenu.

Remove the protective foil from the display before commis�sioning.

1 LC display

2 Touch−sensitivekeyboard

3 LEDs

1 2

3

Fig.�1/3: Control panel and status display on the SFC−DC−...−H2−...

1. System summary


Status display The visual display of the operating states is shown via threeLEDs.

� Operating voltage �Power"

� Positioning status / bus status �I/F" (= interface / field bus)

� Fault �Error"

Connections The SFC−DC has the following connections:

1 Reference switch

2 RS232 interfaceto PC

3 I/O interface

4 Electric mini−slideSLTE−...

5 Power supply

1

2

3

4

5

A1 A21 2

3 4 5

RS–232Ref I/F

Power

Error

I/F

Fig.�1/4: Connections of the SFC−DC

1. System summary


1.1.2 Method of operation

In the positioning mode, a certain position is specified towhich the motor is to move. The current position is obtainedfrom the information from the internal increment sensor(magnetic encoder). The position results from the gear reduc�tion and the spindle pitch.

The deviation of the position is processed in the positioncontroller and passed on to the speed regulator.

1 Controller SFC−DC

2 Controller

3 Nominal valuegenerator

4 Position controller

5 Speed regulator

6 Current regulator

7 End stage

8 Signal convertor

MP PI

3

8

4

5 6 7

1

2

P

Fig.�1/5: Simplified technical representation of the cascade regulator function

The controller takes over the following tasks:

� sequence control via digital inputs and outputs(type�SFC−DC−...−IO)

� specification of the nominal positions by positioningcontrol

� control of the following variables: Position, speed,acceleration, current (power).

1. System summary


The SFC−DC possesses three memory ranges in which itmanages parameters:

� The default settings and the firmware are saved in thememory (FLASH memory). The data from the FLASH areloaded when the device is switched on the first time orwhen the EEPROM has been deleted.

� The parameters which are currently used and which canbe modified with the control panel or FCT software aresaved in the internal, volatile memory (RAM). When themodifications have been saved, they are transferred tothe EEPROM.

� The parameters which are loaded after the device hasbeen switched on are saved in the non−volatile EEPROM.The parameters in the EEPROM are retained even afterthe power supply has been switched off.

Please noteIn order to restore the default settings you can, if necess�ary, delete the EEPROM via the serial interface with the CIcommand 20F1 (Data memory control) (see chapter 7).User−specific settings will then be lost.

· Use CI commands only if you already have experience ofService Data Objects.

· If necessary consult the Festo Service.

1. System summary


1.1.3 Reference coordinates and working area

The measuring reference system of the SFC−DC is based onthe axis zero point which is defined via the offset to the refer�ence point.

The position of the reference point is defined during the ref�erence run. The referencing method defines the way in whichthe axis determines the reference point.

When the reference travel is finished, the drive stands at theaxis zero point.

Reference point REF forms the mechanical reference point of the axis coordinatesystem and is defined by reference travel with a referenceswitch or a fixed stop, depending on the referencing method.It is the reference point of the axis zero point.

Axis zero point AZ is shifted by a defined distance from the reference point (axiszero point offset) and is the reference point of the softwareend positions and the project zero point. By defining the axiszero point and the software end positions you can limit theworking area of the linear axis to the permitted range (work�ing stroke).

Project zero point PZ is a reference point within the working stroke which the usercan select and to which both the actual position and thetarget positions in the position set table refer. The axis zeropoint is the reference point for the project zero point.

The project zero point is specified for the SFC−DC with I/Ointerface, and is identical to the axis zero point (project zeropoint offset = 0).

1. System summary


Reference coordinates and working area

Electric mini−slide SLTE 1)

1

REF AZ

a

b c

2

REF Reference point: The measuring reference point to which movement is made in the referencetravel and to which the axis zero point refers.

AZ Axis zero point: Measuring reference point for the project zero point and the software endpositions. Corresponds to the project zero point in the SFC−DC (offset project zero point = 0).The reference point for the axis zero point is the reference point.

a Offset axis zero point: Defined distance of the axis zero point to the reference point

b,c Software end positions: limit the permitted positioning range (working stroke). If the targetposition of a positioning command lies outside the software end positions, the positioningcommand will not be processed and a fault status will be displayed.

1 Working stroke: Permitted positioning range. The working area of the axis is thereby defined.

2 Rated stroke: Rated stroke of the drive used, see Technical Specifications for the drive (with SLTE the stroke specified in the order).

1) Vector representation for the referencing method: Example of fixed stop, negative

Tab.�1/2: Measuring reference system of the electric axis

1. System summary


All position values (offset, software end positions, targetpositions...) have a mathematical sign and must be adaptedto the position of the relevant reference point.

Value 1) Position values for SLTE−...

+ Positive values face from the reference point in thedirection away from the motor.

� Negative values face from the reference point in thedirection towards the motor.

1) Factory setting (see also appendix B, object 607E)

All values are entered or displayed according to the measur�ing system set either for the Festo Configuration Tool or thecontrol panel.

Measuring system

Linear axis Metric Metric measuring units e.g.mm, mm/s, mm/s2

Inch 1) Imperial measuring units e.g.inch, inch/s, inch/s2

1) Setting only with FCT when a project is started or via [Project][Properties].

The setting of the measuring system influences only the dis�play in the Festo Configuration Tool. All parameters in the SFC−DC are always saved in increments(inc, inc/s, inc/s 2 ...) and not converted until they are writtenor read. Measurements transmitted directly via the RS232 refer to anincrement basis (conversion see appendix B.6)

1. System summary


1.2 EMERGENCY STOP concept

Please noteCheck your EMERGENCY STOP circuit in order to ascertainthe measures necessary for switching your machine/sys�tem into a safe state in the event of an EMERGENCY STOP(e.g. switching off the load voltage).

The SFC−DC has the following separate logic voltage supply.

Recommendation:In the event of an EMERGENCY STOP, you should stop thedrive by canceling the ENABLE signal at the I/O interface (see chapter 6).

· Use additional separate safety limit switches if anEMERGENCY STOP circuit is required for your application(e.g. as a normally closed switch in series−parallel con�nection)

� with these switches you can cancel the ENABLE signalat the I/O interface

� or switch off the load voltage.

· By the arrangement of the software end positions and, ifnecessary, by means of external safety limit switches andadditional appropriate mechanical stops, make sure thatthe axis always lies within the permitted positioningrange.

1. System summary


1.3 Commissioning options

You can parametrize and commission the SFC−DC as follows:

� directly on the control panel (only type SFC−DC−...−H2−...)

� via the RS232 interface (with FCT software).

The SFC−DC can also be parametrized and commissioned withthe Command Interpreter via the RS232 interface. The CIcommands listed in the Object Directory can be transmittedto the SFC−DC with all commercially−available terminal pro�grams. Only experienced users may use the CI commands.For further information, see Appendix B.

Functions Controlpanel

FCT

Parametrizing � Selection of the axis type of the SLTE and theassociated axis parameters

� Uploading/downloading configuration data� Saving different configurations in projects

x

��

x

xx

Position sets � Compiling a position set table with set number,target position, positioning mode, positioningspeed, acceleration, deceleration

x x

Commissioning � Reference travel� Teaching of positions� Moving in individual steps� Starting and stopping positioning procedures during

commissioning� Expanded test functions, e.g. status displays� Testing or demonstrating the position sets

xx�x

(x)x

xxxx

xx

Diagnosis/Service � Reading and displaying diagnostic data x x

1. System summary


1.3.1 Control panel (only type SFC−DC−...−H2−...)

The control panel offers all functions necessary for commis�sioning, parametrization, diagnosing and operating directlyon the SFC−DC−...�.

The control panel provides the necessary input masks inmenus for editing position sets and parameters. If your posi�tioning system is set up completely, you can move easily topositions and transfer them to the position set table.

Information on the operating elements and the menu struc�ture can be found in chapter 4, a description of commission�ing with the control panel as from chapter 5.3.

1.3.2 Festo Configuration Tool (FCT)

The Festo Configuration Tool (or brief FCT) is the softwareplatform for configuring and commissioning different compo�nents or devices from Festo.

The FCT consists of the following components:

� a framework as a program starting and entry point withuniform project and data management for all supporteddevice types.

� a PlugIn for the special demands of each device type (e.g.SFC−DC) with the necessary descriptions and dialogues.The PlugIns are managed and started from the frame�work.

The PlugIn SFC−DC for the FCT supports all the steps necess�ary for commissioning an SFC−DC.

The software can run on all usual PCs with a current Windowsoperating system.

1. System summary


Minimum technical requirements

PC � Processor of the Pentium class,900�MHz or faster

� 128 MByte RAM� 100 MByte free memory space on the

hard disc

Supported operatingsystems

� Microsoft Windows 2000 / XP

Run−time environment+ software

� CD ROM for installation� Microsoft .NET Framework Version 1.1,

incl. necessary language packages (if required can be installed by the FCTinstallation program)

� Internet Explorer as from version 6.0(necessary for the print functions)

Interface � Serial interface <COMn> as per RS232,9600 baud

Screen resolution Screen resolution as from 800 x 600points, (for using the dynamic helps atleast 1024�x�768)

An overview of commissioning with the FCT can be found inchapter 5.4.2. The help for the FCT contains the completeinformation on operating the Festo Configuration Tool. Thedevice−specific PlugIns each have their own help files. Youcan use the complete help or parts thereof irrespective of aPC by printing them.

1. System summary


The help system of the Festo Configuration Tool

The Festo Configuration Tool offers various possibilities ofobtaining information or help with operation.

· Install and start the program as described in chapter 5.

FCT help You can open the help for the FCT as follows:

· Access the help in the menu [Help] with the command[Contents FCT general].

With function button F1 you can open directly a context−related help.

Dynamic help For permanent display of context−related information you canuse the integrated dynamic help of the FCT:

· Activate the dynamic help via the menu [Help] with thecommand [Dynamic help]. The dynamic help will be dis�played in a dockable window.

· Activate the element in the window for which you requirehelp, e.g. with a mouse click. If window areas or dia�logues of the PlugIn are activated, the contents of therelevant PlugIn will be displayed automatically in the dy�namic help.

Help for PlugIn SFC−DC The help for the PlugIn SFC−DC contains the complete in�formation on operating the PlugIn.

You can open the help as follows:

· Command [Help] [Contents of installed PlugIns] [Festo(manufacturer name)] [SFC−DC (PlugIn name)].

· Help button in the window range or dialogue of the Plu�gIn.

· Button F1 in the active window range or dialogue of thePlugIn.

1. System summary


Printed information In order to use the complete help or parts thereof indepen�dently of a PC, you can use one of the following possibilities:

· Use the �Print" button of the help window to print outdirectly individual pages of the help or all the pages of abook from the contents directory of the help.

· Print the prepared print version of the help in the AdobePDF or Rich Text format (RTF). The relevant file can be found under the following indices:

Printed version Directory File

FCT help ...(FCT installation directory)\Help\ � FCT_en.pdf� FCT_en.rtf

PlugIn help (SFC−DC)

...(FCT installation directory)\HardwareFamilies\ Festo\SFC−DC\V...\Help\

� SFC−DC_en.pdf� SFC−DC_en.rtf

For using the print version in the Adobe PDF format you willrequire the Adobe Reader.

Fitting


Chapter 2

2. Fitting


Contents

2. Fitting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dimensions of the controller 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Fitting the controller 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Notes on fitting of electric axes 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting


2.1 General instructions

CautionDamage to components

· Before carrying out fitting, installation and maintenancework, always switch off the power supply.

Please noteHandle all modules and components with great care.Please note especially the following:

� Screw connections must be fitted free of offset andmechanical tension. Screws must be fitted accurately(otherwise threads will be damaged).

� The specified torques must be observed.

� The modules must not be offset.

� Contact surfaces must be clean (avoid contact faults).

2.2 Dimensions of the controller

120 mm

RS–232Ref I/F

Power

Error

I/F

126 mm

Fig.�2/1: Dimensions of the controller

2. Fitting


2.3 Fitting the controller

You can fit the SFC−DC in one of two ways:

� wall fitting on an even surface

� fitting on a top−hat rail.

Please noteFit the SFC−DC or the top−hat rail so that there is sufficientspace above or below for heat dissipation 40 mm).

Fitting onto a wall

You will require:

� a mounting surface of approximately 120 x 160 mm.

� 2 sets central supports type MUP−18/25 (accessories).The four brackets are clipped onto the edge of thehousing (see Fig.�2/2).

� 4 threaded holes for screw size M3 (for dimensions seeFig.�2/2) with suitable screws.

RS−232Ref I/F

Power

Error

I/F120 mm

approx. 105

Fig.�2/2: Screwing the SFC−DC to the wall

2. Fitting


Fitting on a top−hat rail

Proceed as follows when fitting the SFC−DC onto a top−hat rail:

1. Make sure that the fastening surface can support theweight of the SFC−DC.

2. Fit a top−hat rail (mounting rail EN 50022 � 35x7.5 or 35x15).

3. Maintain a max. distance of 3.3 mm between the housingweb and the top−hat rail:

· if possible, use a part of the top−hat rail where thereare no fastening screws.

· if a screw connection is necessary under the SFC−DC:Use M6 screw acc. to ISO−7380ULF, for example.

4. Hang the SFC−DC on the top−hat rail as follows:

· first from below, pressing against the clamping el�ement, then

· swing upwards against the top−hat rail.

When you let go, the clamping element presses theSFC−DC into the upper groove.

1 Top−hat rail

2 Clamping element

3 Distance betweenhousing web andtop−hat rail: 3.3 mm

1 2 3

Fig.�2/3: Fitting the SFC−DC on a top−hat rail

2. Fitting


2.4 Notes on fitting of electric axes

Refer to the following documentation when fitting the electricaxis:

� Operating instructions for the use of electric mini−slidetype SLTE−...�.

� The instructions for the components used.

WarningIf a drive is fitted in a sloping or vertical position, the workload may fall down and injure somebody.

· Check whether additional external safety measures arenecessary (e.g. toothed latches or moveable bolts).

You can then avoid the working mass sliding down if thereis a sudden power failure.

Make sure that:

· the drive is fitted securely and is free of distortion,

· the work space in which the drive moves is of sufficientsize for operation with a work load,

· the work load does not collide with any component of theaxis when the axis moves into the end position.

Installation


Chapter 3

3. Installation


Contents

3. Installation 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Power supply 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Earthing 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Motor connection 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Controller 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 I/O controller (only type SFC−DC−...−IO) 3−11 . . . . . . . . . . . . . . . . . . . . . .

3.6 Serial interface 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 Input for external reference switch 3−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 Overview of installation

WarningBefore carrying out fitting, installation and maintenancework, always switch off the power supply.

You can thereby avoid:

� unexpected movements of the connected actuators

� non−defined switching states of the electronic compo�nents.

CautionIncorrectly prepared cables may damage the electronicsand trigger off unexpected movements of the motor.

· Use only the cables listed as accessories for connectingthe electric components of the system (see Tab.�3/2).Only in this way can you guarantee the correct function�ing of the system.

Please note· Lay all moveable cables free of bends and free of mech�anical stress, if necessary in a drag chain.

· Observe the maximum specified cable lengths.

3. Installation


1 Controller (I/O interface, I/F)

2 Earth/groundconnection

3 Power supply (Power)

4 Motor connection(motor)

5 Reference switch(Ref)

6 Serial interface(RS232)

1

2

3

4

5

6

Fig.�3/1: Connections on the SFC−DC

Connection on the SFC−DC Manual

Controller For typeSFC−DC−...−IO:� Sub−D 15−pin� Plug

Interface for connectingany PLC controller (Digital inputs and outputs,24 V DC, PNP)

Earthconnection

� M4 stud Functional groundconnection (optionally viamotor cable)

Power supply � DSub−7W2� Plug

Power connection with2�high−current contactsand 5�low−current contacts(separate load and logicvoltage supply)

Motorconnection

� Sub−D 15−pin� Socket

Control of motor withencoder signals

Referenceswitch

� M8, 3−pin� Socket

Sensor input for referenceswitch

Serialinterface

� M8, 4−pin� Socket

RS232 interface forparametrizing, commis�sioning and diagnosing

Tab.�3/1: Overview of connections

3. Installation


If non−assigned plug connectors are touched, there is adanger that damage may occur to the SFC−DC or to otherparts of the system as a result of ESD (electrostatic dis�charge). Place protective caps on unused connections inorder to prevent such discharges.

The plug connectors of the following Festo cables have beendesigned so that, when inserted and screwed tight, or if fittedwith protective covers, the connections on the SFC−DC willcomply with protection class IP54.

Connection Cable Type Length [m]

Power supply Power supply cable KPWR−MC−1−SUB−15HC−... 2.5 / 5 / 10

Motor connection Motor cable KMTR−DC−SUB−15−M12−... 2.5 / 5 / 10

Controller Control cable KES−MC−1−SUB−15−... 2.5 / 5 / 10

Reference switch e.g. type SME−10.../SMT−10... or extension cable type KM8−M8−...

Serial interface Programming cable KDI−MC−M8−SUB−9−... 2.5

Tab.�3/2: Overview of cables (accessories)

In order to guarantee compliance with the IP protection class:

· seal unused M8 connections with type ISK−M8 protectivecaps (accessories).

· tighten the union nuts/locking screws of the plugs byhand.

Observe the permissible tightening torques in the docu�mentation of the cables and connectors used.

3. Installation


3.2 Power supply

Warning· In order to provide the electric supply, use only PELVcircuits as per IEC/DIN EN 60204−1 (Protective Extra−LowVoltage, PELV). Take into account also the general requirements forPELV circuits as per IEC/DIN EN 60204−1.

· Use only power packswhich guarantee reliable electricalisolation of the operating voltage as per IEC/DINEN�60204−1.

By the use of PELV power units, protection against electricshock (protection against direct and indirect contact) is guar�anteed in accordance with IEC/DIN EN 60204−1 (electricalequipment of machines, general requirements).

The internal power and controller electronics are suppliedwith DC voltage via the power supply connection.

Please noteNote that the tolerances for the power supplies must beobserved, see Tab.�3/4. The tolerance must be observeddirectly at the power connection of the SFC−DC.

· For the power supply, use exclusively one of the follow�ing cables from the Festo accessories:

� power supply cable KPWR−MC−1−SUB−15HC−...

� cable length max. 10 m.

· Use a closed−loop power unit with:

� at least 5 A peak current.

3. Installation


CautionDamage to the device.

The 24 V DC power supplies of the SFC−DC have no specialprotection against overvoltage.

· Make sure that the permissible voltage tolerance isnever exceeded, see Tab.�3/4.

Connection Pin Designation Function Cable colour1)

O1 Load power + 24 VDC load black, 1

O2 Load power GND load black, 2

1 Logic powerVCC

+ 24 VDC logic white

A = O (output)

2 Logic powerGND

GND logic brown

A O (output)

3 n.c. Reserved green

4 FE Earth connec�tion (housing) 3)

� 2)

5 n.c. Reserved yellow

� Plug housing Earth connec�tion (housing) 3)

Earthing stripwith M4 cablelug

FE Earth connec�tion (housing) 3)

�

1) Cable colours with power cable type KPWR−MC−1−SUB−15HC−...2) Not connected with cables of type KPWR−MC−1−SUB−15HC−...3) Use only one connection, see section 3.3

Tab.�3/3: Connection �Power" (power supply) on the SFC−DC

3. Installation


The power supply must fulfil the following requirements:

Power supply Value

Load supply (pins O1, O2)� Rated current� Peak current� Internal fuse

24 VDC ± 10 %3 A ± 30 %5 A ± 30 %7 A very quick acting

Logic supply (pins 1, 2)� Rated current� Peak current� Internal fuse

24 VDC ± 10 %0.1 A ± 30 %0.8 A ± 30 %1 A slow−blowing

Tab.�3/4: Power supply specifications

1 2 3 4A1 5 A2

1 2 3

1 Equipotential bonding absolutely necessary!

2 External fuses (optional, for protection of the internal fuses)

3 Earth connection (optional, see section 3.3)

Fig.�3/2: Power supply connection example

3. Installation


3.3 Earthing

Please note· Connect one of the earth cables of the SFC−DC with lowimpedance (short cable with large cross−sectional area)to the earth potential.

You can thereby avoid faults due to electromagneticinfluences and ensure electromagnetic compatibility inaccordance with EMC guidelines.

To connect the SFC−DC to the earth potential, use one of thefollowing earth connections:

� earthing strip at the free end of the power supply cable,see assembly instructions for cable typeKPWR−MC−1−SUB−15HC−..., or

� earth connection on the housing of the SFC−DC, see Tab.�3/3.

Please noteNote that only one of the two earth connections may beused at the same time (to avoid earth loops).

When using the earth connection on the housing of theSFC−DC:

· Use a suitable earthing cable with an M4 cable lug andthe supplied nut with toothed lock washer.

· Tighten the nut with max. 1.7 Nm.

3. Installation


3.4 Motor connection

The motor connection is used to control the motor of the con�nected SLTE, and to transfer the encoder signals.

Please noteTo connect the SLTE, use exclusively one of the followingcables from the Festo accessories:

� motor cable KMTR−DC−SUB−15−M12−...

� cable length max. 10 m.

Connection Pin Designation Function

1 +5VDC VCC logic

8 1 2 O Encoder channel A (RS485)

3 A/ Encoder channel A/

15 94 B Encoder channel B (RS485)

5 B/ Encoder channel B/

6 C Encoder channel C (RS485)

7 C Encoder channel C/

8 GND logic GND logic

9 GND GND

10 GND GND

11 GND GND

12 Motor + Motor +

13 Motor − Motor −

14 GND GND

15 GND GND

� Plug housing Cable screening/shield

Tab.�3/5: Connection �Motor" on the SFC−DC

3. Installation


3.5 Controller

Information on controlling via bus systems can be found inthe manuals for the relevant field bus variant of the SFC−DC−...(in preparation).

In the case of control via digital I/Os (type SFC−DC−...−IO) notethe instructions on connecting and on the function of the I/Ointerface in chapter 6.

3.5.1 I/O controller (only type SFC−DC−...−IO)

The controller connection of the SFC−DC−...−IO with I/O inter�face is used for communication with the higher−level con�troller via digital I/Os.

CautionLong I/O signal cables reduce the immunity to interfer�ence. Make sure, therefore, that the maximum permittedI/O signal cable length of 30 m is not exceeded.

WarningIf a 24 V DC voltage is applied and the output pins areused incorrectly, the device may be seriously damaged,therefore:

· do not connect voltage to the outputs.

· note the current limitation at the outputs (see section 5.6.3).

Information on controlling the SFC−DC via the I/O interfacecan be found in section 5.6.

Recommendation:Use the control cable type KES−MC−1−SUB−15−...�. You will thencomply with protection class IP54.

3. Installation


Connection Pin Designation Function Cable colour1)

1 8 1 24VDC_EXT Electrically isolated I/Osupply (infeed)

white

9 152 I1 Input position set coding

Bit0brown

3 I2 Input position set codingBit1

green


yellow


grey


pink

7 I6 Input STOP bit blue

8 GND Electrically isolated GND(reference potential)

red

9 I7 Input enable bit black

10 I8 Input start bit violet

11 O1 Output MC grey/pink

12 O2 Output Ready red−blue

13 O3 Output Acknowledge white−green

14 O4 Fault output brown−green

15 GND Electrically isolated GND white−yellow

� FE Plug housing / cable shield �

1) Cable colours with control cable type KES−MC−1−SUB−15−...

Tab.�3/6: Connection �I/F" (controller connection) on the SFC−DC−...−IO

3. Installation


The I/O power supply must fulfil the following requirements:

Power supply Value

I/O supply (pins 1, 8)� Rated voltage� Rated current� Peak current

24 V DC ± 10 %0.05 A2 A

Tab.�3/7: Power supply specifications

I/O specification see section 5.6.3.

3. Installation


3.6 Serial interface

Serial interface for parametrizing, commissioning anddiagnosing.

Please noteTo connect a PC to the SFC−DC, use exclusively one of thefollowing cables from the Festo accessories:

� programming cable KDI−MC−M8−SUB−9−...

� cable length 2.5 m.

· If necessary, remove the protective cap from the serialinterface of the SFC−DC.

· Connect the following connections with the programmingcable:

� the connection socket on the SFC−DC

� a serial interface COMx of the PC.

M8 socket Manual

1 2 4 3 1 GND Ground

2 RXD RS232 receiving cable 1)

3 TXD RS232 transmitting cable 1)

4 −−− Reserved for servicing personnel� do not connect!

1) The levels correspond to the RS232 standard

Tab.�3/8: Connection �RS232" (serial interface) on theSFC−DC

3. Installation


Information on commissioning and parametrizing the SFC−DCvia the serial interface can be found in section 5.4.2 and inthe help system for the Festo Configuration Tool softwarepackage. Information on transmitting CI commands via the serial inter�face can be found in chapter 7.

Please noteThe RS232 interface is not electrically isolated. It is notsuitable for permanent connection to PC systems, nor as acontrol interface.

· Use this connection only for commissioning.

· Disconnect the diagnostic cable during continuousoperation.

· Seal the connection with the protective cap supplied(type ISK−M8).

3. Installation


3.7 Input for external reference switch

If you are not using a reference switch:

· Seal the connection with the protective cap supplied (type ISK−M8).

Use e.g. the following proximity switches from Festo:

� electric proximity switch SME−10F−... /SMT−10F−... (can be installed in sensor grooves of the drive profile).

If necessary, use an extension cable type KM8−M8−...�.

Connecting the reference switch:

· Use the correct switch type �normally−open" for thereference switch in the PNP variant.

· For connecting the reference switch use a cable withrotating thread sleeve on the end of the cable, e.g. typeSME−10F.../SMT−10F... or extension cable type KM8−M8−...�.�

· When selecting the sensor, note that the accuracy of theswitchover point of the sensor can affect the accuracy ofthe reference point.

· During installation, observe the position of the sensorrelative to the index pulse; shift the sensor if necessary(see warning �INDEX PULSE WARNING", section 6.3).

3. Installation


The power supply for the reference switch (24 V DC / Ground)is provided via pin 1/3.

CautionDamage to the device.

The 24 V DC voltage at pin 1 does not have any specialprotection against overload; the voltage is taken from themain supply after the ESD and protection against incorrectpolarity.

· Use this connection only for the reference switch (sensorsupply).

Use of this connection as a power supply for other devicesis not permitted.

The input for sensor signal REF complies in its electrical fea�tures with the input specification in the appendix �Technicalspecifications".

M8 socket Manual

143 1 + 24 VDC + 24 VDC voltage output forreference switch

4 K Contact reference switch

3 GND Ground

Tab.�3/9: Connection �Ref" (reference switch) on theSFC−DC

3. Installation


Control panel (only type SFC−DC−...−H2−...)


Chapter 4

4. Control panel (only type SFC−DC−...−H2−...)


Contents

4. Control panel (only type SFC−DC−...−H2−...) 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Composition and function of the control panel 4−4 . . . . . . . . . . . . . . . . . . . . . . .

4.2 The menu system 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Accessing the main menu 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 �Diagnostic" menu 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Device control �HMI control" 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 �Settings" menu 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5 �Positioning" menu 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



The Single Field Controller type SFC−DC−...−H2−... offers on thecontrol panel all functions necessary for commissioning, pro�gramming and diagnosing−...�. An overview of the button andmenu functions for the SFC−DC−...−IO can be found in thischapter. Commissioning with the control panel is described asfrom chapter 5.3. Control panel functions for the field busvariants can be found in the manual for the relevant productvariant.

With the SFC−DC−...−H0−... (without control panel) you cancarry out commissioning of the SFC−DC via the RS232 inter�face with the Festo Configuration Tool. Instructions on this

can be found in Section 5.4.2.

CautionFaults may occur if you attempt to access control and oper�ating functions at the same time by the FCT and the controlpanel.

· Make sure that the FCT, the control panel and the controlinterface of the SFC−DC are not used at the same time.

Please noteIf necessary, remove any protective foil present on the dis�play before commissioning.



4.1 Composition and function of the control panel

The control panel enables commissioning directly on theSFC−DC with the following functions:

� parametrizing and referencing the axis

� entering positioning sets

� test functions, e.g. for moving to individual position sets.

1 LC display

2 Operatingbuttons

3 LEDs� Power (green)� I/F (green/red)� Error (red)

1

2

3

RS−232Ref I/F

Power

Error

I/F

Fig.�4/1: Control panel of the SFC−DC−...−H2−...

With the 4 buttons on the control panel you can carry out all

operating functions and settings as indicated in the menu.The graphic LCD display shows all texts in English. The display

can be turned in 180° steps, see menu command [LCD adjust�ment].



The visual display of the operating states is shown via 3 LEDs(see also chapter 6.2).

� Power: Display of the readiness to operate

� I/F: Positioning status

� Error: Fault

Function Button

MENU Activated by the status display from themain menu Menu

ESC Rejects the current entry and switchesback in stages to the higher−order menulevel or status display

EMERG.STOP Interrupts the current positioningprocedure (> Error mode; confirm with<Enter>, then automatic return to thestatus display)

OK Confirms the current selection or entryEnter

SAVE Saves parameter settings permanentlyin the EEPROM

Enter

START/STOP Starts or stops a positioning procedure(only in Demo mode). After stop:Display of the current position, with<Menu> return to the higher−order menulevel.

{ } Scrolls within a menu level in order toselect a menu command. v

EDIT Sets the parameter V

Tab.�4/1: Button function (overview)



4.2 The menu system

4.2.1 Accessing the main menu

When the power supply is switched on, the SFC−DC automati�cally carries out an internal check. At first the display showsthe Festo Logo then changes to the status display. The statusdisplay shows the following information:

� the type designation of your SFC−DC

� the type designation/type of the parametrized drive

� the current position of the drive xa = ....

� the current setting of the device control (HMI = Human−Machine Interface)

The main menu is accessed from the status display with thebutton <Menu>. The current button function will be displayedin the lower lines of the LCD display.

Function Button

{ } With the arrow buttons on the control panelyou can select a menu item from the list. Thecurrent selection is marked with an arrow ( }Diagnostic). Select the menu item S in orderto display further menu items (HMI control...).

v

V

ESC With <Menu> you can interrupt the current entryand return in stages to the higher−order menulevel or status display.

Menu

OK With <Enter> you can confirm the currentselection or entry. Enter

Tab.�4/2: Button function (menu selection)

SFC–DC...SLTE...Xa = 0.00 mm

HMI:off<Menu>

} DiagnosticpositioningSettingsS ESC <Menu>

<––> OK <Enter>

} HMI controlLCD adjustment

S ESC <Menu><––> OK <Enter>



Menu command Manual

} Diagnostic Display of the system data and the currently effective settings (see chapter 4.2.2)

} Pos. set table Display the position set table

} Axis parameters Display axis parameters and data

} System paramet. Display system parameters and data

} SW information Display the operating system version (firmware)

} Positioning 1) 2) Reference run and positioning run for testing the position sets (see chapter 4.2.5)

} Homing Start reference run 1)

} Move posit. set Start positioning run �Position set"

} Demo posit. tab Start positioning run �Position set table"

} Settings 1) 2) Selection of the drive, parametrizing, programming the position sets ... (see chapter 4.2.4)

} Axis type } SLTE_10_50_G04 Electric mini−slide type SLTE−10, stroke 50 mm, gear unit G04} yp

... ...

} SLTE_16_150_G04 Electric mini−slide type SLTE−16, stroke 150 mm, gear unit G04

} Axis parameters } Zero point 3) Offset of axis zero point} p

} SW−limit−neg 3) Stroke limitation: Software end position, negative

} SW−limit−pos 3) Stroke limitation: Software end position, positive

} SAVE... Save parameters in EEPROM

} Homing paramet. } Homing method Selection of referencing method (stop, reference switch, etc.)} g p

} Velocity v_rp Positioning speed for searching for the reference point

} Velocity v_zp Positioning speed for moving to the axis zero point


} Position set } Position no. Number of the position set (1...31)}

} Pos set mode Set status: absolute or relative positioning

} Position 3) Target position of the position set

} Velocity Positioning speed of the position set

} Acceleration Acceleration for the position set

} Deceleration Braking acceleration of the position set


} Password edit Setting up a local password with 3 figures for the control panel (see chapter 4.2.4).

} HMI control 1) Presetting the device control via the control panel (see chapter 4.2.3)

} LCD adjustment Rotate the display in steps of 180°

1) If necessary password protection2) Control interface must be deactivated, see [HMI control]: HMI=on3) Teach mode

Tab.�4/3: Menu commands (overview)



4.2.2 �Diagnostic" menu

In order to display the system data and the currently effectivesettings:

1. Use the arrow buttons in the main menu to select[Diagnostic] and press the <Enter> button.

2. Select one of the following menu commands:

� Position set table

� Axis parameter

� System parameter [System paramet.]

� Firmware version of the SFC−DC, e.g. V1.00 [Software information]

Function Button

{ } You can �scroll through" thediagnostic data with the arrowbuttons.

v V

ESC With <Menu> you can return to thehigher−order menu level. Menu

} Diagnostic

} Pos. set tableAxis parameterSystem paramet.Software information



[Pos. set table] Menu command for displaying the following entries in theposition set table:

[Position set table] Manual

Nr. Number of the position set (1...31)

a/r Absolute (a) or relative (r) positioning

Pos Target position

Vel Positioning speed

Acc Acceleration (acceleration ramp)

Dec Braking acceleration (braking ramp)

[Axis parameter] Menu command for displaying the following axis parametersand data:

[Axis parameter] Manual

Vmax Maximum positioning speed

Xmin Stroke limitation: Software end position, negative

Xmax Stroke limitation: Software end position, positive

X0 Offset axis zero point

Feed Feed constant (e.g.� thread pitch)



[System paramet.] Menu command for displaying the following system para�meters and data:

[System paramet.] Manual

VRef [V] Internal reference voltage

VDig [V] Digital voltage

Imax [A] Maximum possible motor current (e.g. power limitation / motor protection)

Iact [A] Current motor current

Temp [°C] Operating temperature, power end stage

Cycle Number of positioning cycles

In−signal Hexadecimal representation of the inputsBit 0: I1 (position set coding Bit 0)Bit 1: I2 (position set coding Bit 1)Bit 2: I3 (position set coding Bit 2)Bit 3: I4 (position set coding Bit 3)Bit 4: I5 (position set coding Bit 4)Bit 5: STOPBit 6: ENABLEBit 7: START

Out−signal hexadecimal representation of the outputsBit 0: MC (Motion Complete)Bit 1: READYBit 2: ACKNOWLEDGEBit 3: ERROR

Ref. switch on/off Signal at reference switch input

Mode mm Measurement system (millimetre)

Hom.meth. � bl.pos� bl.neg� sw.pos� sw.neg

Fixed stop in positive directionFixed stop in negative directionReference switch in positive directionReference switch in neg. direction

Gear e.g.�4.38 Gear ratio of the drive



4.2.3 Device control �HMI control"

For selecting the menu commands [Positioning] and [Settings]you will require the setting �HMI on". Only then is the SFC−DCready to process user entries on the control panel.

When selecting the menu commands, you will be requestedto modify the HMI setting.

[HMI control] You can also modify the setting directly with the menu com�mand [HMI control].

HMI 1) Device control

on The device control is carried out manually via the controlpanel. The control interface of the SFC−DC is deactivatedand the control enable is set. The actual statuses of allinputs then have no effect.When control via the control panel is activated, the drivecannot be stopped with the STOP input.

off The device control is carried out via the control interfaceof the SFC−DC.

1) Human Machine Interface



4.2.4 �Settings" menu

For parametrizing the axis system and programming theposition sets:

1. Use the arrow buttons to select [Settings] in the mainmenu and press the <Enter> button.

2. Select:

� the axis type [Axis type]

� the axis parameters [Axis parameter]

� the referencing parameters [Homing paramet.]

� the position set table [Position set]

� the password setting [Password edit].

[Axis type] Design of axis driven by the SFC−DC.

[Axis type] Parameters

[SLTE...] Electric mini−slide from Festo, type SLTE−...Select the type used:� SLTE10_50_G04: type SLTE−10−50−LS5,0−DC−VCSC−G04� SLTE10_80_G04: type SLTE−10−80−LS5,0−DC−VCSC−G04� SLTE16_50_G04: type SLTE−16−50−LS7,5−DC−VCSC−G04� SLTE16_80_G04: type SLTE−16−80−LS7,5−DC−VCSC−G04� SLTE16_100_G04: type SLTE−16−100−LS7,5−DC−VCSC−G04� SLTE16_150_G04: type SLTE−16−150−LS7,5−DC−VCSC−G04The selection defines the following settings:� the feed constant,�e.g.:

SLTE−10−50−LS5,0−DC−VCSC−G04: 5 mm / spindle rotation, Encoder resolution 512 incr./revolution, Gear 57/13

SLTE−16−150−LS7,5−DC−VCSC−G04:7.5 mm / spindle rotation, Encoder resolution 1000 incr./revolution, Gear 57/13

� the measurement system (metric)

Support for further drives is in preparation

} Settings

} Axis typeAxis parameterHoming paramet.Position setPassword edit



[Axis parameter] Teach mode for setting the axis parameters

WarningDuring the teach procedure for specifying the axis zeropoint and the stroke limitation, the motor turns or the con�nected drive starts to move.

· Make sure that nobody can place his/her hand in thepositioning range of the moveable mass and that noobjects lie in its path.

[Axis parameter] Manual

[Zero point] Offset of axis zero point

[SW−limit−neg] Stroke limitation: Software limit switch, negative

[SW−limit−pos] Stroke limitation: Software limit switch, positive

[SAVE...] Save parameter in EEPROM

Please noteThe set parameters become effective immediately afterconfirmation with OK <ENTER>. The settings are savedpermanently in EEPROM with the menu command[SAVE...]:

· Save the parameter settings with the menu command[SAVE]. Only then will the settings be retained even if thepower supply is switched off or if there is a powerfailure.



[Homing paramet.] Setting the referencing method and the speeds during thereference run.

The maximum speed during the reference run is limited to10�mm/s.

[Hom. paramet.] Param. Manual

[Homing method] block negative Referencing to fixed stop,negative = factory setting

block positive Referencing to fixed stop,positive

switch negative Referencing to referenceswitch, negative withindex search

switch positive Referencing to referenceswitch, positive withindex search

[Velocity v_rp] v_rp Speed for searching forthe reference point

[Velocity v_zp] v_zp Speed for moving to theaxis zero point



· Save the parameter settings with the menu command[SAVE]. Only then will the settings be retained even if thepower supply is switched off or if there is a powerfailure.



[Position set] Teach mode for programming the position set table.

WarningDuring the teach procedure for specifying the targetposition, the motor turns or the connected drive starts tomove.


[Position set] Param. Manual

[Position no.] no. Number of the position set[1...31]

[Pos set mode] [absolute/relative]

Positioning modeabsolute = absolute positionspecification, related to theproject zero pointrelative = relative positionspecification, related to thecurrent position

[Position] xt Target position in [mm]

[Velocity] v Positioning speed in [mm/s]

[Acceleration] a Acceleration in [mm/s2]

[Deceleration] d Deceleration in [mm/s2]



· Save the parameter settings with [SAVE]. Only then willthe settings be retained even if the power supply isswitched off or if there is a power failure.



In order to prevent unauthorized or unintentional overwritingor modification of parameters in the device, access via thecontrol panel can be protected by a (local) password. Nopassword is specified at the factory (presetting 000).

Set up a password

[Password edit] Select [Settings] [Password edit] in the menu:

Enter a password with 3 figures. The current entry position ismarked with a question mark.

1. Use the arrow buttons to select a figure 0...9

2. Confirm your entry with <Enter>. The next entry positionwill be displayed.

3. After entering the third figure, save your setting withSAVE <Enter>.

Enter password

As soon as a password is active, it will be automaticallyscanned when the menu commands [Positioning], [Settings]or [HMI control] are accessed. When the correct password isentered, all parametrizing and control functions of the controlpanel are enabled until the power supply is switched off.

The current entry position is marked with a question mark.

1. Use the arrow buttons to select a figure 0...9.

2. Confirm your entry with <Enter>. The next entry positionwill be displayed.

3. Repeat the entry for the further entry positions.

When the third figure has been entered, access via the con�trol panel is enabled.

New Password:[ ? x x ] = 0

ESC <Menu>EDIT <––> OK <Enter>

Enter password:[ ? x x ] = 0




Modify/deactivate password

[Password edit] Select [Settings] [Password edit] in the menu:

Enter the existing password with 3 figures. The current entryposition is marked with a question mark.

1. Use the arrow buttons to select a figure 0...9.

2. Confirm your entry with OK <Enter>. The next entryposition will be displayed.

3. Repeat the entry for the further entry positions.

4. Enter the new password with 3 figures. If you wish todeactivate the password, enter �000".

5. After entering the third figure, save your setting withSAVE <Enter>.

· Keep the password for the SFC−DC in a safe place, e.g. inthe internal documentation for your system.

If the active password in the SFC−DC should be lost in spite ofcare being taken: You can delete it by entering a master password. In this caseplease contact your Festo Service partner.

Enter password:[ ? x x ] = 0


New Password:[ ? x x ] = 0




4.2.5 �Positioning" menu

Start reference run or positioning run for testing the positionsets.

Please note· Before starting the reference run, make sure that:

� the positioning system is set up completely, wiredand supplied with power.

� the parametrizing is completed.

· Do not start a positioning run until the reference systemhas been defined by means of a reference run.

WarningDanger of injury.

With all positioning procedures the motor turns or theconnected axis starts to move.


Please notePlease note that position sets with speed v = 0 or invalidtarget positions (−> Fault �TARGET POSITION OUT OF LIMIT)cannot be processed.



Carry out reference run

1. Use the arrow buttons to select [Positioning] in the mainmenu and press the <Enter> button.

2. Select the menu command:

� Reference run [Homing]

[Positioning] Manual Please note

[Homing] Reference run for determiningthe mechanical referencesystem

First set the parameter in the menu [Settings][Homing parameter].Factory setting: Referencing to stop in negativedirection.

3. Make sure that nobody can place his/her hand in thepositioning range of the moveable mass and that noobjects lie in its path. Start the reference run with START <Enter>.

The following information is displayed:

� the search speed v_rp to reference point,

� the positioning speed to the axis zero point v_zp.

Function

STOP With <Menu> you can abort the reference run;this automatically returns you to the statusdisplay.

Menu

} Positioning

} HomingMove posit. setDemo posit. tab

HomingWarningMotor moves...

ESC <Menu>START <Enter>

HOMINGv_rp = 7.7 mm/sv_zp = 3.8 mm/s

STOP<Menu>



Carry out position sets

1. Use the arrow buttons to select [Positioning] in the mainmenu and press the <Enter> button.

2. Select the menu command:

� Positioning run �Position set" [Move posit set] or

� Positioning run �Position set table" [Demo posit. tab]

[Positioning] Manual Please note

[Move posit. set] Positioning run for testing a certainposition set in the position set table.

Parametrizing and referencing mustbe completed.

[Demo posit. tab] Positioning run (continuous loop) fortesting all position sets (1...31) in theposition set table.

Parametrizing and referencing mustbe completed.There must be at least two positionsets in the memory.

In the positioning run [Demo posit tab] all position sets 1...31in the position set table will be processed one after the other.If the position set table contains a position set with speedv�=�0, this position set and all the following sets will not beprocessed; the positioning run will be continued with positionset�1.

} Positioning

Homing} Move posit. set

Demo posit. tab



3. Make sure that nobody can place his/her hand in thepositioning range of the moveable mass and that noobjects lie in its path. Start the positioning procedure with START <Enter>.

During the positioning run the following information isdisplayed:

� the active position set Pos...

� the target position xt

� the speed v

� the current position xa.

Function

EMERG.STOP

With<Menu> you can interrupt the positioningprocedure (> Error mode EMERG.STOP; con�firm with <Enter>, then automatic return to thestatus display).

Menu

DEMOSTOP

With <Enter> you can interrupt the positioningrun �Position set table" [Demo pos tab]. Thecurrent positioning set will be processed be�fore the axis stops. A new start will be madewith position set 1.

Enter

...WarningMotor moves...

ESC <Menu>START <Enter>

...Pos 1Xt = 100.00 mmv = 20 mm/sXa = 90.00 mmEMERG.STOP<Menu>



Commissioning


Chapter 5

5. Commissioning


Contents

5. Commissioning 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Preparing for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Check the connection to the mains power supply 5−3 . . . . . . . . . . . . . .

5.1.2 Check the drive 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 General instructions on commissioning 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with the control panel (only type SFC−DC−...−H2−..) 5−7 . . . . . . . .

5.3.1 Setting the axis type 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Setting the reference run parameters 5−9 . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Carrying out reference travel 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Teach the axis zero point and the software end positions 5−17 . . . . . . .

5.3.5 Positioning with position sets 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Teach the position sets 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.7 Test run 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Commissioning with the Festo Configuration Tool 5−23 . . . . . . . . . . . . . . . . . . . . .

5.4.1 Installing and starting the Festo Configuration Tool 5−23 . . . . . . . . . . . .

5.4.2 Procedure for commissioning with the Festo Configuration Tool 5−24 . .

5.5 I/O function test (only type SFC−DC−...−IO) 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Communication with the higher−level controller (only type SFC−DC−...−IO) 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Description of the I/Os 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Function description (pulse−time diagrams) 5−34 . . . . . . . . . . . . . . . . . .

5.6.3 I/O specification 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Instructions on operation 5−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning


5.1 Preparing for commissioning

5.1.1 Check the connection to the mains power supply

Please noteNote that the tolerance for the supply voltage must beobserved. The tolerance must be observed directly at theoperating voltage connection of the SFC−DC.

The correct values can be found in chapter 3.2 and in thetechnical specifications in the appendix.

5.1.2 Check the drive

Please noteDuring operation, the SLTE must not hit any stop withoutshock absorption (exception: reference run).

Recommendation: Use shock absorbers or other suitablebuffer elements on all stops where no reference run isbeing carried out.

· Before commissioning the positioning drive, make surethat:

� the work space is of sufficient size for operation with awork load

� the work load does not collide with the motor or thegear of the axis when the axis moves into the endposition

� that the positioning drive is within the permitted posi�tioning range when it is switched on.

· Please observe the notes in the operating instructions forthe positioning drive.

5. Commissioning


5.2 General instructions on commissioning

CautionFaults may occur if you attempt to access control and oper�ating functions at the same time by the Festo ConfigurationTool and the control panel.

· Make sure that the Festo Configuration Tool, the controlpanel and the control interface of the SFC−DC are notused at the same time.

Please noteIn the following cases it is not permitted to write−accessthe SFC−DC with the Festo Configuration Tool (e.g. down�loading parameters) or controlling (e.�g. with �Move man�ually" or when starting reference travel):

� When the SFC−DC is currently performing a positioningmovement or when a movement is started during access(e.g. via the control interface or via the control panel).

� When parametrizing or operation with the control paneltakes place on the SFC−DC.

Please note the following:

· The device connection in the Festo Configuration Toolmust not be activated when the control panel is beingused for control (�HMI control = on").

· Control with the control panel (�HMI control = on") mustnot be activated when the device connection in the FestoConfiguration Tool is activated.

· Control by the Festo Configuration Tool must not beactivated while the drive is in motion or when control isbeing carried out via I/Os.

5. Commissioning


For commissioning an axis formed of the SFC−DC and a drive(e.g. type SLTE−...), the mechanical composition must beconfigured (type of drive) and a measuring reference system(referencing and reference coordinates) must be defined. Bymeans of the measuring reference system, all positions aredefined and movement can be made to them, e.g. with a posi�tion set from the position set table.

· Switch on the power supply for the SFC−DC. When the power supply is switched on, the SFC−DC auto�matically carries out an internal check.


Faults in parametrization can cause injury to people anddamage to property. In the following cases a reference runis absolutely essential in order to set the reference coordi�nates and the working range correctly:

� during initial commissioning,

� when the referencing method is changed,

� after each time the logic voltage supply is switched on!

· Check (if your drive has been configured at the factory)the settings in the menu [Diagnostic].

· Carry out parametrizing and commissioning with the con�trol panel or the Festo Configuration Tool, as described inthe following chapters and in the Festo ConfigurationTool/PlugIn help. Explanations of reference coordinates and the workingarea can be found in Section 1.1.3.

· In order to complete commissioning note the instructionsfor operation in the Festo Configuration Tool/PlugIn helpand in section 5.7.

5. Commissioning


Please noteIn order to restore the default settings you can, ifnecessary, delete the EEPROM directly via the serialinterface with the CI command 20F1 (Data memory control)(see chapter 7). User−specific settings will then be lost.

· Use CI commands only if you already have experience ofService Data Objects.

· If necessary consult the Festo Service.

5. Commissioning


5.3 Commissioning with the control panel (only type SFC−DC−...−H2−..)

Working with the control panel

Information on the button functions and on the menu com�position of the control panel can be found in chapter 4.

Device control

In order that the control panel can control the connectedSFC−DC, the control interface of the SFC−DC must bedeactivated and the controller enable must be set. [HMI = on].The actual statuses of the ENABLE and STOP inputs then haveno effect.

DiagnosticpositioningSettings

} HMI controlLCD adjustment

5. Commissioning


Instructions on parametrizing and commissioning

When first commissioning the SFC−DC with the control panel,carry out the following steps. Note the detailed description inthe chapters specified.

Commissioning (overview) Chap.

1. Select the drive type and, if necessary, adapt theparametrizing to suit your axis.

5.3.1

2. Set the following parameters for reference travel:� Referencing method,� Search speed to reference point,� Positioning speed to axis zero point,� With referencing method �Fixed stop ...":

Teach an axis zero point � 0 if necessary.

5.3.2

3. Carry out reference travel. 5.3.3

4. Teach the following axis parameters for defining the axiszero point and the working area:� Offset of the axis zero point to the reference point,� Positive and negative software end positions.

5.3.4

5. Enter several position sets (Target position, Positioningmode, Positioning speed and Accelerations).

5.3.5

6. Carry out a test run to check the travel behaviour of theaxis, as well as the reference coordinates and theworking area.

5.3.5

7. If necessary, optimize the settings for position sets aswell as for the reference coordinates and the workingarea.

5.3.5

8. Check the function of the control interface of the SFC−DC(function test).

5.5

9. In order to complete commissioning note the instruc�tions on operation.

5.7

Tab.�5/1: Commissioning steps

5. Commissioning


5.3.1 Setting the axis type

1. Select the Festo positioning drive which matches yourpositioning system.

� Size 10, stroke 50 [SLTE_10_50_G04] <Enter>






2. Save the setting with SAVE <Enter>.

5.3.2 Setting the reference run parameters

In order to search for the reference point and for positioningthe drive in the axis zero point, you can set two differentspeeds. The maximum possible speed during the referencerun is limited at the factory to 10 mm/s.

Depending on the referencing method, the reference point isdefined by means of a reference switch or fixed stop.

} SettingsAxis type

SLTE10_50_G04SLTE10_80_G04SLTE16_50_G04SLTE16_80_G04SLTE16_100_G04SLTE16_150_G04

5. Commissioning


Notes on referencing to the fixed stop

�Fixed stop" referencing method

� Negative fixed stop (near motor)

1

2

REF

REF AZ+

� Positive fixed stop (remote from motor)

1

2

REF

REFAZ�

1 Slide moves at search speed v_rp to the mechanical fixed stop.2 Slide moves at speed v_zp from reference point to axis zero

point�AZ

Tab.�5/2: Referencing to fixed stop

5. Commissioning


Please noteReference travel may only be carried out directly againstthe fixed stop, if the permitted impact pulse is not ex�ceeded.

· Operate the positioning drive only with the permissiblemass.


In a reference run, the SLTE with the positioning controllerSFC−DC moves to the stop with adjustable rated motormoment (default: 100 % of the rated current).

· Limit the maximum current during the reference run bymeans of

� the Festo Configuration Tool (see help for PlugIn SFC−DC)

� the CI command �Object 6073 Max. current" (see appendix B.4).


During operation it is not permitted to move to the mech�anical end positions (stops). If movement is made to theend positions with a heavy load, jamming in the end posi�tions may occur.

· Set the offset of the axis zero point � 0, e.g.� +1.00 forreferencing to the negative fixed stop, or −1.00 for refer�encing to the positive fixed stop.

· Limit the positioning range by defining valid softwareend positions during commissioning (see chapter 1.1.3).

· Specify target positions only within the permitted posi�tioning range.

5. Commissioning


Notes on referencing to the reference switch

If reference travel to a mechanical end position is not possiblein the application, an external sensor (reference switch) canbe used as reference signal (see also chapter 1.1.3).

Referencing method �Reference switch"

� Reference switch, negative (near motor)

1

2REF AZ+

� Reference switch, positive (remote from motor)

1

2 REFAZ�

1 Slide moves at search speed v_rp to the reference switch andreverses. After leaving the switching range of the referenceswitch, the slide moves to the next index signal of the encoderfor determination of the reference point.

2 After that, the slide moves at speed v_zp from the referencepoint to the axis zero point.

Tab.�5/3: Referencing to reference switch

5. Commissioning


Set parameters

1. Set the following reference travel parameters one afterthe other:

� the referencing method [Homing method]

� the search speed for ascertaining the reference point[Velocity v_rp]

� the positioning speed to the axis zero point [Velocity v_zp].

2. With referencing method �Fixed stop": Make sure that the axis zero point is � 0. If necessary, first teach the axis zero point (�[Settings] [Axis parameter][Zero point]�).

CautionIf the referencing method is changed, the offset of the axiszero point will be reset to zero. Existing settings of the soft�ware end positions and of the target positions of the posi�tion set table will be retained. Note that these values referto the previous axis zero point.

· Always carry out reference travel after changing thereferencing method.

· Then teach the offset of the axis zero point.

If the axis zero point is modified:

· teach the software end positions and the targetpositions again.

3. Accept each setting with OK <Enter>. The setting will thenbecome effective in the drive.

4. Save the parameter settings with the menu command[SAVE]. Only then will the settings be retained even if thepower supply is switched off or if there is a power failure.

5. Finally, carry out reference travel, otherwise the previousreference system of the SFC−DC will remain unmodified.

} SettingsHoming paramet.

Homing methodVelocity v_rpVelocity v_zpSAVE...

5. Commissioning


5.3.3 Carrying out reference travel


Electric axes can move suddenly with high force and athigh speed. Collisions can lead to serious injury to humanbeings and damage to components.

· Make sure that nobody can gain access to the operatingrange of the axis or of other connected actuators andthat no objects lie in the path of the axis while thesystem is still connected to a power supply.

The drive moves during reference travel at first at the presetsearch speed v_rp corresponding to the selected referencingmethod up to the mechanical fixed stop (or reference switch)and when the signal has been evaluated, takes up the posi�tion as reference point (Fig.�5/1 1�).

The drive then moves at speed v_zp to the axis zero point(Fig.�5/1 2�).

1 Travel reference point REF

2 Travel to the axis zero point AZ

1

2

REF

REF AZ+

Fig.�5/1: Reference travel (example: Fixed stop, negative)

5. Commissioning


After successful reference travel the drive stands at the axiszero point. With first commissioning or after a change ofreferencing method the offset of the axis zero point = 0; thedrive then stands after reference travel at the reference point(= axis zero point).

Starting reference travel

The following conditions must be fulfilled for reference travel:

� The axis must be set up completely, wired and suppliedwith power.

� The SFC−DC must be correctly parametrized.

Please noteWhen carrying out reference travel note that:

� the drive must be in the permitted positioning range.

� the drive moves in the search direction corresponding tothe selected referencing method and at the start muststand in front of the stop or reference switch.

1. Position the drive in the Teach mode so that at the start inthe search direction it stands in front of the stop or refer�ence switch.

· Select e.g. [Settings] [Position set] [Position] (see also section 5.3.6).

· Move the drive to the desired position manually withthe arrow buttons.

· Interrupt the procedure with ESC <menu>, in order thatthe position is not included in the position set table.

5. Commissioning


2. Select [Positioning] [Homing].

3. Start reference travel with START <Enter>.

Interrupting the reference run

If necessary, reference travel can be interrupted with the<Menu> button (STOP).

Please noteIf a reference signal is not found with the referencingmethod �Reference switch", the SFC−DC will stop beforethe drive reaches a fixed stop and show a fault (HOMINGERROR).

Reference travel must be repeated when the fault messagehas been quitted:

· Quit the fault message with <Enter>.

· If necessary, check the function of the reference switch.

· Check the settings of the parameters.

· Position the drive in the Teach mode so that at the start inthe search direction it stands in front of the stop or refer�ence switch.

· Repeat reference travel.

} PositioningHomingMove posit setDemo posit tab

5. Commissioning


5.3.4 Teach the axis zero point and the software end positions

Prerequisites for teaching the axis zero point and the soft�ware end positions:



� Reference travel was successful.

Please noteWith referencing to the stop set the offset of the axis zeropoint � 0. You will then prevent movement to the mechan�ical end positions during operation.

Teach the axis zero point:

1. Select [Settings] [Axis parameter] [Zero point].

2. Move the drive to the desired axis zero point manuallywith the arrow buttons.

3. Accept the position reached with OK <Enter>. The settingwill then become effective in the drive. The current posi�tion xa becomes the axis zero point (xa = 0).

Please noteIf the axis zero point is modified:

Check existing settings of the software end positions andof target positions in the position table. Note that thesevalues refer to the previous axis zero point.

· Teach the software end positions and the target posi�tions again.

} SettingsAxis parameter

Zero pointSW–limit–negSW–limit–posSAVE

5. Commissioning


Teach the negative and positive software end position:

1. Select [Settings] [Axis parameter] [SW−limit−neg] or[SW−limit−pos].

2. Move the drive manually with the arrow buttons.

3. Accept the position reached with OK <Enter>. The settingwill then become effective in the drive.

4. Save the parameter settings with [SAVE]. Only then willthe settings be retained even if the power supply isswitched off or if there is a power failure.

5. Commissioning


5.3.5 Positioning with position sets

The following conditions must be fulfilled:



� Reference travel was successful.

� The axis zero point and the software end positions are setcorrectly.

Please notePlease note that position sets with speed v = 0 or invalidtarget positions (−> Fault �TARGET POSITION OUT OF LIMIT)cannot be processed.

· After successful reference travel carry out a test run, ifnecessary, without a work load (see chapter 5.3.7).

· If necessary, optimize the settings for position sets as wellas for the reference coordinates and the working area(see section 1.1.3).

· After a successful test run you can teach the positions inthe position set table to which movement must be made(see section 5.3.6).

WarningDuring the teach procedure the motor turns or theconnected axis starts to move.


5. Commissioning


5.3.6 Teach the position sets

Enter the position sets as follows:

1. Activate the desired position (1...31) with [Settings][Position set] [Position no.]

2. Complete or correct the positioning mode of the positionset:

· Select [Pos set mode].

· Set the positioning mode with the arrow buttons:absolute = absolute position specification, related

to the project zero pointrelative = relative position specification, related to

the current position.

· Accept the value with OK <Enter>.

Please noteIf you modify the positioning mode, you must then teachagain the target position of the position set, otherwise themodification of the positioning mode will not be accepted.

3. Teach the target position of the position set:

· Select [Position]

· Move the drive to the desired target position manuallywith the arrow buttons.

· Accept the position reached with OK <Enter>. The set�ting of the target position and the positioning modewill then become effective in the drive.

} SettingsPosition set

Position no.Pos set modePositionvelocityAccelerationDecelerationSAVE

5. Commissioning


4. Complete or correct the speed.

· Select [Position].

· Set the nominal speed with the arrow buttons.

· Accept the setting with OK <Enter>. The setting willthen become effective in the drive.

5. Complete or correct the acceleration value of the acceler�ation ramp of the position set.

· Select [Acceleration].

· Set the nominal acceleration with the arrow buttons.


6. Complete or correct the acceleration value of the brakingramp of the position set.

· Select [Deceleration].

· Set the nominal acceleration with the arrow buttons:


7. Save the position set table with [SAVE]. Only then will thesettings be retained even if the power supply is switchedoff or if there is a power failure.

8. Enter the next position set.

5. Commissioning


5.3.7 Test run

1. Enter several position sets in order to check the position�ing behaviour (see chapter 5.3.6).

· Set the target positions at the limits of the positioningrange, for example, in order to check the software endpositions.

· Set different speeds, for example.

2. Select [Positioning] [Move posit. set] in order to process acertain position set.

� or �

3. Select [Positioning] [Demo posit. tab] in order to processall position sets. At least two position sets must be en�tered in the position set table.

In the positioning run [Demo posit tab] all position sets1...31 in the position set table will be processed one afterthe other. If the position set table contains a position setwith speed v = 0, this position set and all the followingsets will not be processed; positioning travel will be con�tinued with position set 1.

With DEMO STOP <Enter> you can interrupt the positioningtravel [Demo posit tab]. The current position set will beprocessed before the axis stops.

4. Start the test run.

· Check the positioning behaviour.

· Check the displayed coordinates of the axis.

With EMERG.STOP <Menu> you can interrupt the currentpositioning procedure.

5. If necessary, optimize the settings for position sets as wellas for the reference coordinates and the working area.

} PositioningHomingMove posit setDemo posit tab

5. Commissioning


5.4 Commissioning with the Festo Configuration Tool

5.4.1 Installing and starting the Festo Configuration Tool

The Festo Configuration Tool (FCT) is installed on your PC withan installation program. The PlugIn SFC−DC is installed onyour PC together with the installation program of the FestoConfiguration Tool.

Please noteThe PlugIn SFC−DC version V01.00.00 supports the follow�ing controllers of type SFC−DC−...−IO:

� Hardware version V1.00 and later

� Firmware version V1.10 and later

Check with later versions of the SFC−DC, whether an up�dated PlugIn is provided. If necessary consult the FestoService.

Please noteAdministrator rights are required for installing the FestoConfiguration Tool.

You can install the Festo Configuration Tool from the CD ROMas follows:

1. Close all programs.

2. Place the CD Festo Configuration Tool in your CD ROMdrive. If Auto Run is activated on your system, the installa�tion will start automatically and you can omit steps 3 and 4.

3. Select [Execute] in the starting menu.

4. Enter D:\setup (if necessary replace D by the letter of yourCD ROM drive).

5. Follow the instructions on the screen.

5. Commissioning


5.4.2 Procedure for commissioning with the Festo Configuration Tool

Starting the Festo Configuration Tool

When first commissioning the SFC−DC for the first time withthe Festo Configuration Tool, carry out the following steps:

1. Connect the SFC−DC to your PC via the RS232 interface.Note here the instructions in chapter 3.6.

2. Start the Festo Configuration Tool: Double−click on theFesto Configuration Tool Icon on the desktop.� or � switch to Windows and select the entry [Festo Software][Festo Configuration Tool] in the menu [Start].

3. Create a project in the Festo Configuration Tool or open anexisting project. Add a device to the project with the Plu�gIn SFC−DC.

4. Create the device connection (online connection) betweenthe PC and the SFC−DC via the Festo Configuration Tooltool bar. It may be necessary here to have the same device names.

Device control

In order that the Festo Configuration Tool can control the con�nected SFC−DC, the control interface of the SFC−DC must bedeactivated and the controller enable must be set. The actualstatuses of the ENABLE and STOP inputs then have no effect.Access the window �General output," register �Operate" andactivate under �Device control" first the control box �Separ�ate I/O" and then the control box �Enable". The control inter�face of the SFC−DC will then be deactivated and the controlenable of the Festo Configuration Tool is set.

5. Commissioning


Instructions on parametrizing and commissioning

Further information can be found in the help for the FestoConfiguration Tool with the command [Help] [Contents FCTgeneral] e.g.

� help on working with projects and on adding a deviceto a project

� help on defining the measuring reference system(referencing and reference coordinates).

The PlugIn SFC−DC for the Festo Configuration Tool supportsall the steps necessary for commissioning an SFC−DC.

With the PlugIn SFC−DC for the Festo Configuration Tool thenecessary parametrizings can be carried out offline, i.e. with�out the SFC−DC being connected to the PC. This enables theactual commissioning to be prepared, e.g. in the design officewhen a new system is being planned.

Further information can be found in the PlugIn help:Command [Help] [Contents of installed PlugIns] [Festo(manufacturer name)] [SFC−DC (PlugIn name)], e.g.:

� for describing the dialogues of the �Device SFC−DC"

� for describing the work steps for commissioning

� for the basic functions: Device connection, Device names,Device control and for password protection.

5. Commissioning


5.5 I/O function test (only type SFC−DC−...−IO)


Faults in parametrizing can cause injury to people anddamage to property.

· Enable the controller only if the axis system is correctlyinstalled and parametrized.

In order to control the SFC−DC via the control interface youmust deactivate the manual device control:

� via the control panel of the SFC−DC with the menu com�mand [HMI control] (HMI = off).

� with the Festo Configuration Tool under �Device control"in the window �Project output" (Separate I/O).

In order to check the configuration and the axis set−up, entera simple test program or simulate control by directly settingthe inputs.

· Please refer here to the function description of the controlinterface in chapter 5.6.1.

· Provide the necessary system inputs on the SFC−DC. There must be a 1−signal at the ENABLE and STOP inputs(controller and power end stage enabled).

· Take into account also the output signals which are out�put. There will be a 1−signal at the READY output (readi�ness to operate) if the controller and the power end stageare enabled and if no fault has been recognised.

· Program or start reference travel as well as some posi�tioning movements.

· Check the positioning behaviour.

5. Commissioning


5.6 Communication with the higher−level controller (only type SFC−DC−...−IO)

CautionLong I/O signal cables reduce the immunity to interfer�ence.

· Do not, therefore, exceed the maximum permitted I/Osignal cable length of 30 m.

WarningDanger of injury. Faults in parametrizing can cause injuryto people and damage to property.


· You must carry out reference travel in the followingcases (position set 0):

� with the first commissioning,


� after each time the logic voltage supply is switchedon!

Use control cable KES−MC−1−SUB−15−... for connecting theSFC−DC to a higher−level controller (PLC).

WarningIf a voltage is applied and the output pins are used incor�rectly, the device may be seriously damaged, therefore:

· Do not connect voltage to the outputs.

· Note the current limit at the outputs.

5. Commissioning


5.6.1 Description of the I/Os

Position set: I1 ... I5 In the I/O variant of the SFC−DC there are 32 freely selectableposition sets (0...31). Position set 0 carries out the referencerun. The position sets are selected via the binary code of theinputs I1 (bit 0) ... I5 (bit4).

Positionset

I1 (2 0) I2 (2 1) I3 (2 2) I4 (2 3) I5 (24)

0 1) 0 0 0 0 0

1 1 0 0 0 0

2 0 1 0 0 0

3 1 1 0 0 0

4 0 0 1 0 0

5 1 0 1 0 0

6 0 1 1 0 0

7 1 1 1 0 0

8 0 0 0 1 0

9 1 0 0 1 0

10 0 1 0 1 0

11 1 1 0 1 0

12 0 0 1 1 0

13 1 0 1 1 0

14 0 1 1 1 0

15 1 1 1 1 0

1) Reference run

5. Commissioning


I5 (24)I4 (2 3)I3 (2 2)I2 (2 1)I1 (2 0)Positionset

16 0 0 0 0 1

17 1 0 0 0 1

18 0 1 0 0 1

19 1 1 0 0 1

20 0 0 1 0 1

21 1 0 1 0 1

22 0 1 1 0 1

23 1 1 1 0 1

24 0 0 0 1 1

25 1 0 0 1 1

26 0 1 0 1 1

27 1 1 0 1 1

28 0 0 1 1 1

29 1 0 1 1 1

30 0 1 1 1 1

31 1 1 1 1 1

Tab.�5/4: Binary code of the position set

5. Commissioning


STOP: I6 Reset stop signal or fault

Input Status STOP (input)

I6 1 > 0 With MC = 0−signal:� Motor system stops with

maximum brake ramp.

With ERROR = 0−signal:� Error is reset

0 > 1 After error acknowledgement oraxis stop:� Restore readiness to operate

(READY > 1)

The sequence of the position set is stopped by a falling edgeat the input STOP under the following preconditions:

� 0−signal active at MC

� 1−signal active at ERROR.

MC (Motion Complete) provides a 0−signal, until a positionset is interrupted with STOP. The position set can bestarted again with a rising edge at the input START.

An active fault is reset by a falling edge at the input STOPunder the following preconditions:

� 0−signal active at ERROR

� 0−signal active at MC.

Readiness to operate is restore by a rising edge at the inputSTOP under the following preconditions:

� 1−signal active at ENABLE

� 1−signal active at ERROR.

5. Commissioning


ENABLE: I7 Controller and power end stage enable.

1−signal at the ENABLE input causes the controller and thepower end stage of the SFC−DC to be switched on.

0−signal at the ENABLE input causes the controller and thepower end stage of the SFC−DC to be switched off.

Please noteWhen the power end stage is switched off, the motor nolonger has current. This means that if the axis is installedin an inclined or vertical position, the slide can move down�wards together with the work load.

As long as the logic voltage supply is not switched off, theactual position is acquired even after the enable is switchedoff. It is not necessary to carry out a new reference run.

Input Status ENABLE (input)

I7 1−signal Controller and power end stage isswitched on.

0−signal Controller and power end stage isswitched off.

0 > 1 Acknowledge fault.

START: I8 Start position set.

The sequence of a position set is started by a rising edge atthe input START under the following preconditions:

� 1−signal active at READY,

� 1−signal active at MC,

� 1−signal active at STOP,

� the desired position set is active at I1 ... I5.

5. Commissioning


Input Status START (input)

I8 0 > 1 Start of the position set.

The position set can be stopped (abort) with a falling edge atthe input STOP. If started again, the position set will be pro�cessed again as from the current position.

MC: O1 Motion Complete.

A 0−signal at output MC indicates that a positioning pro�cedure is being carried out (see also section 5.6.2).

A 1−signal at output MC indicates that a positioningprocedure has been completed.

Output Status MC (output)

O1 0−signal � Positioning procedure is being carriedout

� There is a fault

1−signal Positioning procedure is completed, no fault.

READY: A2 Ready for operation, all preconditions for starting a position�ing procedure have been met.

Output Status READY (output)

O2 0−signal System is not ready to operate.� 0−signal active at ENABLE or� There is a fault or� 0−signal active at STOP.

1−signal System is ready to operate.� 1−signal active at ENABLE and� No fault and� STOP is set.

5. Commissioning


ACK: O3 AcknowledgeThe ACK signal confirms receipt of the START signal.

This can be used, for�example, to implement handshake func�tions with the higher−level SPC/IPC (see also section 5.6.2).

Output Status ACK (output)

O3 1 > 0 START signal accepted.

0 > 1 START input reset

The output ACK is affected by the state of the input START.

When there is a positive edge at the input START during theexecution of a position set (MC signal = 0), the output ACKremains set.

ERROR: O4 Fault

A 0−signal at output ERROR indicates that the SFC−DC isreporting a fault (see section 6.3).

A 1−signal at output ERROR indicates that the SFC−DC is notreporting any fault.

Output Status ERROR (output)

O4 0−signal Fault

1−signal No error

5. Commissioning


5.6.2 Function description (pulse−time diagrams)

Switch−on and reference run

ÏÏÏÏÏÏ

ÏÏÏÏ

1

0

min. 1 s

1

0

1

0

Power supply

ENABLE I7

READY O2

1

0

1

0

ERROR O4

START I8

1

0

1

0

ACK O3

STOP I6

1

0

Drive in motion

Reference runcompleted

Start ofReference run

Initialization

1

0

Position setI1 ... I5 = 0

1

0MC O1

ACK signal

Start ofreference run

ÏÏÏÏ

Fig.�5/2: Pulse−time diagram � switch−on and reference run

5. Commissioning


Switch−on behaviour In order to guarantee that the system starts correctly, allinput signals must be stable when the voltage supply isswitched on (min. 1 s). After this the input signals arescanned.

If there are no errors (ERROR signal = 1) and enable is active(ENABLE signal = 1), then the SFC−DC reports readiness foroperation (READY signal > 1). After that the reference run(input word I1 ... I5 = 0, positive edge at input START) canbe started.Other position sets (I1 ... I5 � 0) cannot be started (error �PLEASE ENFORCE HOMING RUN!").

Start reference run After the START signal is set (> 1), confirmation via the ACKsignal (> 0) takes place. The MC signal (Motion Complete)is reset (> 0), the drive executes the reference run. After the START signal is reset (> 0) comes confirmation viathe ACK signal (> 1).

Once the reference run is complete, the MC signal is setagain (> 1).After that, any number of positioning procedures can beexecuted, see Fig.�5/4.

Stopping the reference run

An ongoing reference run, like any position set, can bestopped with a negative edge at the input STOP (> 0), seeFig.�5/3. The drive stops the motion with maximum brakeramp. The MC signal (Motion Complete) is set (> 1), theREADY signal is reset (> 0).

Fault in the reference run

If an error occurs during the reference run, the drive isstopped immediately; the MC signal, the READY signal andthe ERROR signal are reset (> 0). The SFC−DC reports a�HOMING ERROR".

5. Commissioning


Stopping the reference run and errors when startinga positioning procedure without a reference run

Please noteIf an error occurs during the reference run or if the refer�ence run is stopped, the reference run must first be re�peated before a different position set is started.

Information on error treatment via the I/O interface can befound in Fig.�5/6 and Fig.�5/7. Information about the faultmessages can be found in section 6.3.

1

0

1

0

ENABLE I7

READY O2

1

0

1

0

ERROR O4

START I8

1

0

1

0

ACK O3

STOP I6

1

0

Drive in motion

Reference runstopped

Start ofreference run

1

0

Position setI1...I5 = 0

1

0MC O1

Clear faultsStartposition set

I1...I5 = 1...31

Fault

Fig.�5/3: Pulse−time diagram � stopping a reference run / error during positioningprocedure

5. Commissioning


Starting positioning procedures

1

0

1

0

ENABLE I7

READY O2

1

0

1

0

ERROR O4

START I8

1

0

1

0

ACK O3

STOP I6

1

0

Drive in motion

Positioningprocedurecompleted

Startposition set

1

0

Position setI1...I5 = 0...31

1

0MC O1


Startposition set

No start

Fig.�5/4: Pulse−time diagram � positioning

Moving to a position When the START signal is set (> 1), the MC signal (MotionComplete) is reset (> 0), the drive moves to the specifiedtarget position.

As long as the drive is in motion, the MC signal remainsreset, and no additional position set can be started with theSTART signal.

5. Commissioning


Stopping positioning procedures

1

0

1

0

ENABLE I7

READY O2

1

0

1

0

ERROR O4

START I8

1

0

1

0

ACK O3

STOP I6

1

0

Drive in motion

Stoppositioningprocedure

Startposition set

1

0


1

0MC O1


New start ofposition set

Fig.�5/5: Pulse−time diagram � stopping position sets

Stopping the position set An ongoing positioning procedure can be stopped with0−signal at the input STOP (> 0). The drive stops the motionwith maximum brake ramp. The MC signal (Motion Com�plete) is set (> 1), and the READY signal is reset (> 0).

The READY signal is set again with 1−signal at the inputSTOP (> 1), after that any desired position set can bestarted.

5. Commissioning


Fault during positioning procedure and acknowledging faults with input STOP

1

0

1

0

ENABLE I7

READY O2

1

0

1

0

ERROR O4

START I8

1

0

1

0

ACK O3

STOP I6

1

0

Drive in motion

Fault occurs

Start position set

1

0

Position set I1...I5 = 0...31

1

0MC O1

Acknowledge fault

New start of position set

Fig.�5/6: Pulse−time diagram � acknowledging faults with STOP

Fault during positioning If a fault occurs during the positioning procedure, the driveis stopped immediately, the ERROR signal and the READYsignal are reset (> 0).

The SFC−DC reports the corresponding fault.

5. Commissioning


Fault during positioning procedure and acknowledging faults with input ENABLE

1

0

1

0

ENABLE I7

READY O2

1

0

1

0

ERROR O4

START I8

1

0

1

0

ACK O3

STOP I6

1

0

Drive in motion

Fault occursStartposition set

1

0


1

0MC O1

Acknowledge fault

Ready foroperation

Startposition set

Fig.�5/7: Pulse−time diagram � acknowledging faults with ENABLE

A 0−signal at the ENABLE input causes the power end stage tobe switched off. The motor no longer has current, and thedrive can be shifted.As long as the logic voltage supply is not switched off, theactual position is still acquired. It is not necessary to carry outa new reference run.

5. Commissioning


5.6.3 I/O specification

I/O specification Size 42

Signal level Based on DIN EN 61131,type�1, positive switching(PNP)

Inputs

Number of digital logic inputs 8

Input current at 24 V input voltage typ. > 7 mA

Max. permitted input voltage 30 V DC

Min. input voltage 0 V DC

Protection against incorrect polarity Yes

Electrical isolation Yes

Outputs

Number of digital logic outputs 4

Maximum current 0.5 A per output

Overload protection Yes

Tab.�5/5: I/O specification

5. Commissioning


5.7 Instructions on operation

Take the following instructions and recommendations intoaccount when programming positioning systems with electric

axes:

Password protection

Protection by means of a password is not set at the factory. Inorder to prevent unauthorized or unintentional overwriting ormodification of parameters in the device, all download andcontrol functions can be blocked.

· Recommendation:Protect the settings of your axis against undesired modifi�cations with a password:

� FCT password protection (8 characters, see PlugIn help SFC−DC)

� HMI password protection for SFC−DC−...−H2−... (3 characters, see section 4.2.4).


Faults in parametrizing can cause injury to people anddamage to property. In the following cases a reference runis absolutely essential in order to set the reference coordi�nates and the working range correctly:

� with the first commissioning,


� after each time the logic voltage supply is switched on.

5. Commissioning


Please noteMake sure that:

� the axis lies within the permitted positioning range whenit is switched on and before the start of reference travel.

� that reference travel is carried out when the higher−ordercontroller or motor controller is switched on or, if appli�cable, after faults.

Device connection

CautionThe RS232 interface is not electrically isolated. It is in�tended for permanent connection to PC systems and not asa control interface.

· Use the connection only for parametrizing anddiagnosis.

Control in operation


Faults in parametrizing can cause injury to human beingsand damage to property if the controller is enabled with a1−signal at the ENABLE input.


CautionNote the manufacturer’s specifications for the permittedoperating conditions of the motors and drives used, e.g. inrespect of the permitted speeds.

5. Commissioning


CautionDamage to components.

Movement to the mechanical end positions is not per�mitted during operation. If movement is made to the endpositions with a heavy load, jamming in the end positionsmay occur.

Please noteTake into account any functions implemented within theframework of the EMERGENCY STOP concept correspon�dingly in the control programs.

Care and maintenance

The motor units do not require maintenance during theirspecified service life. Follow the maintenance instructions forthe components used.

Diagnosis and error treatment


Chapter 6

6. Diagnosis and error treatment


Contents

6. Diagnosis and error treatment 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Diagnostic options 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LED status displays 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Fault messages on the display (only type SFC−DC−...−H2−...) 6−6 . . . . . . . . . . . . .



6.1 Diagnostic options

The SFC−DC offers the following possibilities of diagnosis andfault treatment:

� LEDs indicate the readiness to operate, positioning statusand faults.

� The outputs of the control interface of the SFC−DC−...−IO:

� READY indicates the readiness to operate.

� MOTION COMPLETE indicates whether a positioningtask is completed.

� ERROR indicates an error in the SFC−DC.

� The control panel of the SFC−DC−...−H2−IO:

� The LC display shows diagnostic data, fault messages,the operating mode, the current position set, targetand actual positions as well as speed.

� The FCT (with active device connection):

� Display of the current position set, target and actualpositions as well as speed.

� Display the operating mode, special outputs andoperating states as swell as fault messages of theconnected SFC−DC.



6.2 LED status displays

1 LEDs� Power (green)� I/F (green/red)� Error (red)

RS−232Ref I/F

Power

Error

I/F

1

Fig.�6/1: LEDs of the SFC−DC−...−H2

The visual display of the operating states is shown via 3 LEDs.

� Operating voltage LED (POWER)

� Interface LED, e.g. positioning status, controller enable (I/F)

� Fault LED (ERROR)

Operating voltage

Power Status

Operating voltage applied.

green

Operating voltage not applied.Check the operating voltage connection if necessary.

out

Check the operating voltage connection if necessary.



Positioning status and controller enable(SFC−DC−...−IO)

I/F 1) Status 2)

Ready to operate, enable present� Positioning procedure is completed or stopped

(Motion Complete)green

(Motion Complete).� Controller and power end stage enabled.

Ready to operate, enable missing� Positioning procedure is completed or stopped

(Motion Complete)green/red

(Motion�Complete),� Controller and power end stage not enabled.

Positioning mode or fault/warning� Target position not yet reached (positioning

procedure in progress), controller and power endt bl d

out

p p g pstage are enabled.or

� Fault

1) Two −colour LED2) If there is no fault, i.e. LED ERROR = out

Fault display

Error Status

Fault.The SFC−DC is not ready for operation.

red

Warning.Check cause and rectify if necessary, see section 6.3.

flashes

No internal fault registered.The SFC−DC is ready for operation.

out

The SFC−DC is ready for operation.



6.3 Fault messages on the display (only type SFC−DC−...−H2−...)

Messages The following message is displayed if a positioning procedureis aborted manually or cannot be carried out.

· Acknowledge the message on the control panel with<Enter> or start a new positioning procedure with the FCTor via the control interface.

Message Cause

MOTOR STOP A positioning procedure has been stopped withthe key <Menu> (EMERG. STOP [Menu] ), withthe Festo Configuration Tool or via the controlinterface.

Warnings In the event of an impermissible operating temperature or anunfavourable position of the reference switch, the SFC−DC willdisplay an appropriate warning. If a positioning task is run�ning, it will not be interrupted. The fault LED flashes, theERROR output is not reset.

Warning Cause

HOT TEMPERATURE

Operating temperature T > 70 °C,or the drive will be overloaded, check themechanical parts, e.g. stiffness, reduce ambienttemperature.

COLD TEMPERATURE

Operating temperature T < −10 °C,if necessary, increase ambient temperature.

INDEX PULSEWARNING

During the reference run: The reference switch signal is close to the indexpulse. This can in some cases mean that noreproducible reference position can bedetermined.· Shift the reference switch

(a few tenths of a mm).



Faults If there is a fault, the drive will be stopped. The fault LEDflashes, the ERROR output is reset (> 0).

· Eliminate the cause of the fault.

· Acknowledge the fault message.

� on the control panel with <Enter>,

� via I/Os with a falling edge (see section 5.6.2),

� via I/Os with a falling edge of the ENABLE signal (the axis can move once the enable is switched off!),

� with the button �Acknowledge fault" in the FestoConfiguration Tool.

Fault Possible cause

DIGITAL−POWER−DOWN Voltage monitoring.Possible causes:� Digital voltage supply too low.� Voltage dip under load.· Check the voltage supply.

� Power unit too weak?� Supply line too long?

HARDWARE ERROR Device fault e.g. EEPROM defective.· In this case please contact your Festo Service.

HOMING ERROR Fault during the reference run.Possible causes:� Reference switch defective· If necessary, check the function of the reference switch.· If necessary, check the software end positions.· It is essential that you repeat the reference run.

I2t−ERROR Current monitoring i2t.Possible causes:� The drive is blocked.· Check the mechanical parts of the drive.



Fault Possible cause

LOAD−POWER−DOWN Voltage monitoring.Possible causes:� Load voltage supply lacking or too low.� Voltage dip under load.· Check the voltage supply.

� Power unit too weak?� Supply line too long?

MOTOR ERROR Motor not connected or open circuit.Check connection to motor, replace cable if necessary.

OVERHEATING Overheating (operating temperature > 80 °C).Too high temperature in the power end stage.· Check:

� that the limits are observed (motor characteristic curves).� the mechanical parts e.g. for stiffness.

· If necessary, reduce the ambient temperature.

PLEASE ENFORCE HOMINGRUN!

When starting a position set:After the power supply has been switched on, no reference run hasbeen carried out yet or a reference run was stopped.· Carry out a reference run.

POSITION ERROR Position fault (drag fault).Possible causes:� The drive is blocked.� The positioning speed is too high.· Check:

� the mechanical parts of the drive.� the speed of the position set.

TARGET OUT OF LIMIT! The specified target position is outside the permitted positioningrange.· Check the software end positions and the target position.

Technical appendix

A−1Festo P.BE−SFC−DC−IO−EN en 0801a

Appendix A

A. Technical appendix

A−2 Festo P.BE−SFC−DC−IO−EN en 0801a

Contents

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical specifications A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Accessories A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical specifications

General information

Protection class as per EN�60529 (plug connector inserted or fitted with protective cap)

IP54

Relative humidity 0 to 95 %, non−condensing

Temperature range� Operation� Storage/transport

0�... + 40�°C− 25�... + 60�°C

Protection against electric shock(protection against direct and indirect contact as perIEC/DIN EN 60204−1)

By means of PELV power circuit (Protected�Extra−Low Voltage)

CE marking symbol (see conformity declaration)è www.festo.com

As per EU EMC directive 1)

Vibration As per DIN/IEC 68/EN�60068 part 2−6:0.35�mm travel at 10 ... 60 Hz5�g acceleration at 60 ... 150�Hz

Shock As per DIN/IEC 68/EN�60068 part 2−27:± 30�g at 11�ms duration5 shocks in each direction

Temperature monitoring Switching off at temperature > 80 °C

Display resolution 128 x 64 pixels

Serial interface RS232, 9600 baud

Fitting Fitting on a wall or top−hat rail

1) The device is intended for industrial use.The maximum permitted I/O signal cable length is 30 m.



Mechanical data

Dimensions Approx. 126 x 120 x 62 mm

Product weight Approx. 0.6 kg

Electrical data

Load voltage supply (power connection, pins O1, O2)� Rated voltage� Rated current (motor)� Peak current

24 V DC ± 10 %3 A5 A

Logic voltage supply (power connection, pins 1, 2)� Rated voltage� Rated current� Peak current

24 V DC ± 10 %0.15 O0.5 A

I/O power supply (connection I/F, pins 1, 8)� Rated voltage� Rated current� Peak current

24 V DC ± 10 %0.05 A2 A

Specifications for electric inputs and outputs As per DIN/EN�61131 part 2 (IEC 1131−2), see section 5.6.3

Specifications for serial interface See section 3.6

Specifications for reference switch input As per DIN/EN�61131 part 2 (IEC 1131−2), see section 3.7



A.2 Accessories

Connection Cable Type Length [m]

Power supply Power supply cable KPWR−MC−1−SUB−15HC−... 2.5 / 5 / 10

Motor connection Motor cable KMTR−DC−SUB−15−M12−... 2.5 / 5 / 10

Controller Control cable KES−MC−1−SUB−15−... 2.5 / 5 / 10

Reference switch e.g. type SME−10.../SMT−10... or extension cable type KM8−M8−...

Serial interface Programming cable KDI−MC−M8−SUB−9−... 2.5

Protective caps Type Remarks

1 protective cap for the serial interface ISK−M8 10 pieces per bag

1 protective cap for the connection �Referenceswitch", if not used

Wall fitting Type Remarks

2 sets central supports type (4 brackets) MUP−18/25 2 pieces per bag

For wall fitting, 4 additional M3 screws with cylindrical head are required

Fitting on a top−hat rail

Fitting on a top−hat rail is done on a mounting rail EN 50022 − 35x7.5; width 35 mm, height 7.5 mm or 15 mm

User documentation in paper form

German P.BE−SFC−DC−IO−DE

English P.BE−SFC−DC−IO−EN

French P.BE−SFC−DC−IO−FR

Italian P.BE−SFC−DC−IO−IT

Spanish P.BE−SFC−DC−IO−ES

Swedish P.BE−SFC−DC−IO−SV



Supplementary information

B−1Festo P.BE−SFC−DC−IO−EN en 0801a

Appendix B

B. Supplementary information

B−2 Festo P.BE−SFC−DC−IO−EN en 0801a

Contents

B. Supplementary information B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 The Command Interpreter (CI) B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Procedure for data transfer B−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 Object directory B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.1 Objects for device description B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.2 General Objects B−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.3 Objects for parametrizing and commissioning B−8 . . . . . . . . . . . . . . . .

B.3.4 Objects for creating position sets B−9 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.5 Objects for controlling B−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.6 Objects for setting the operating mode and control B−10 . . . . . . . . . . . .

B.3.7 Objects for diagnosis B−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.4 CI commands B−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5 Object description B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.1 Object classification (overview) B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.2 Group 1xxx B−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.3 Group 2xxx B−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.5.4 Group 6xxx B−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.6 Converting the measuring units B−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



B.1 The Command Interpreter (CI)

The commands implemented in the Command Interpreter ofthe SFC−DC are based in respect of their content on the Ob�jects standardized by CANopen (CiA Draft Standard 402):Group 1xxx Device descriptionGroup 2xxx Festo commandsGroup 6xxx Commands as per CANopen

The CiA Draft Standard 402: deals with the concrete imple�mentation of CANopen in drive controllers.

Object directory The total of all parametrizing and control possibilities is re�ferred to as the Object directory. Access can be made to theObject directory of the controller via Service Data Objects(SDO). SDOs are used for normal parametrizing of the con�troller. Access to the SDOs is always made from the higher−order controller (host). A clear number (index, subindex) isassigned to each Object.

Access procedure The higher−order controller sends the controller either a writecommand (WRITE) in order to modify a parameter of the Ob�ject directory, or a read command (READ) in order to read outa parameter.

For each command the higher−order controller receives areply which either contains the value read or, in the case of awrite command, serves as an acknowledgement. The trans�ferred value (1, 2 or 4 data bytes) depends on the data typeof the Object to be read or written.

As from version 1.10, the firmware of the SFC−DC offers thepossibility of simulating SDO access with CI commands viathe RS232 interface.



B.2 Procedure for data transfer

CautionIn special application cases, access with CI commandsenables parametrizing and commissioning of the SFC−DCdirectly via the RS232 interface. It is, however, not suitablefor real−time capable communication e.g. for control.Control of the SFC−DC via RS232 requires also:

� an estimation of the risk by the user

� ambient conditions free of interference

� saving the data transmission e.g. via the controlprogram of the host.

· Use preferably the control panel or the FCT for commis�sioning and parametrizing.

· Note that control of the SFC−DC via the RS232 does notcomply with designated use.

WarningInjury to people and damage to property.

Full access to the internal variables of the servo registercan be made via CI commands. Incorrect operation cancause the controller to react unexpectedly and the motormay start uncontrolled.

· Use the CI commands only if you already have experi�ence of Service Data Objects.

· Inform yourself about using the Objects in the CiA DraftStandard 402 before you use the CI commands of theCommand Interpreter of the SFC−DC.

For data transfer you will require a commercially−availableterminal program.



Carry out the following steps:

· Connect the SFC−DC to your PC via the RS232 interface.Note here the instructions in chapter 3.6.

· If necessary, adapt the PC interface to the following trans�mission protocol.

Transmission protocol

Transmission speed (baud rate) 9600 Baud

Data format Asynchronous character frame:� 1 start bit� 8 data bits� no parity bit� 1 stop bit

· Initialize the data transmission with the following com�mand:

Command 310D h Reply 31310D h

1 <CR> 11 <CR>

· Select the commands in accordance with the Object list inappendix B.3

· Use only CI commands if you already know their effectsand if they are permitted for your SFC−DC.

· Transfer the commands with a terminal program. For the syntax of the commands see appendix B.4.



Transmission faults If there are faults in transmission, the value <0xFF> will betransmitted instead of the usual reply.

Possible causes:

� incorrect starting character, separating character orempty character

� incorrect hex figure

� incorrect value type.

Please noteTransmission of the command is repeated 8 times by thehost. After that the serial connection is regarded asunusable and is interrupted. Transmission must then beinitialized again.



B.3 Object directory

Please noteThe following Object directory contains a brief explanationof the Objects. The Objects may be used partly for certainproduct variants or only with limitations (e.g. writing onlyin service cases):

· Note the detailed description on using the Objects inappendix B.5 (sorted according to index number).

· Please contact Festo if you require a firmware update.The Objects listed are implemented in the controller ofthe SFC−DC as from firmware version V1.10.

B.3.1 Objects for device description

Name Explanation Index

Device type Classification of the device type 1000

Manufacturer device name Designation of the controller 1008

Manufacturer hardware version Code of the hardware version / manufacturing date 1009

Manufacturer firmware version Code of the firmware version 100A

Controller Type Setting and reading out the controller type 20E3

Motor Rated Current Motor rated current 6075

Motor type Classification of the motor 6402

Motor Data Display of motor series number 6410

Supported Drive Modes Classification of the drive functions 6502

Encoder Resolution Reading the encoder resolution 608F

Drive Manufacturer Manufacturer name 6504

HTTP Drive Catalog Address WEB address of the manufacturer 6505



B.3.2 General Objects


Scaling Defining the measuring system for the LCD display and scaling thedimensions with a fixed factor

20D0

FCT Password Managing a password for the FCT software. Reset all passwords 20FA

Local Password Specify a password for enabling certain funct. via the control panel 20FB

User Device Name Specify a customer−specific device name 20FD

LCD Parameter Set LCD parameters such as LCD voltage and LCD contrast 20FF

B.3.3 Objects for parametrizing and commissioning


Axis parameters Specify and read out axis parameters 20E2

Data Memory Control Save or delete EEPROM (non−volatile data storage). Restore factory setting

20F1

Position Range Limit Limiting the positioning path (stroke) with a �min" and a �max"limit value

607B

Home Offset Defines the project zero point as measurement reference pointrelative to the physical reference point

607C

Polarity Change of direction with position specifications 607E

Gear Ratio Defining or reading the gear reduction (motor revolutions / powertake−off revolution)

6091

Feed Constant Defining or reading the feed constants (positioning path / power take−off path e.g. spindle pitch)

6092

Homing Method Defining or reading the referencing (homing) method (stop or reference switch)

6098

Homing Speeds Defining or reading the speeds during reference travel 6099

Drive data Defining or reading motor current valuesSwitch on /off the I/O interface

6510

Max Current Limiting the maximum current during reference travel 6073



B.3.4 Objects for creating position sets


Position number Addressing a position set as target for writing and readingoperations

2032

Position Table Element Object for managing the position set table 20E0

Target Position Defining or reading a target position 607A

Profile Velocity Defining or reading the speed for a positioning procedure 6081

Profile Acceleration Defining or reading the acceleration of the accelerationramp for a positioning procedure

6083

Profile Deceleration Defining or reading the acceleration of the braking ramp fora positioning procedure

6084

B.3.5 Objects for controlling

Please noteThe control parameters of the SFC−DC are preset.Modification is only permitted for service cases. If necessary consult the Festo Service.


Position Demand Value Read the specified position (nominal value) 6062

Position Actual Value Read the current position (actual value) 6064

Position Window Time Defining or reading an adjustment time 6068

Position Control Parameter Set Reading control parameters. 60FB

Velocity Demand Value Read the set speed (nominal value) 606B

Velocity Actual Value Read the current speed (actual value) 606C



B.3.6 Objects for setting the operating mode and control


Control Word Start an activity in the drive (Start, Stop, Reset) 6040

Modes of Operation Set the operating mode or special mode 6060

Modes of Operation Display Read the current operating mode 6061

Digital Inputs Read the digital inputs as from bit 16 (0...15 reserved) 60FD

Digital Outputs Read the digital outputs as from bit 16 (0...15 reserved) 60FE

B.3.7 Objects for diagnosis


Communication fault Transmission fault between host (PC) and target device 2FF0

Device Error Read or delete a device fault 2FF1

Cycle Number Display cycles traversed, for diagnostic purposes 2FFF

Status Word Display status (fault, motion complete ....) 6041



B.4 CI commands

CautionLoss of data.

The Command Interpreter (CI) contains commands whichreorganise or delete parts of the memory. Existing data aretherefore destroyed:

· Use preferably the FCT or the control panel for commis�sioning and parametrizing.

· Use the CI commands only in special applications whichrequire direct access to the controller.

· Use only CI commands if you already know their effectsand if they are permitted for your SFC−DC.

WRITE (W) Write commands (W) transfer a value in the specified formatto the SFC−DC. As a reply, write commands will be reflectedexactly character by character from the controller of theSFC−DC. A checksum <PS> will be inserted in front of the <CR>.

READ (R) Read commands (R) transfer a value from the SFC−DC. Thereply from the SFC−DC controller contains the value read. Achecksum <PS> will be inserted in front of the <CR>.

All commands will be entered as a character sequence with�out empty spaces. A hex character corresponds to a Charcharacter in hex format.

Acc 1) Command Reply

W =IIIISS:<value>CR =IIIISS:<value> <PS> <CR>

R ?IIIISS<CR> =IIIISS:<value> <PS> <CR>

1) Access: W = write, R = read



Syntax Explanation

�=", �?" Starting character for write or read commands

IIII Index in 4 hexadecimal figures (4H)

SS Subindex in 2 hexadecimal figures (2H)If the addressed object does not have an indexedparameter, subindex <00> will be specified.

�:" Separating character

<Value> Data in a format depending on data type

<PS> Checksum in 2 hexadecimal figures (2H)

<CR> End character <Carriage Return> ($0D)

<Value> The transferred value (1, 2 or 4 data bytes) depends on thedata type of the object to be read or written, (see appendix B.5.1).

The following data types are supported:

Type Hex Format

UINT8 2H 8 bits without sign: 0...255

INT8 8 bits with sign: −128...127


INT16 16 bits with sign: −32768...32767


INT32 8H 32 bits with sign: −(231)...+(231−1)

V−STRING Corresponds to the preset string



Please noteDirect transfer of values via the serial interface with CIcommands always takes place in the basis system andassumes there is a conversion to increments.

All parameters are always saved in increments in the con�troller and are not converted into the relevant measuringsystem until they are written in or read out. All physicalvariables (position, speed and acceleration) must be con�verted into increment values before they can be trans�ferred.

Further information on converting can be found in appen�dix�B.6.

All values are transferred in hexadecimal figures; 1 characterrepresents 4 bits; it is known as a tetrad <Tn>. The first tetradtransferred contains the higher−value bits of the value. Gen�eral information: Tetrad <Tn> contains the bits bn...bn+3.

Example: UINT8

Dec 26

Hex 1 O

Bin 0 0 0 1 1 0 0 0

b7 b6 b5 b4 b3 b2 b1 b0

Tetrad T4 Tetrad T0

Checksum <PS> The checksum is formed from the sum of all sent bytes andshortened to 1 byte (modulo 256).

The other station must compare the sent command with the�echo" of the controller and process the checksum.

Checksum

Syntax IIIISS:<Checksum>

Format 2 hexadecimal figures

Type UINT8



B.5 Object description

B.5.1 Object classification (overview)

Name Class Type Acc IIII SS

Group 1xxx

Device Type Var UINT32 R 1000

Manufacturer Device Name Var V−String R 1008

Manufacturer Hardware Version Var V−String R 1009

Manufacturer Firmware Version Var V−String R 100A

Group 2xxx

Position Number Array UINT8 RW 2032 01

Scaling Array UINT8 RW 20D0 01 02

Position Table Element Struct variabel RW 20E0 01 02 03 04 05

Axis Parameter Array INT32 RW 20E2 01 04 05

Controller Type Var UINT8 RW 20E3

Data Memory Control Array UINT8 W 20F1 01 02

FCT Password Array V−String RW 20FA 01 02

Local Password Var V−String RW 20FB

User Device Name Var V−String RW 20FD

LCD Parameter Array UINT8 RW 20FF 01 02

Communication Error Var UINT16 R 2FF0

Device Error Var UINT16 RW 2FF1

Cycle Number Var UINT32 R 2FFF

Group 6xxx

Control Word Var UINT16 W 6040

Status Word Var UINT16 R 6041

Modes of Operation Var INT8 W 6060

Modes of Operation Display Var INT8 R 6061

Position Demand Value Var INT32 R 6062

Position Actual Value Var INT32 R 6064

Position Window Time Var UINT16 RW 6068

Velocity Demand Value Var INT32 R 606B

Velocity Actual Value Var INT32 R 606C

Max Current Var UINT16 RW 6073

Motor Rated Current Var UINT32 RW 6075

R = read only, W = write RW = read/write, IIII = Index (4 hex figures), SS = Subindex (2 hex figures)



Name SSIIIIAccTypeClass

Group 6xxx (continued)

Target Position Var INT32 RW 607A

Position Range Limit Array INT32 RW 607B 01 02

Home Offset Var INT32 RW 607C

Polarity Array UINT8 RW 607E

Profile Velocity Array INT32 RW 6081

Profile Acceleration Var UINT32 RW 6083

Profile Deceleration Var UINT32 RW 6084

Encoder Resolution Array UINT32 R 608F 01 02

Gear Ratio Array UINT32 RW 6091 01 02

Feed Constant Array UINT32 RW 6092 01 02

Homing Method Var INT8 RW 6098

Homing Speeds Array UINT32 RW 6099 01 02

Position Control Parameter Set Array UINT16 RW 60FB 12 13 14 15 17 20

Digital Inputs Var UINT32 R 60FD

Digital Outputs Array UINT32 R 60FE 01 02

Motor Type Var UINT16 R 6402

Motor Data Record UINT32 R 6410 01 03

Supported Drive Modes Var UINT32 R 6502

Drive Manufacturer Var V−String R 6504

HTTP Drive Catalog Address Var V−String R 6505

Drive Data Array UINT16 RW [R] 6510 22 31 32 40 41 42 43 A0

R = read only, W = write RW = read/write, IIII = Index (4 hex figures), SS = Subindex (2 hex figures)



B.5.2 Group 1xxx

Object 1000 Classification of device type

Default (Fix): 0

Name Class IIII SS Type Acc

device_type VAR 1000 00 UINT32 R

Object 1008 Designation of drive

Example: �SFC−DC−VC−3−E−H2−IO"


manufacturer_device_name

VAR 1008 00 V−STRING R

Object 1009 Coding of hardware version

Example: �V 01.00"


manufacturer_hardware_version

VAR 1009 00 V−STRING R

Object 100A Coding of firmware version

Example: �V 01.10"


manufacturer_firmware_version

VAR 100A 00 V−STRING R



B.5.3 Group 2xxx

Object 2032 Select a position record via the record number.

The record number is saved as the target for write and readoperations on the following objects:

� Object 20E0: position_table_element

� Object 607A: target_position

� Object 6081: profile_velocity

� Object 6083: profile_acceleration

� Object 6084: profile_deceleration


position_number Array 1) 2032 01 UINT8 RW

1) Pseudo−array due to compatibility

Subindex 01 Read or write record number

Value Comment

<0> Do not use � reserved for CANopen

<1>

<2> Reference travel (position record 0)

<3> Position record 1



... ...





Object 20D0 Definition of the measuring system used for displaying thevalues on the control panel and the number (n) of positionsafter the decimal point.


scaling Array 20D0 01 UINT8 RW

02 UINT8 R

Subindex 01 Definition of the measuring system

Value Comment

<0x01> Metric units of measurement: e.g. mm, mm/s, mm/s2

<0x02> Reserved 1)

<0x04> Reserved 1)

Angle measuring units: Degree, e.g. degree, degree/s,degree/s2

<0x08> Reserved 1)

For rotational movements: rev, rev/min, rev/min2

<0x0F> Reserved 1)

Increments

1) Cannot be set for SFC−DC−IO

The setting of the measuring system influences only the dis�play. All parameters are always saved in increments in thecontroller and are not converted into the relevant measuringsystem until they are written or read out.

Subindex 02 Scaling factor, number of positions after the decimal point (n)

Value Default Comment

<0>...<4> <2> Cannot be set for SFC−DC−IO (fix n = 2)



Object 20E0 Editing the entries in the position table:

1. Selecting the line (= position number) with Object 2032

2. Selection of the column under subindex 20E0: 01...05

20E0 01 20E0 02V

20E0 03 20E0 04 20E0 05

Positionnumber

Pos.setmode

Targetposition

Profilevelocity

Profileacceleration

Profiledeceleration

02

2032} 03 <1> <...>

The values are only saved in the position table with thiscommand; no movement is made.


position_table_positioningele

Struct 20E0 01 UINT16 RWpositioning ele�ment 02 INT32 RW

03 INT32 RW

04 UINT32 RW

05 UINT32 RW

Subindex 01 Positioning mode

Bit Value Comment

0 <0> Absolute positioning

<1> Relative positioning

1...15 � Not used 1)

1) Unused bits have contents = 0



Subindex 02 Target position (compare Target Position, Object 607A)

Value Default Unit

−231...+231 � Increments

Subindex 03 Positioning speed (compare Profile Velocity, Object 6081)

Value Default Unit

−231...+231 � Increments/s

Subindex 04 Acceleration (compare Profile Acceleration, Object 6083)

Value Default Unit

0...+232 � Increments/s2

Subindex 04 Deceleration (compare Profile Deceleration, Object 6084)

Value Default Unit

0...+232 � Increments/s2

Object 20E2 Setting and reading the axis parameters


axis_parameter Array 20E2 01 INT32 RW

04 INT32 RW

05 INT32 RW

Subindex 01 Axis length

Value Default Unit

−231...+(231−1) <89796>(Z 50 mm for SLTE−10)

Increments



Subindex 04 Axis/slide type of the SLTE−...

Value Default 1) Unit

−231...+(231−1) <0> SLTE10_G04 (presetting)<1> SLTE16_G04

�

1) Value is automatically entered by selecting an axis type

Subindex 05 Axis/slide length of the SLTE−...


−231...+(231−1) <0> SLTE..−50−... (presetting)<1> SLTE..−80−...<2> SLTE..−100−...<3> SLTE..−150−...

�


Object 20E2 Setting and reading the axis controller type (with/withoutkeyboard and display)


controller_type Var 20E3 00 UINT8 RW

Value Controller type

0 SFC−DC−VC−3−E−H0−IO (without keyboard and display)

1 SFC−DC−VC−3−E−H2−IO (with keyboard and display)



Object 20F1 Control word EEPROM memory: Save or delete non−volatiledata storage.


data_memory_control

Array 20F1 01 UINT8 Wcontrol

02 UINT8 W

Subindex 01 Delete data (restore factory setting)

Please noteAll user−specific settings will be lost if deleted (except forcycle number). The status after deletion corresponds tothe standard factory setting.

The gear factor is set to the standard factory setting for theSLTE.

· To set the gear factor: Consult Festo Service.

· Always carry out a first commissioning after deleting theEEPROM.

Value Comment

<0x10> Delete data

Subindex 02 Save data. The data in the EEPROM will be overwritten withuser−specific settings.

Value Comment

<0x01> Save data



Object 20FA Managing the FCT password, entering the super password


password Array 20FA 01 V−STRING RW

02 V−STRING W

Subindex 01 Password for the FCT software

Value Default 1) Comment

<........> <00000000> Fix 8 characters (ASCII, 7−bit)

1) In factory status and after resetting by super password

Subindex 02 Entering the super passwordFor resetting all passwords (FCT password and localpassword for HMI, Object 20FB)

Contact the Festo Service if you require the super password.

Object 20FB Managing the (local) HMI password for enabling certain func�tions which are carried out via the control panel.


local_password Var 20FB 00 V−STRING RW

Value Default 1) Comment

<........> <00000000> Fix 8 characters (ASCII, 7−bit)Only the first 3 characters areevaluated

1) In factory status and after resetting by super password see Object 20FA 02



Object 20FD Assigning a customer−specific device name


user_device_name

Var 20FD 00 V−STRING RW


<........> <motor001> Max. 24 characters (ASCII, 7−bit)

Object 20FF Setting LCD parameters (voltage, contrast)

Please noteThe settings of the LCD parameters are lost when theEEPROM is deleted and the settings must be carried outagain. With an unfavourable parameter setting the LCDremains black.


LCD_parameter Array 20FF 01 UINT8 RW

02 UINT8 RW

Subindex 01 LCD voltage


<1>...<5> <5> �

Subindex 02 LCD contrast


<0>...<63> <10> �



Object 2FF0 Transmission fault between host (PC) and target device, e.g.� by fault in the host command:

� incorrect starting, separating or empty character,

� incorrect hex figure,

� incorrect value type.


communication_error

Var 2FF0 00 UINT16 R

Value Comment

0xFF In the case of a transmission fault, the value <0xFF>will be transferred instead of the regular reply.

Please noteThe host repeats transmission of the command eighttimes. After that the serial connection is regarded as unus�able and is interrupted. The transmission must be reinitial�ized (initialization see appendix B.2).



Object 2FF1 Reading or deleting a device fault


device_error Var 2FF1 00 UINT16 RW

Value Acc Comment

[Bit 0...13] R Read [Bit 0...13] see value table

[Bit 14, 15] � Reserved (= <0>)

<0x0000> W Write (= delete the device fault)

Bit Fault

0 POSITION ERROR

1 MOTOR STOP

2 HOMING ERROR

3 OVERHEATING

4 LOAD−POWER−DOWN

5 I2t−ERROR

6 HARDWARE ERROR

7 TARGET POSITION OUT OF LIMIT

8 Reserved (LAST POSITION NOT SAVED)

9 PLEASE ENFORCE HOMING RUN!

10 Reserved (POSITION PLAUS. ERROR)

11 DIGITAL−POWER−DOWN

12 INDEX PULSE WARNING

13 MOTOR ERROR

Explanations of the fault messages can be found in chapter 6.3.

Tab.�B/1: Value table: device_error



Object 2FFF Display cycles traversed (for diagnostic purposes)


cycle_number Var 2FFF 00 UINT32 R(W) 1)

Value Default Unit

0...+(232−1) <0> �



B.5.4 Group 6xxx

Object 6040 Control word

Modify the current controller status or trigger an activity(depending on current operating mode, e.g. startingreference travel).

Please noteAs some status modifications require a certain amount oftime, all status modifications triggered via the ControlWord must be read back via the Status Word. Only whenthe requested status can be read in the Status Word, maya further command be written via the Control Word.


control_word Var 6040 00 UINT16 W

Value Function

0x000F ENABLE OPERATION, Controller enable

0x000D VOLTAGE DISABLE, end stage OFF

0x001F Start ABSOLUTE movement

0x005F Start RELATIVE movement

0x010F Stop movement

0x008F Reset fault + ENABLE OPERATION

0x004F Set Target Position as RELATIVE



Object 6041 Reading the Status Word


status_word Var 6041 00 UINT16 R

Bit Value Comment

� 0x0000 NOT_READY_TO_SWITCH_ONPreinitialization status

� 0x0021 READY_TO_SWITCH_ONStatus after initialization

� 0x0027 SWITCHED_ON + OPERATION_ENABLEPower electronics and positioning are enabled

3 0x000F FAULT There is a fault

4 0x0010 VOLTAGE_DISABLEDStatus 1: End stage OFF

0: End stage ON

10 0x0400 1: TARGET_REACHED/MOTION_COMPLETE0: MOTION_NOT_COMPLETE.

11 0x0800 1: Internal limit active,0: Internal limit not activeI2t Is active

13 0x2000 1: HOMING_ERROR0: HOMING_NO_ERROR



Object 6060 Setting the operating mode


modes_of_operation

Var 6060 00 INT8 W

Value Comment

0xFE Demo Mode (fixed sequence)

0x01 Profile Position Mode (position controller with positioning mode)

0x03 Reserved 1)

Profile Velocity Mode

0x04 Reserved 1)

Torque Profile Mode

0x06 Homing Mode (reference travel)

1) Cannot be set for SFC−DC−...−IO

Object 6061 Reading the current operating mode


modes_of_operation_display

Var 6061 00 INT8 R

Values see Object 6060



Object 6062 Nominal value of the position controller


position_demand_value

Var 6062 00 INT32 R

Value Unit

−231...+(231−1) Increments

Object 6064 Actual value of the position controller


position_actual_value

Var 6064 00 UINT32 R

Value Unit

0...+(232−1) Increments

Object 6068 Defining or reading a readjustment period


position_window_time

Var 6068 00 UINT16 RW

Value Default Unit

1...30000 100 ms



Object 606B Nominal value of the speed regulator


Velocity_Demand_Value

Var 606B 00 INT32 R

Value Unit

−231...+(231−1) Increments/s

Object 606C Actual value of the speed regulator


Velocity_Actual_Value

Var 606C 00 INT32 R

Value Unit

−231...+(231−1) Increments/s



Object 6073 In reference travel mode: Nominal value for the current regu�lator. Limits the motor force during reference travel towardsthe stop and, in the event of a fault, protects the stops duringreference travel to a reference switch.

Please notePlease note that the current limitation also limits the maxi�mum possible speed and that (higher) nominal speedsmay not therefore be achieved.


max_current Var 6073 00 UINT16 RW


0...+(216−1) <3000> Specification in one thousandths ofthe rated current (see Object 6075)

Object 6075 Rated current of the motor as per type plate


motor_rated_current

Var 6075 00 UINT32 RW


0...+(232−1) 336 SLTE−10 (presetting)1440 SLTE−16

mA




Object 607A Defining or reading a target position. This will be saved in thecolumn intended in the line addressed by Object <2032> in theposition table. No movement is yet made.


target_position Var 607A 00 INT32 RW

Value Unit

−231...+(231−1) Increments

Object 607B Limiting the permitted positioning range. Plausibility rule: Min−Limit � Max−Limit


position_range_limit

Array 607B 01 INT32 RWlimit

02 INT32 RW

Subindex 01 Lower limit value (Min−Limit)

Value Default Unit

−231...+(231−1) 0 Increments

Subindex 02 Upper limit value (Max−Limit)


−231...+(231−1) 89�796 (Z 50 mm for SLTE−10) Increments



Object 607C The Home Offset defines the axis zero point (with theSFC−DC−...−IO = project zero point) as measuring referencepoint relative to the physical reference point <REF>. Allpositioning operations refer to the project zero point.


home_offset Var 607C 00 INT32 RW

Value Default Unit

−231...+(231−1) 1795 (Z 1 mm for SLTE−10) Increments

Object 607E Change of direction with position specifications


polarity Var 607E 00 UINT8 RW

Value Function

0x00 Position value applies unmodified

0x80 Counting direction of the position value is inverted (multiplied by −1)

Object 6081 Defining or reading the final speed for a positioning pro�cedure. This will be saved in the column intended in the lineaddressed by Object <2032> in the position table. No move�ment is yet made.


profile_velocity Var 6081 00 INT32 RW

Value Default Unit

−231...+(231−1) 0 Increments/s



Object 6083 Defining or reading the acceleration for a positioningprocedure


profile_acceleration

Var 6083 00 INT32 RW

Value Default Unit

0...4 489 846 SLTE−10 (Z 2500 mm/s2)0...5 846 154 SLTE−16 (Z 2500 mm/s2)

897 969 Increments/s2

Object 6084 Defining or reading the deceleration for a positioningprocedure


profile_deceleration

Var 6084 00 INT32 RW

Value Default Unit

0...4 489 846 SLTE−10 (Z 2500 mm/s2)0...5 846 154 SLTE−16 (Z 2500 mm/s2)

897 969 Increments/s2

Object 608F Defining or reading the encoder resolution = encoder in�crements / motor revolutions


encoder_resolution

Array 608F 01 UINT32 RWresolution

02 UINT32 R



Subindex 01 Encoder increments

Value Default


Subindex 02 Motor revolutions

Value (default) Comment

1 Cannot be set

Object 6091 Reading the gear ratio = motor revolutions / power take−off revolution


gear_ratio Array 6091 01 UINT32 R 1)

02 UINT32 R 1)

1) Write (W) only in service cases

Subindex 01 Motor revolutions (gear ratio counter)

Value Default

0...+(232−1) 57

Subindex 02 Power take−off revolutions (gear ratio denominator)

Value Default

0...+(232−1) 13



Object 6092 Defining or reading the feed constants = positioning travel / power take−off revolution


feed_constant Array 6092 01 UINT32 RW

02 UINT32 R

Subindex 01 Positioning travel (feed constant counter) e.g. spindlegradient

Value Default Unit

1...+(232−1) 5000 m

Subindex 02 Power take−off revolution (feed constant denominator)


1 Cannot be set

Object 6098 Homing methodDefining or reading the referencing methods.


homing_method Var 6098 00 INT8 RW

Value Function

0x07 7 Search for reference switch in positive direction,followed by index search

0x0B 11 Search for reference switch in negative direction,followed by index search

0xEE −18 Search for stop in a positive direction

0xEF −17 Search for stop in a negative direction



Object 6099 Homing speedsDefining or reading the speeds during reference travel.


homing_speeds Array 6099 01 UINT32 RW

02 UINT32 RW

Subindex 01 Speed for searching for the reference point <REF>

Value Default Unit

1...17959 (SLTE−10)1...23384 (SLTE−16)

17959 Increments/s

Subindex 02 Speed of travel to axis zero point

Value Default Unit

1...17959 (SLTE−10)1...23384 (SLTE−16)

17959 Increments/s



Object 60FB Defining or reading control−technical parameters, as well asparameters for �quasi−absolute position registering".


position_control_parameter set

Array 60FB 12 UINT16 R 1)

parameter_set13 UINT16 R 1)

14 UINT16 R 1)

15 UINT16 R 1)

16 Reserved

17 UINT16 R 1)

18 Reserved

19 Reserved

20 UINT16 R 1)

1) Write only in service cases

CautionThe control parameters of the SFC−DC are defined inpredefined parameter sets via the Festo Configuration ToolModification of individual parameters should only takeplace in service cases. If necessary consult the FestoService.

Subindex 12 Amplification of position controller

Value Default Unit

1...1000 200 �

Subindex 13 Amplification of speed regulator

Value Default Unit

1...1000 150 �



Subindex 14 I−share of speed regulator

Value Default Unit

1...2000 550 �

Subindex 15 Amplification of current regulator

Value Default Unit

1...800 80 �

Subindex 17 Amplification of speed regulator (path generator)

Value Default Unit

1...50 3 �

Subindex 20 Saving the current position when switching off

Value Function

0x000F Save current position at power−off in EEPROM

0x00F0 Do not save current position in EEPROM at power−off (default)

Please noteWhen non−self−locking drives like the SLTE are used, thecurrent position should not be saved at power−off, sincethe drive can shift in the de−energized state.



Object 60FD Image of the digital inputs in the upper bits


digital_inputs Var 60FD 00 UINT32 R

Value Comment

0...+(232−1) From bit 16 onwards (bits 0...15 are reserved)

Object 60FE Image of the digital outputs in the upper bits


digital_outputs Array 60FE 01 UINT32 R

02 UINT32 R

Value Comment

0...+(232−1) From bit 16 onwards (bits 0...15 are reserved)

Subindex 01 Image of the digital outputs

Subindex 02 Mask

Value Default

0...+(232−1) 0

Object 6402 Classification of the motor


motor_type Var 6402 00 UINT16 R


0 Cannot be set



Object 6410 Reading the motor data


motor_data Record 6410 01 UINT32 R

03 INT16 RW

Subindex 01 Series number

Value Comment

0...+(231−1) cannot be set

Subindex 03 Permissible duration of the maximum motor current (see Ob�ject 6073). After the I2t time has elapsed, to protect the motorthe current is automatically limited to the value set in Object6075 (motor_rated_current).

Value Default Unit

0...+(215−1) 100 (Z 2 s) Controller cycles (for SFC−DC approx. 20 ms)

Please noteThe duration of the maximum motor current has been ad�justed for the positioning drive SLTE. Values which are toohigh can damage the motor.

Object 6502 Classification of the drive functionality


supported_drive_modes

Var 6502 00 UINT32 R


0x21 Cannot be set



Object 6504 Manufacturer name


drive_manufacturer

Var 6504 00 V−string R

Value (default)

Festo SE & Co. KG

Object 6505 Internet address of the manufacturer


http_drive_catalog_address

Var 6505 00 V−string R

Value (default)

www.festo.com

Object 6510 Defining or reading motor data


drive_data Record 60FB 22 UINT32 RW

31 UINT16 R

32 UINT16 R

40 UINT32 R

41 UINT16 R

42 INT16 R

43 UINT16 RW

A0 UINT32 R



Subindex 22 Following error

Value Function

0...+(232−1) <0> Following error monitoring switched off

1 ... Permissible following error in increments

Subindex 31 Temperature of the end stage

Value Unit

−40...+85 °C

Subindex 32 Maximum temperature of the end stage

Value Unit

80 °C

Subindex 40 Motor rated current

Value Default Unit


mA

Subindex 41 Current limitation Imax


0 ... 3000 1000 In 1/1000 of the motor rated current

Subindex 42 Lower current limit value Imin


−3000 ... 0 −1000 In 1/1000 of the motor rated current



Subindex 43 Controlling the I/O interface

Value Function

0.1 <0> I/O interface OFF

<1> I/O interface ON (default)

Subindex A0 Series number of the controller

Format: 0xTTMYYSSS

Value Comment

8 bits: 0x01...0x1F TT Day

4 bits: 0x1...0xC M Month

8 bits: 0x00...0x63 YY Year

12 bits: 0x001...0xFFF SSS Series number



B.6 Converting the measuring units

A measuring system must be defined for specifying the para�meters of the electric axis. In order to enable simple parame�trizing for different application cases, the controller can beset via the control panel or FCT so that the user can specify orread all variables directly in the desired units on the drive,e.g.:

� Metric measuring system for linear movements (mm, mm/s, mm/s2)

� Imperial measuring system (inch, inch/s, inch/s2)

Each physical variable (position, speed and acceleration) isadapted to the relevant measuring system by means of aconversion factor.

In the controller all parameters are always saved in incrementspecifications (inc, inc/s, inc/s2) and not converted until theyare written or read. For the display, conversion from the inter�nal basis system into the (pre)set measuring system takesplace within the firmware; for representation on the PC moni�tor within the FCT software. In this way, the user does notneed to carry out conversion when entering values or whenreading on the control panel or in the FCT. The direct transfer of values via the serial interface with CIcommands always takes place in the basis system and it isassumed that conversion into increments has already takenplace.

Conversion is carried out via the parameters:

� feed constant, depending on the drive

� gear reduction

� encoder resolution = physical measuring step per motorrevolution. For the SFC−DC: pulse quadruplication by digi�tal interpolation.



Parameters SLTE−10 SLTE−16

feed Feed constant 1) SLTE−...−BS5,0: 5000 [m/rev] SLTE−...−LS7,5: 7500 [m/rev]

gear Gear ratio 2) SLTE−...−G04 (57:13)

enc Encoder resolution 3) 512 x 4 = 2048 [incr/rev] 1000 x 4 = 4000 [incr/rev]

1) Depending on drive, here type SLTE−....2) Specification in 2 natural numbers for counter or denominator of the fraction3) For the SFC−DC: pulse quadruplication by digital interpolation

Conversion factors UF

1�[minch]� � 25, 4�[mm]

1�[°]� � 1360

� [rot]

[m] > [inc]UFmm�incmm� � enc� gear

feedmm��incrot �

rotrot

mmrot

�[inch] > [inc]

UFminch�� incminch� � enc� gear

feedminch��incrot �

rotrot

minchrot

�� enc� gear

feedmm � 125,4

� incrot �

rotrot

mmrot �

minchmm

�� UFmm � 25, 4��incmm� mm

minch�

[rev] > [inc]UFrot�incrot� � enc� gear�inc

rot� rot

rot�



Physical variable Conversion into increments

Position POS [inc]

� Target position� Reference point

[m] > [inc] = POSìm x UFìm [m] x [inc/m]� Reference point� Software end position, positive� Software end position, negative

[inch] > [inc] = POSìinch x (25.4 x UFìm ) *= POSìinch x UFìinch

[inch] x [m/inch] x [inc/m][inch] x [inc/inch]

[rev] > [inc] = POSrev x UFrev [rev] x [inc/rev)

Speed V [inc/s] =

� Positioning speed to targetposition

[m] > [inc] = Vìm x UFìm [ìm/s] x [inc/ìm]position

� Speed during reference travel� Positioning speed to the axis

zero point during reference

[inch] > [inc] = Vìinch x (25.4* x UFìm) *= Vìinch x UFìinch

[ìinch/s] x [ìm/ìinch] x [inc/ìm][ìinch/s] x [inc/ìinch]

zero point during referencetravel [rev] > [inc] = Vrev x UFrev [rev/s] x [inc/rev]

Acceleration a [inc/s2] =

� Nominal acceleration [m] > [inc] = aìm x UFìm [ìm/s2] x [inc/ìm]

[inch] > [inc] = aìinch x (25.4* x UFìm) *= aìinch x UFìinch

[ìm/s2] x [ìm/ìinch] x [inc/ìm][ìinch/s2] x [inc/ìinch]

[rev] > [inc] = arev x UFrev [rev/s2] x [inc/rev]

* Conversion [m] > [inch]: 1ìinch = 25.4 ìm



Index

C−1Festo P.BE−SFC−DC−IO−EN en 0801a

Appendix C

C. Index

C−2 Festo P.BE−SFC−DC−IO−EN en 0801a

Contents

C. Index C−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


A

Absolute 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access procedure B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Acknowledge fault 5−39 , 5−40 . . . . . . . . . . . . . . . . . . . . . . . . .

Axis parameters 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis type set 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setting the axis type 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis zero point XIV , 1−12 , 5−17 . . . . . . . . . . . . . . . . . . . . . . . .

B

Basic modules 1−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Button functionMenu selection 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Cable 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Programming 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningPossibilities 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preparations 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Proceed as follows 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With control panel 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With the Festo Configuration Tool (FCT) 5−24 . . . . . . . . . . .

Components 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Electric axis 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection 3−4 , 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Control panel 1−17 , 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessing the main menu 4−6 . . . . . . . . . . . . . . . . . . . . . . . Button function 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Menu system 4−6 , 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller XIV , 1−5 , 3−4 , 3−11 , 5−27 . . . . . . . . . . . . . . . . . . . Dimensions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Demo mode 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device control 4−11 , 5−7 , 5−24 . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostic 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive XIV , 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E

Earth connection 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Earth/ground 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Electric axis XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMERGENCY STOP 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder XIV , 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ESD 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Fault 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault during positioning procedure 5−39 . . . . . . . . . . . . . . . .

Festo Configuration Tool XIV . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Configuration Tool (FCT) 1−17 . . . . . . . . . . . . . . . . . . . . . Help system 1−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Fitting 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting on a top−hat rail 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . Wall fitting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fitting on a top−hat rail 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . .

FLASH memory 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

HMI control 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing param 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I/O interface 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X . . . . . . . . . . . . . . . . . . . . . . . . . .

Increments 1−14 , B−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inputs/outputs 4−10 , 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum current 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal level 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LED 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Measuring reference system 1−12 . . . . . . . . . . . . . . . . . . . . . .

Measuring system 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Measuring units B−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Memory ranges 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . EEPROM 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FLASH memory 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RAM 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Menu system 4−6 , 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Method of operation 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor connection 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

Object directory B−3 , B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating mode 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning mode XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference run 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

ParametersAxis type 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference run 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parametrizing 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Measurement system 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

Password 4−16 , 5−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enter 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modify/deactivate 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set up 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pictograms XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set XV , 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carry out 4−18 , 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set tableCarry out 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Compile 4−15 , 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning Position set 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning mode XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 3−4 , 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power unit 1−5 , 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile position mode XIV , 1−6 . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Project zero point XV , 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Protection class 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R

RAM 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rated stroke 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference coordinates 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference point 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference run 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carry out 4−19 , 5−14 , 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . Parameters 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set parameters 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference switch 3−4 , 3−16 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference travel XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference point XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference switch XV , 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . Referencing method XV . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing method 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fixed stop 5−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference switch 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Relative 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

Safety instructions VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scope of delivery IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial interface 3−4 , 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Set the axis parameters 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . .

SLTE XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


SoftwareFesto Configuration Tool (FCT) 1−17 . . . . . . . . . . . . . . . . . . . Installing the Festo Configuration Tool 5−23 . . . . . . . . . . . . Starting the Festo Configuration Tool 5−24 . . . . . . . . . . . . .

Software end position XV , 1−13 , 5−17 . . . . . . . . . . . . . . . . . . Negative XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positive XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Starting positioning procedures 5−37 . . . . . . . . . . . . . . . . . . .

Stopping a reference run 5−36 . . . . . . . . . . . . . . . . . . . . . . . . .

Stopping positioning procedures 5−38 . . . . . . . . . . . . . . . . . .

Switching on 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System data Display 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System parameters 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T

Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Teach mode XV , 4−13 , 4−15 , 5−17 . . . . . . . . . . . . . . . . . . . . .

Teach target position 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical specifications A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Text markings XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tip mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission faults B−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission protocol B−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


V

Version XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

W

Wall fitting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Working area 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Software end position XV . . . . . . . . . . . . . . . . . . . . . . . . . .

Working stroke 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Motor controller SFC−DC - Festo Distribution page · 2020. 4. 17. · The SFC−DC and the connectable modules and cables may only be used as follows: in accordance with designated

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