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Manual

Motor controller

Type SFC−LAC−...−IO

Manual540 548en 0604NH[686 705]

Motor ControllerSFC−LAC

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Contents and general instructions

IFesto P.BE−SFC−LAC−IO−EN en 0604NH

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

Edition en 0604NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Order no. 540 548. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© Festo AG�&�Co. KG, D�73726 Esslingen, Federal Republic ofGermany, 2006Internet: http://www.festo.comE−mail: [email protected]

The reproduction, distribution and utilization of this documentas well as the communicaton of its contents to others withoutexpress authorization is prohibited. Offenders will be heldliable for the payment of damages. All rights reserved in theevent of the grant of a patent, utility module or design.


II Festo P.BE−SFC−LAC−IO−EN en 0604NH


IIIFesto P.BE−SFC−LAC−IO−EN en 0604NH

Contents

Intended use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scope of delivery IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manuals for the motor controller type SFC−LAC XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About the version XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product−specific terms and abbreviations XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

1.1.2 Operating principle 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Basis points and working range 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 EMERGENCYSTOP concept 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Commissioning options 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Control panel (only type SFC−LAC−...−H2−...) 1−18 . . . . . . . . . . . . . . . . . . .

1.3.2 Festo Configuration Tool (FCT) 1−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

2.3 Mounting the controller 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Notes on mounting electric drives 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−SFC−LAC−IO−EN en 0604NH

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 terminal 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Control 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 I/O control (only type SFC−LAC−...−IO) 3−11 . . . . . . . . . . . . . . . . . . . . . . . .

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

4. The control panel (only for type SFC−LAC−...−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 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−SFC−LAC−IO−EN en 0604NH

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

5.1 Preparations for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Checking the drive 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Checking the power supply 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Simultaneous attempts to access the controller 5−4 . . . . . . . . . . . . . . .

5.2 Commissioning with the control panel (only type SFC−LAC−...−H2−...) 5−5 . . . . . .

5.2.1 Before switching on 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting the drive type 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Setting the reference run parameters 5−7 . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Activating device control 5−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Carrying out a reference run 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Teaching the axis zero point 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Teaching software end positions 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.8 Teaching position records 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.9 Test run 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with the Festo Configuration Tool 5−19 . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the Festo Configuration Tool 5−19 . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Procedure for commissioning with the Festo Configuration Tool 5−20 . .

5.4 I/O function test (only type SFC−LAC−...−IO) 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Communication with the higher−level controller (only�type�SFC−LAC−...−IO) 5−23 .

5.5.1 Description of the I/Os 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Function description (pulse−time diagrams) 5−29 . . . . . . . . . . . . . . . . . .

5.5.3 I/O specification 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Instructions on operation 5−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

6.1 Diagnosis options 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

6.3 Error messages on the display (only type SFC−LAC−...−H2−...) 6−6 . . . . . . . . . . . .

6.3.1 Warnings 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Errors 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE−SFC−LAC−IO−EN en 0604NH

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

A.1 Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

B.1.1 Procedure for data transmission B−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 CI commands B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.3 CI objects (overview) B−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.4 Object description B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Converting the units of measurement B−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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


VIIFesto P.BE−SFC−LAC−IO−EN en 0604NH

Intended use

The Single Field Controller type SFC−LAC−... is used as a posi�tion controller and position servo for the electric linear handl�ing module, type HME−...

This manual deals with the basic functions of the SFC−LAC andthe I/O interface of the SFC−LAC−...−IO. Additional informationon field bus variants of the SFC−LAC can be found in the corre�sponding separate manuals (in preparation). The linear handling module HME−... and additional compo�nents are documented in separate operating instructions.

Follow the safety instructions shown and adhere to the in�tended use of each sub−assembly and module. Please also follow the safety instructions in the operatinginstructions for the components used.

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

� in accordance with intended use.

� only in industrial applications.

� in their original state without any unauthorised modifica�tions. Only the conversions or modifications described inthe documentation supplied with the product are per�mitted.

� in perfect technical condition.

If additional commercially−available components such assensors 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−LAC−IO−EN en 0604NH

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 othercomponents 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 reach into the operating rangeof the axes or other connected actuators and that no ob�jects lie in the positioning range while the system is stillconnected to a power supply.

WarningErrors in parameterisation can cause injuries and propertydamage.

Enable the controller only if the axis system has beencorrectly installed and parameterised.


IXFesto P.BE−SFC−LAC−IO−EN en 0604NH

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 Service or write to the follow�ing e−mail address if you have any technical problems:

[email protected]

Scope of delivery

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

� Single Field Controller, optionally with control panel

� FCT configuration package (Festo Configuration Tool)

� User documentation on CD ROM

Available as accessories (see appendix A.2):

� Connecting cable

� Mounting attachments

� User documentation in paper form


X Festo P.BE−SFC−LAC−IO−EN en 0604NH

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−LAC−IO−EN en 0604NH

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−LAC−IO−EN en 0604NH

Manuals for the motor controller type SFC−LAC

This manual contains basic general information on operating,mounting, installing and commissioning electric positioningdrives with the motor controller type SFC−LAC−...−IO. It alsocontains information on the functions of the I/O interface aswell as on commissioning with the Festo Configuration Toolsoftware package.

Product variants are available for coupling to field bussystems. Specific information on these can be found in themanuals for each product variant.

Information on components such as the electric linearhandling module, type HME−..., can be found in the operatinginstructions accompanying the product.

Type Designation Contents

Document package withbrief description + manualson CD ROM

Type P.BE−SFC−LAC−UDOK Brief description: Importantcommissioning instructions andpreliminary information.Manuals: Contents as describedbelow.

Manual Motor controller SFC−LACType P.BE−SFC−LAC−IO−...

Installation, commissioning anddiagnosis of electric axes with theSFC−LAC with communication viaI/O interface.

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−LAC−CO−...Type P.BE−SFC−LAC−PB−...Type P.BE−SFC−LAC−DN−...

Installation, commissioning anddiagnosis of electric axes with theSFC−LAC with communication viaa field bus.

Operating instruction Electric linear moduleType HME−...

Installing and commissioning thelinear handling module.


XIIIFesto P.BE−SFC−LAC−IO−EN en 0604NH

About the version

The hardware version specifies the version status of themechanical and electronic components of the SFC−LAC.

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

You can find the specifications on the version status asfollows:

� Hardware version and firmware version under �Devicedata" in the Festo Configuration Tool, when there is activelinkage to the SFC−LAC.

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

Firmwareversion from

What is new�? Which FCT PlugIn�?

V 01.00 Motor controller with I/O interface Type SFC−LAC−...−IO, supports electric linear module, type:� HME−16−100� HME−16−200� HME−16−320� HME−25−100� HME−25−200� HME−25−320� HME−25−400

SFC−LAC V 01.00


XIV Festo P.BE−SFC−LAC−IO−EN en 0604NH

Product−specific terms and abbreviations

Term/abbreviation Meaning

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

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

Axis zero point (AZ) Dimensional reference point for the project zero point and the soft�ware end positions. For the SFC−LAC−...−IO, this corresponds to theproject zero point (offset = 0). The basis point for the axis zero point isthe reference point (REF).

Controller Control electronics which evaluate the control signals and provide thepower supply for the motor via the power electronics.

Drive The component of a positioning system which transfers force from amotor to the effective load, defines the guidance for the positioningmotion and enables a reference switch to be attached.The HME−... is an integrated unit comprising a linear motor, a displace�ment encoder and a linear axis. See also Fig.�1/1.

EMC Electromagnetic compatibility

Festo Configuration Tool(FCT)

Software with uniform project and data management for all supporteddevice types. The special requirements of particular device types aresupported by PlugIns with the necessary descriptions and dialogs.

HME−... Type designation for an electric linear module

HMI �Human Machine Interface" refers to the control panel on the variantSFC−LAC−...−H2. [HMI = on] means that parameterisation and operationcan begin using the control panel or FCT. The control interface is thendeactivated.

I/O Input and/or output

Jog mode Manually moving in positive or negative direction (only by means ofFCT or control panel or with field bus variants of the SFC−LAC)

PLC Programmable logic controller; in brief: controller.

Positioning mode (Profile position mode)

Operation mode for performing positioning tasks

Position record Positioning command defined in the position record table, consistingof target position, positioning mode, speed, acceleration, jerk andeffective load.


XVFesto P.BE−SFC−LAC−IO−EN en 0604NH

Term/abbreviation Meaning

Project zero point (PZ) Dimensional reference point for all positions in positioning tasks. Theproject zero point forms the basis for all absolute position specifica�tions (e.g. in the position record table or, in the case of direct control,via the control or diagnostic interface). The basis point for the projectzero point is the axis zero point (for SFC−LAC−...−IO, the project zeropoint PZ and axis zero point AZ are identical).

Reference switch Built−in sensor used for determining the reference position.

Reference point (REF) The reference point (REF) is a known position in the course of thedrive’s travel upon which the entire dimensional reference system isbased.

Reference run The reference run defines the reference point (REF) and therefore thesource of the dimensional reference system for the axis.

Referencing (homing mode)

Operation mode for performing the reference run

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

Software end position Programmable stroke limitation (basis point = axis zero point)Software end position, positive:max. limit position of the stroke in the direction of the extended endposition; must not be exceeded during positioning.Software end position, negative:min. limit position of the stroke in the direction of the retracted endposition; must not be exceeded during positioning.

Teach mode Operation mode for setting positions by moving to the target positione.g. when creating position records.

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


XVI Festo P.BE−SFC−LAC−IO−EN en 0604NH

System summary

1−1Festo P.BE−SFC−LAC−IO−EN en 0604NH

Chapter 1

1. System summary

1−2 Festo P.BE−SFC−LAC−IO−EN en 0604NH

Contents

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

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

1.1.2 Operating principle 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Basis points and working range 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 EMERGENCYSTOP concept 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Commissioning options 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Control panel (only type SFC−LAC−...−H2−...) 1−18 . . . . . . . . . . . . . . . . . . .

1.3.2 Festo Configuration Tool (FCT) 1−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary


1.1 Positioning with electric drives

The Single Field Controller type SFC−LAC with I/O interfaceenables positioning of the electric linear module type HME−...in up to 31 position records (+�reference run) with separatelyadjustable speeds, acceleration and jerk limitation. The per�mitted positioning range can be limited by means of softwareend positions.

The position records can be used to move the axis either toan absolute position or by a specified distance relative to thelast target position.

Parameterising with a PC is possible via the RS232 interfacewith the FCT software package. The optional control panelwith display and four operating buttons allows the positionrecords to be parameterised directly on the drive (see alsosection 1.3).

Coupling to a higher−order PLC/IPC can be accomplished viadigital inputs/outputs (SFC−LAC−...−IO) or, in the case ofapplicable product 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 product range orcatalogue).

1. System summary


Components

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

2 Software level:FestoConfigurationTool FCT

3 Controller level:SFC−LAC

4 Drive level:HME−...

1

2

3

4

Fig.�1/1: Principle of a positioning system with the SFC−LAC−...

1. System summary


To construct a positioning system with the SFC−LAC, you needthe following components:

Controller SFC−LAC, optionally with control panel.

Drive Electric linear module type HME−... with accessories and, ifapplicable, further components for the drive, e.g. mountingattachments

2 power supply units For operating and load voltage supply: 24/48 VDC

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

Motor cable For connecting the linear module HME−... to the SFC−LAC(see Accessories, appendix A.2).

Control cable For transfer of information between the higher−level con�troller and the SFC−LAC (see accessories, appendix A.2).

Programming cable For transfer of information between the PC and theSFC−LAC−... (see accessories, appendix A.2).

The SFC−LAC supports the linear handling module HME−...Consult Festo if you wish to use other drives.

Supporteddrive

Description Permittedmounting position

HME−... Electric linear moduletype HME−...

Recommended:horizontal(vertical only onrequest)

1. System summary


Operation modes

Profile position mode Normal operation for positioning.Individual positioning runs in accordance with the configuredposition records:

� moves to a target position with absolute or relativedimension specification,

� with configured speed,

� with configured acceleration and braking ramp,

� with configured jerk,

� with configured effective load.

Homing mode Positioning run to reference the dimensional referencesystem.

For commissioning, testing or demonstration, the followingfunctions are also available via the control panel of theSFC−LAC−...−H2−...�:

� Positioning run to define the target position for a positionrecord (Teach mode)

� Positioning run to test a particular position record in theposition record table (Move posit set)

� Positioning run to test all position records in the positionrecord table (Demo posit tab)

1. System summary


Operational safety

An extensive system of sensors and monitoring functionsensures operational safety:

� Temperature monitoring (measures the temperature ofthe power output stage in the SFC−LAC, the temperatureof the linear motor and the temperature of the interfaceboard in the HME−...).

� Voltage monitoring

� detection of errors in the logic voltage supply

� detection of undervoltage in the load voltage supply

� I2t monitoring / overload protection

� Monitoring of following errors (e.g. in the event of slug�gishness or overloading of the HME−...)

� Software end position recognition

1. System summary


1.1.1 Structure of the SFC−LAC

1 Control panel (onlytype SFC−LAC−...−H2)

2 Electrical terminals

3 Status displays(LEDs)

1

2

3

Fig.�1/2: Single field controller SFC−LAC

Control panel The control panel has an LCD graphic display. It is operatedusing a touch−sensitive keypad with four keys, allowingaccess to all functions by means of menus.

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

1 LC display

2 Touch−sensitivekeypad

3 LEDs

1 2

3

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

1. System summary


Status display The three LEDs indicate the operating status:

� Operating voltage �Power"

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

� �Error"

Terminals The SFC−LAC has the following terminals:

1 RS232 interfaceto PC

2 I/O interface toPLC/IPC

3 Linear moduleHME−...

4 Power supply

5 Functional earth(FE)

1

2

3

4

5

Fig.�1/4: Terminals on the SFC−LAC

1. System summary


1.1.2 Operating principle

In the positioning mode, a certain position is specified towhich the motor must move. The current position is takenfrom the information reported by the built−in magnetic incre�mental encoder.

1 Setpoint generator

2 Reference variableinput

3 State vector feedback

4 PI current regulator

5 Output stage

6 Current regulator

7 Observer

3 4 5 6

7

1 2

RVI

SVF

Obs.

Fig.�1/5: Simplified diagram of control structure

Block Task

Setpoint generator Generates executable position and velocity curves.

Reference variableinput

Uses desired position, velocity and acceleration curves to calculate a forcecurve and from that a current curve, which is then directly input for thecurrent setpoint value. Enables motion free of following error.

State vectorfeedback

Controls position and speed.

PI current regulator Makes sure that all three strings have the correct current values.

Output stage The three strings are supplied with current via pulse width modulation.

Current regulator Phase current regulation and electrical commutation.

Observer Determines speed and external forces of interference (e.g. friction, gravity).

1. System summary


The tasks performed by the controller include the following:

� Sequence control via digital inputs and outputs (type SFC−LAC−...−IO)

� Control of the following variables: position, speed,acceleration, jerk, current (power)

The SFC−LAC has three types of memory:

� The FLASH memory stores the default settings and thefirmware. The data from the FLASH memory are loadedwhen the device is switched on the first time or when theEEPROM has been deleted.

� The volatile RAM memory stores the parameters whichare currently being used and which can be modified usingthe control panel or FCT software. When the modificationshave been saved, they are transferred to the EEPROM.

� The non−volatile EEPROM stores the parameters whichare loaded when the device is switched on. The para�meters in the EEPROM are retained even after the powersupply has been switched off.

NoteIn order to restore the default settings you can, if necess�ary, delete the EEPROM via the serial interface with theCI�command 20F1 (Data memory control) (see appendixB.1.2). User−specific settings will then be lost.

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

· If necessary consult Festo.

1. System summary


1.1.3 Basis points and working range

The dimensional reference system of the SFC−LAC is based onthe axis zero point, which is defined by means of its offset tothe reference point.

The position of the reference point is ascertained during thereference run. The referencing method defines the way inwhich the axis ascertains the reference point.

When the reference run is finished, the drive is at the axiszero point.

Reference point REF forms the mechanical starting point of the dimensional refer�ence system and is defined for the reference run by a refer�ence switch or a fixed stop, depending on the referencingmethod.

Axis zero point AZ is set to a defined distance from the reference point (the axiszero point offset) and is the basis point of the software endpositions and the project zero point. By defining the axis zeropoint and the software end positions you can limit the work�ing range of the linear axis to the permitted range (the effec�tive stroke).

Project zero point PZ is a reference point within the effective stroke which the usercan select, and to which both the actual position and thetarget positions in the position record table refer. The axiszero point is the basis point for the project zero point.

For the SFC−LAC with I/O interface, the project zero point isidentical to the axis zero point (project zero point offset = 0).

1. System summary


Basis points and working range 1)

Linear module HME

1

REF

AZ

a

B C

2

1 2 30

REF Reference point: the point to which the axis moves during the reference run and on whichthe axis zero point is based.

AZ Axis zero point: basis point for the project zero point and the software end positions. For the SFC−LAC, this is the same as the project zero point (project zero point offset = 0).

a Axis zero point offset: defined distance from the axis zero point to the reference point. This offset may = 0 only in the case of the �reference switch" referencing method.

B, C Software end positions: these limit the permitted positioning range (effective stroke). If a positioning command’s target position lies outside the software end positions, thepositioning command will not be processed and an error status will be set.

1 Effective stroke: permitted positioning range.

2 Nominal stroke: nominal stroke of the drive in use; see technical data for the drive.

1) Diagram using the example of referencing method: reference switch

Tab.�1/1: Dimensional reference system of the HME−...

1. System summary


Algebraic sign All position values (offset, software end positions, targetpositions�...) are marked with an algebraic sign:

Value Direction

+ Positive values face from the basis point in the directionof the extended end position.

� Negative values face from the basis point in thedirection of the retracted end position.

Units of measurement All values are entered and displayed according to the units ofmeasurement set for the FCT or control panel:

Units of measurement

Metric Metric units of measurement:e.g. mm, mm/s, mm/s2

Inches 1) Imperial units of measurement:e.g. inch, inch/s, inch/s2

1) Setting only with FCT when a project is created.

Setting the units of measurement influences only the display.All parameters are saved in the SFC−LAC in millimetres (mm,mm/s, mm/s2 ...). The CI interface, on the other hand, works with increments.

1. System summary


1.2 EMERGENCYSTOP concept

NoteFor the purposes of your EMERGENCY STOP procedures,check what measures are necessary for switching yourmachine/system into a safe state in the event of anEMERGENCY STOP.

· If an EMERGENCY STOP circuit is required for your ap�plication, use additional separate safety limit switches(e.g. as normally closed series−connected switches).

· Use software end positions and, if necessary, externalsafety limit switches and additional mechanical stops orshock absorbers as appropriate, in order to make surethat the axis always lies within the permitted positioningrange.

Note also the following points:

Action Reaction

Cancellation of the ENABLEsignal on the I/O interface

The controller is switched off.The effective load on the HMEcontinues to move due to inertia

Switching off the load voltage

continues to move due to inertiaor, in the case of vertical/tiltedinstallation, falls downwards.

Cancellation of the STOP signalon the I/O interface

Full braking force (quick stop de�celeration) is applied to drive (=emergency stop ramp).

1. System summary


WarningNo plausibility check is made to ascertain whether the setquick stop deceleration (emergency stop ramp) can ac�tually be reached. The deceleration which can be reacheddepends on your application (e.g. output and switchingspeed of your power unit, work load, mounting position).

If the deceleration cannot be reached, a fault will occurand the controller will be switched off. The work load onthe HME moves further due to mass inertia or drops downin the case of vertical/sloping fitting.

· Carry out a test run to check whether the set quick stopdeceleration can actually be reached. Take into accounthere also the diagrams in FCT (on the page "Measureddata").

If the desired deceleration cannot be reached:

· Use more powerful power units or reduce the dynamics.

1. System summary


1.3 Commissioning options

You can parameterise and commission the SFC−LAC asfollows:

� Directly on the control panel (only type SFC−LAC−...−H2−...)

� Using the FCT via the RS232 interface.

Functions Controlpanel

FCT

Parameterising � Selecting: HME−... and associated parameters� Uploading/downloading configuration data� Saving different configurations in projects

x��

xxx

Position records � Compiling a position record table with set number,target position, positioning mode, positioningspeed, acceleration, jerk, effective load

x x

Commissioning � Reference run� Teaching positions� Moving in individual steps� Starting and stopping positioning procedures while

commissioning� Extended test functions, e.g. status displays� Testing or demonstrating the position records

xxxx

(x)x

xxxx

xx

Diagnostics/Service

� Reading and displaying diagnostic data� Oscilloscope function (trace): graphic presentation

of positioning procedures

x�

xx

The SFC−LAC can also be parameterised and commissionedvia the RS232 interface with the Command Interpreter. TheCI�commands listed in the object directory can be transmittedto the SFC−LAC using FCT or any conventional terminal pro�gram. The CI commands must only be operated by exper�ienced users. For further information, see appendix B.

1. System summary


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

The control panel offers all functions necessary for commis�sioning, parameterising, diagnosing and operating directly onthe SFC−LAC−...

The control panel provides the necessary input masks viamenus for editing position records and parameters. If yourpositioning system is set up completely, you can use theTeach functions to move easily to positions and transfer themto the position record table.

You will find information on the control panel’s operatingelements and menu structure in Chapter 4, and instructionsfor commissioning using the control panel starting fromsection 5.2.

1.3.2 Festo Configuration Tool (FCT)

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

The FCT consists of the following components:

� A framework providing a program starting and entry pointwith uniform project and data management for all sup�ported device types.

� PlugIns for the special requirements of each device type(e.g. SFC−LAC) with the necessary descriptions and dia�logs. The PlugIns are managed and started from withinthe framework.

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

The software can run on all conventional PCs with a currentWindows operating system.

1. System summary


Minimum technical requirements

PC � Pentium−class processor, 900 MHz or faster� 128 MByte RAM� 100 MByte free memory on the hard drive

Supportedoperating systems

� Microsoft Windows 2000 / XP

Run−timeenvironment +software

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

language packages required (if needed, canbe installed by the FCT installation program)

� Internet Explorer version 6.0 or higher (necessary for the print functions)

Interface � Serial interface <COMn> as per RS232,38400�baud

Screen resolution Screen resolution 800 x 600 pixels or greater (to use the dynamic help: at least 1024 x 768)

An overview of commissioning with the FCT can be found inchapter 5.3.2. The Help function in the FCT contains all in�formation on operating the Festo Configuration Tool. The de�vice−specific PlugIns each have their own Help files. You canprint out the complete Help or parts of it to allow you to useit without needing a PC.

1. System summary


The help system of the Festo Configuration Tool

The Festo Configuration Tool offers various options forobtaining information or help with operation.

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

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

· Access the help via the [Help] menu with the [ContentsFCT general] command.

With function button F1, you can directly open acontext−specific help page.

Dynamic help For permanent display of context−specific information, youcan use the FCT’s integrated dynamic help:

· Activate the dynamic help via the [Help] menu with the[Dynamic help] command. The dynamic help will bedisplayed in a dockable window.

· Activate the element in the window for which you requirehelp, e.g. by clicking it with the mouse. If window areas ordialog boxes of the PlugIn are activated, the contents forthe relevant PlugIn will be displayed automatically in thedynamic help.

Help for SFC−LAC PlugIn The help for the SFC−LAC PlugIn contains all information foroperating the PlugIn.

You can open the help as follows:

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

· Help button in the window area or dialog box of thePlugIn.

· Button F1 after activating a window area or dialog box ofthe PlugIn.

1. System summary


Printed information In order to use the complete Help or parts of it independentlyof a PC, you can use one of the following options:

· Use the �Print" button in the help window to directly printout individual help pages or all the pages of a book fromthe help contents directory.

· Print the prepared print version of the help pages inAdobe PDF format or Rich Text format (RTF). The relevant file can be found in the following directories:

Printed version Directory File

FCT help (Framework)

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

PlugIns help (SFC−LAC)

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

� SFC−LAC_en.pdf� SFC−LAC_en.rtf

To print in Adobe PDF format, you will require Adobe Reader.

1. System summary


Fitting


Chapter 2

2. Fitting


Contents

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

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

2.3 Mounting the controller 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Notes on mounting electric drives 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting


2.1 General instructions

CautionDamage to components

· Before carrying out mounting, installation and mainten�ance work, always switch off the power supply.

NoteHandle all modules and components with great care. Noteespecially 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.

� Connecting surfaces and contacts must be clean.

2.2 Dimensions of the controller

120 mm

178 mm

Fig.�2/1: Dimensions of the controller

2. Fitting


2.3 Mounting the controller

You can mount the SFC−LAC in one of two ways:

� Wall mounting on a flat surface

� Hat−rail mounting

NoteMount the SFC−LAC or hat rail so that there is sufficientspace for heat dissipation (above and below at least40�mm).

Wall mounting

You will require:

� A mounting surface of approximately 180 x 320 mm

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

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

120 mm

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

2. Fitting


Hat−rail mounting

When mounting the SFC−LAC onto a hat rail, proceed asfollows:

1. Make sure that the mounting surface can support theweight of the SFC−LAC.

2. Mount a hat rail (mounting rail EN 50022 � 35�x�7.5 or 35�x�15)

3. Maintain a max. distance of 3.3 mm between the housingweb and the hat rail (for rail 35�x�7.5):

· If possible, use a part of the hat rail where there areno mounting screws.

· If a screw needs to be connected under the SFC−LAC:use e.g. M6 screw as per ISO−7380ULF.

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

· first from below, pressing against the tension springs,then

· press up against the hat rail so that the SFC−LAC clicksinto place.

1 Hat rail

2 Tension springs

3 Distance betweenhousing web andhat�rail: 3.3 mm(rail 35�x�7.5)

1 2 3

Fig.�2/3: Hat−rail mounting for the SFC−LAC

2. Fitting


2.4 Notes on mounting electric drives

Refer to the following documentation when mounting theelectric drives:

� operating instructions for the linear module in use,type�HME−...

� instructions for the additional components in use.

WarningIf a drive is mounted in a sloping or vertical position, loadsmay fall down and injure somebody.

· Check whether external safety measures are necessary(e.g. toothed latches or moveable pins).

You can then prevent the working load sliding downsuddenly if there is a power failure.

Make sure that:

· the drive is fitted securely and is correctly aligned.

· the working space in which the drive and effective loadwill move is of sufficient size for operation with a load.

· the effective load does not collide with any component ofthe drive when the slide moves into the end position.

Installation


Chapter 3

3. Installation


Contents

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

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

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

3.4 Motor terminal 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Control 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 I/O control (only type SFC−LAC−...−IO) 3−11 . . . . . . . . . . . . . . . . . . . . . . . .

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

3. Installation


3.1 Overview of installation

WarningBefore carrying out mounting, installation and mainten�ance work, always switch off the power supply.

You can thereby avoid:

� Uncontrolled movements of the connected actuators

� Undefined switching states of the electronic components

� Damage to the electronic components

CautionIncorrectly fitted cables may damage the electronic com�ponents and trigger off unexpected movements of themotor.

· For connecting the electric components of the system,use only the cables listed as accessories (see Tab.�3/2).Only in this way can you be sure that the system willfunction correctly.

Note· Lay all flexible cables so they are free of kinks and freeof mechanical stress; if necessary use protectivetrunking.

· Observe the specified maximum cable lengths.

3. Installation


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

2 Power supply (Power)

3 Functional earth

4 Motor terminal(HME−...)

5 Serial interface(RS232)

1

2

3

4

5

Fig.�3/1: Terminals on the SFC−LAC

Terminal on the SFC−LAC Description

Control With typeSFC−LAC−...−IO:� Sub−D, 15−pin� Plug

Interface for connecting any PLC controller (digital inputs and outputs, 24 V DC, PNP)

Power supply � Sub−D−7W2� Plug

Power connection with 2�high−current contacts and5�low−current contacts (separate load and logic voltage supply)

Earth terminal � M4 stud bolt Terminal for connecting functional earth (optionally via power supply cable)

Motor terminal � Sub−D 24W7� Socket

Power supply for motor and CAN bus interface for transmissionof gauge signal

Serial interface � M8, 4−pin� Socket

RS232 interface for parameterising, commissioning anddiagnosing with FCT

Tab.�3/1: Overview of terminals

3. Installation


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

The plug connectors on the Festo cables listed in the follow�ing are of protection class IP54 when properly connected.

CautionLong lines reduce immunity to interference (EMC). Do notexceed the maximum permitted cable lengths.

Terminal Cable Type Length [m]

Power supply Power supply cable KPWR−MC−1−SUB−15HC−... 2.5 / 5 / 10(max. 10 m)

Motor terminal Motor cable KMTR−LAC−S50HC−S50HC−... 2.5 / 5 / 10(max. 10 m)

Control (I/O) Control cable KES−MC−1−SUB−15−... 2.5 / 5 / 10(max. 30 m)

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

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

In order to ensure that the IP protection class is maintained:

· Tighten the union nuts/locking screws on the plugs byhand

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

Observe the permitted torques specified in the documenta�tion for the cables and connectors used.

3. Installation


3.2 Power supply

Warning· In order to provide the electric power supply, use onlyPELV circuits as per IEC/DIN EN 60204−1 (ProtectiveExtra−Low Voltage, PELV).Also observe the general requirements for PELV circuitsas per IEC/DIN EN 60204−1.

· Use only power supply units which guarantee reliableelectrical isolation of the operating voltage as per IEC/DIN EN 60204−1.

By using PELV circuits, protection against electric shock(protection against direct and indirect contact) is ensured inaccordance with IEC/DIN EN 60204−1 (electrical equipment ofmachines, general requirements).

NoteNote that the tolerances for the power supplies must beobserved; see Tab.�3/4. The tolerance must also be ad�hered to directly at the power terminal on the SFC−LAC.

· For the power supply, use only the cable specified inTab.�3/2.

· Use regulated power supply units with:

� At least 2 A peak current for the logic voltage(24�VDC)

� At least 20 A peak current for the load voltage(48�VDC; 960 W)

The use of power supply units with lower output levels ispossible with restricted motion dynamics and loads. To dothis, you need to enter the power output of your power sup�ply unit into FCT (or via the CI object 6510/50h).

3. Installation


Terminal Pin Designation Function Cablecolour�1)

O1 Load power +48 VDC load Black, 1

O2 Load power GND load Black, 2

O1 O2 1 Logic powerVCC

+24 VDC logic White

2 Logic powerGND

GND logic Brown

3 � (Reserved) Green

4 FE FE 3) � 2)

5 � (Reserved) Yellow

� Plug housing FE 3) Earthing stripwith M4 cablelug

Earth terminal(housing)

FE 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 terminal; see section 3.3

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

CautionDamage to the device

The power supply inputs on the SFC−LAC have no specialprotection against overvoltage.

· Make sure that the permitted voltage tolerance is neverexceeded; see Tab.�3/4.

3. Installation


The power supply must meet the following requirements:

Power supply Value

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

48 VDC +5/−10�%10 A20 A�

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

24 VDC ±10�%0.4 A0.8 A2.5 A, very quick acting

Tab.�3/4: Power supply specifications

1 2 3 4O1 5 O2

1 2 3

1 The earth terminals on the two power supply units mustbe connected !

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

3 Earth connections (alternative; see section 3.3)

Fig.�3/2: Power supply connection example

3. Installation


3.3 Earthing

Note· Connect one of the earth terminals on the SFC−LAC withlow impedance (short cable with large cross−sectionalarea) to the earth potential.

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

To earth the SFC−LAC, use one of the following terminals(see�also Tab.�3/3):

� earth terminal on the housing of the SFC−LAC, or

� earthing strip with cable lug on the plug housing or at theother end of the power supply cable (see�assembly in�structions for cable type KPWR−MC−1−SUB−15HC−...).

NoteNote that only one of the earth terminals may be used (toavoid earth loops).

When using the earth terminal on the housing of the SFC−LAC:

· 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 terminal

The motor terminal is used for triggering the linear motor onthe HME−... and transmitting the signals from the displace�ment encoder.

NoteFor the connection to the HME−..., use only the cablespecified in appendix A.2.

Terminal on the SFC−LAC Pin Designation Function

O1 L1+ String 1

O2 L1− String 1

O3 L2+ String 2

A = O (output) O4 GND Reference potential 0 V

O5 L2− String 2

O6 L3+ String 3

O7 L3− String 3

1 +24 VDC +24 VDC logic

4 CAN−H CAN line H

5 CAN−L CAN line L

16 GND Reference potential 0 V

� Plug housing Cable screening (FE)

Tab.�3/5: �Motor" terminal on the SFC−LAC

3. Installation


3.5 Control

Information on controlling via bus systems can be found inthe manuals for each of the field bus variants of theSFC−LAC−... (in preparation).

In the case of control via digital I/Os (type SFC−LAC−...−IO),note the instructions on connecting and on the function of theI/O interface in section 5.5.

3.5.1 I/O control (only type SFC−LAC−...−IO)

The control terminal on the SFC−LAC−...−IO is used for com�munication with the higher−level controller via digital I/Os.The I/Os are also supplied with power via the control ter�minal.

WarningIf 24 V DC voltage is applied and the output pins are usedincorrectly, the device may be seriously damaged.Therefore:

· Do not apply voltage to the outputs.

· Note the current limitation for the outputs (see section 5.5.3).

CautionLong I/O signal cables reduce immunity to interference. Do not exceed the maximum permitted I/O signal cablelength of 30 m.

Information on controlling the SFC−LAC via the I/O interfacecan be found in section 5.5.

Recommendation:Use the control cable specified in appendix A.2.This will give you protection class IP54.

3. Installation


Terminal on theSFC−LAC

Pin Designation Function Cablecolour�1)

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

White

9 152 I1 Input for position record

coding Bit0Brown

3 I2 Input for position recordcoding Bit1

Green


Yellow

5 I4 Input for positioning setcoding Bit3

Grey


Pink

7 I6 Input for STOP bit Blue

8 GND−EXT 2) Electrically isolated GND(reference potential) for I/O

Red

9 I7 ENABLE input Black

10 I8 START input Purple

11 O1 MC output Grey−pink

12 O2 READY output Red−blue

13 O3 ACK output White−green

14 O4 ERROR output Brown−green

15 GND−EXT 2) Electrically isolated GND(reference potential) for I/O

White−yellow

� FE Functional earth (Plug housing /cable screening)

1) Cable colours with control cable type KES−MC−1−SUB−15−...2) Alternative

Tab.�3/6: �I/F" terminal (control terminal) on the SFC−LAC−...−IO

3. Installation


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

Power supply Value

I/O supply (pins 1, 8)� Rated voltage� Idle current� Peak current (max. 0.5 A per output)

24 VDC ±10 %0.05 A2.1 A

Tab.�3/7: Power supply specifications

For I/O specifications see chapter 5.5.3.

NoteThe electrically isolated 24 VDC−EXT power supply isessential for operating the outputs O1 ... O4.

3. Installation


3.6 Serial interface

Serial interface for parameterising, commissioning anddiagnosing.

NoteFor connecting a PC to the SFC−LAC, use only the cablespecified in appendix A.2.

· If necessary, remove the protective cap from the serialinterface on the SFC−LAC.

· Connect the following terminals using the progr. cable:

� the socket on the SFC−LAC

� a serial interface COMx on the PC.

M8 socket Description

1 2 4 3 1 GND Ground

2 RXD RS232 receiving cable 1)

3 TXD RS232 transmitting cable 1)

4 � (Not connected)

1) The levels comply with the RS232 standard

Tab.�3/8: �RS232" terminal (serial interface) on the SFC−LAC

Information on commissioning and parameterising the SFC−LAC via the serial interface can be found in section 5.3.2 andin the help system for the Festo Configuration Tool softwarepackage. Information on transmitting CI commands via theserial interface can be found in appendix B.

NoteThe RS232 interface is not electrically isolated. It is notsuitable for permanent connection to PC systems, nor foruse as a control interface.

· Use this terminal only for commissioning.

· Disconnect the progr. cable during continuous operation.

· Seal the terminal with the protect. cap supplied (ISK−M8).

The control panel (only for type SFC−LAC−...−H2−...)


Chapter 4

4. The control panel (only for type SFC−LAC−...−H2−...)


Contents

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 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



The Single Field Controller type SFC−LAC−...−H2−... offers on thecontrol panel all functions necessary for commissioning, pro�gramming and diagnosing. An overview of the button andmenu functions for the SFC−LAC−...−IO can be found in thischapter. Commissioning with the control panel is describedstarting from chapter 5.2. Control panel functions for fieldbus variants can be found in the manuals for each productvariant.

With the SFC−LAC−...−H0−... (without control panel) you cancarry out commissioning of the SFC−LAC via the RS232 inter�face using the Festo Configuration Tool. Instructions on thiscan be found in chapter 5.3.2.

CautionErrors may occur if you attempt to access control and op�erating functions via the FCT and the control panel at thesame time.

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

NoteIf necessary, remove the protective foil from the displaybefore commissioning.



4.1 Composition and function of the control panel

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

� Parameterising and referencing the axis

� Entering positioning sets

� Test functions e.g. for moving to individual positionrecords

1 LCD display

2 Operating buttons

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

PowerError

I/F

1

2

3

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

With the 4 buttons on the control panel you can carry out alloperating functions and settings by means of menus. Thegraphic LCD display shows all texts in English. The display canbe rotated 180°; see [LCD adjustment] menu command.



The operating statuses are indicated visually by 3�LEDs(see�also chapter 6.2).

� Power: indicates ready status

� I/F: positioning status

� Error: error

Function Button

MENU Activated by the status display from themain menu Menu

ESC Rejects the current entry and switchesback step by step to the higher−ordermenu level 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: displayof current position; use <Menu> to returnto the higher−order menu level.

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

EDIT Sets parameters V

Tab.�4/1: Button functions (overview)



4.2 The menu system

4.2.1 Accessing the main menu

When the power supply is switched on, the SFC−LAC automati�cally carries out an internal check. At first the display brieflyshows the Festo logo then changes to the status display. Thestatus display shows the following information:

� The type designation of the SFC−LAC

� The type designation/type of the parameterised drive

� The position of the drive xa = ... (still without significancewhen unit is switched on)

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

The main menu is accessed from the status display using the<Menu> button. The currently active button function isdisplayed in the lower lines of the LCD display.

Function Button

{ } You can use the arrow keys on the controlpanel to 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 step by step to the higher−ordermenu level or status display.

Menu

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

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

SFC�LAC...HME...Xa = 0.00 mm

HMI:off<Menu>

} DiagnosticPositioningSettingsS ESC <Menu>

<��> OK <Enter>

} HMI controlLCD adjustment

s ESC <Menu><��> OK <Enter>



Menu command Description

} Diagnostic Displays the system data and the currently effective settings (see section 4.2.2)

} Pos. set table Displays the position record table

} Axis parameters Displays axis parameters and data

} System paramet. Displays system parameters and system data

} SW information Displays the operating system version (firmware)

} Positioning 1) 2) Reference run and positioning runs for testing the position records (see section 4.2.5)

} Homing Starts reference run 1)

} Move posit set Starts the positioning run �Position record" 4)

} Demo posit tab Starts the positioning run �Position record table" 4)

} Settings 1) 2) Selection of the drive, parameterising, progr. for the position records ... (see section 4.2.4)

} Axis type } HME−... Electric linear module type HME−...

} Axis parameters } Zero point 3) 4) Offset of the axis zero point relative to the reference point} p

} SW−limit−neg 3) 4) Software end position, negative; offset relative to the axis zero point

} SW−limit−pos 3) 4) Software end position, positive; offset relative to the axis zero point

} Tool load Tool load mass (e.g. gripper on front panel of the HME−...)

} SAVE... Save parameters in EEPROM

} Homing paramet. } Homing method Selection of referencing method} 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 nr. Number of the position record (1...31)}

} Pos set mode Set status: absolute or relative positioning

} Position 3) 4) Target position

} Velocity Positioning speed

} Acceleration Acceleration

} Jerk Jerk

} Work load Effective load


} Jog Mode Move drive using arrow keys (reference run not required; SW limits without function)

} Password edit Set up a local password for the control panel (see section 4.2.4).

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

} LCD adjustment Rotate the display 180°

1) May be password−protected 2) Control interface must be deactivated, see [HMI control]: HMI = on3) Teach mode 4) Only following successful reference run

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 keys in the main menu to select[Diagnostic] and press the <Enter> button.

2. Select one of the following menu commands:

� Position record table [Pos. set table]

� Axis parameters [Axis parameter]

� System parameters [System paramet.]

� Version of the firmware of the SFC−LAC e.g. V1.00[SW�information]

Function Button

{ } You can scroll through thediagnostic data with the arrowkeys.

v V

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

} Diagnostic

} Pos. set tableAxis parameterSystem paramet.SW information



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

[Pos. set table] Description

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

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

Pos Target position

Vel Positioning speed (velocity)

a Acceleration (approach and braking ramps)

j Jerk

Work load Mass of the effective load

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

[Axis parameter] Description

Vmax Maximum positioning speed

Xneg Stroke limitation: software end position,negative

Xpos Stroke limitation: software end position,positive

Xzp Axis zero point offset

Tool load Tool mass (e.g. gripper)



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

[System paramet.] Description

Load power Ok Load voltage

VDig [V] Digital voltage

IMax [A] Max. string current

P_Pos [Ws] Work performed during last positioningprocedure

t_Pos [s] Time taken by last positioning procedure

Cycle Number of positioning cycles

Ref. switch on/off Signal from reference switch

In signal Hexadecimal representation of the inputsBit 0: I1 (position record coding Bit 0)Bit 1: I2 (position record coding Bit 1)Bit 2: I3 (position record coding Bit 2)Bit 3: I4 (position record coding Bit 3)Bit 4: I5 (position record 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: ACK (acknowledge)Bit 3: ERROR

Mode mm System of measurement (millimetres)

Hom.meth. � sw.neg� bl.pos� bl.neg

Reference switch in neg. direction (default)Fixed stop in positive directionFixed stop in negative direction

T_Motor [°C] Temperature of the linear motor of theHME−...

T_LAC [°C] Temperature of the SFC−LAC

T_If [°C] Temperature of the interface board in theHME−...



4.2.3 Device control �HMI control"

To select the menu commands [Positioning] and [Settings]you will require the setting �HMI: on". Only then is theSFC−LAC ready to process user entries on the control panel.

When selecting the menu commands, you will be prompted tomodify the HMI setting.

[HMI control] You can also modify the setting directly with the [HMI control]menu command.

CautionWhen control via the control panel or FCT is activated(HMI: on), the drive cannot be stopped with the STOPinput on the control interface.

HMI 1) Device control

on The parameterisation interface has been activated.Operation and parameterisation can be performedmanually via the control panel (or via FCT).The control interface has been deactivated. The actualstatuses of all inputs then have no effect and the statusesof the outputs have no meaning.

off Device control is performed via the control interface of theSFC−LAC.

1) Human Machine Interface



4.2.4 �Settings" menu

For parameterising the axis system and programming theposition records:

1. Use the arrow keys to select [Settings] from 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 record table [Position set]

� the position of the drive by moving with the arrowkeys [Jog Mode]

� the password setting [Password edit]

[Axis type] Design of the drive driven by the SFC−LAC.

[Axis type] Parameters

[HME−...] Electric linear moduleSelect the type used:e.g. HME−16−100 for an HME of size 16 with 100 mm effective stroke.

} Settings

} Axis typeAxis parameterHoming paramet.Position setJog ModePassword edit



[Axis parameter] Teach mode for setting the axis parameters

WarningThe HME−... linear module will move when teaching theaxis zero point and the stroke limitation.

· Make sure that nobody can reach into the positioningrange of the moveable load and that there are no objectsin its path.

[Axis parameter] Description

[Zero point] *) Offset of the axis zero point

[SW−limit−neg] *) Stroke limitation: software limit switch,negative

[SW−limit−pos] *) Stroke limitation: software limit switch,positive

[Tool load] Tool load mass, e.g. a gripper on front panel ofthe HME−...

[SAVE...] Save parameters in EEPROM

*) Teaching only possible after successful reference run.

NoteThe parameters you have set take effect immediately afterconfirmation with OK <Enter>.

· Save the parameter settings in EEPROM with the [SAVE]menu command. Only then will the settings be retainedeven when the power supply is switched off or if there isa power failure.

NoteA reference run must always be carried out after modifyingthe axis zero point.



[Homing paramet.] Sets the referencing (homing) method and the speeds duringthe reference run.

The maximum speed for the reference run is subject tobuilt−in limits.

[Hom. paramet.] Param. Description

[Homing method] switch negative Referencing to referenceswitch at the retracted endposition with index search = factory setting

block negative Referencing to negativefixed stop

block positive Referencing topositive fixed stop

[Velocity v_rp] v_rp Speed for searching for thereference point

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


NoteThe parameters you have set only take effect once theyhave been saved in EEPROM with [SAVE] after confirmingwith OK <Enter>.

· Save the parameter settings in EEPROM with the [SAVE]menu command. Only then will the settings take effectand be retained even when the power supply is switchedoff or if there is a power failure.

NoteA reference run (homing) must always be carried out aftermodifying the homing method.



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

WarningDuring teaching procedures to preset the target position,the HME−... will move.


[Position set] Param. Description

[Position nr.] Nr Number of the position record [1...31]

[Pos set mode] [absolute/relative]

Positioning modeAbsolute = position specification is relative to the project zero pointRelative = position specification is relative to the current position

[Position] *) xt Target position in [mm]

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

[Acceleration] a Acceleration in [mm/s2]

[Jerk] j Jerk in [m/s3]

[Work load] m Effective load in [g]


*) Teaching only possible after successful reference run.

NoteThe parameters you have set take effect immediately afterconfirmation with OK <Enter>. The settings are saved per�manently in EEPROM with the [SAVE...] menu command:

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



[Jog Mode] Moving the drive

WarningWhen moving by means of the arrow keys:


You can use the arrow keys to move the drive continuously(also possible without previous reference run). The softwarelimits are without function.



Password

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 has been preset at the factory (presetting = 000).

Setting up a password

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

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

1. Use the arrow keys to select a digit 0...9.

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

3. After entering the third�digit, save your setting with SAVE<Enter>.

Entering password

As soon as a password is active, it will be scanned automati�cally when the menu commands [Positioning], [Settings] or[HMI control] are accessed. When the correct password isentered, all parameterising and control functions of the con�trol panel are enabled until the power supply is switched off.

The current entry position is marked with a question mark.


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

3. Repeat the entry for the remaining entry positions.

Once the third digit has been entered, access via the controlpanel is enabled.

New Password:[ ? x x ] = 0

ESC <Menu>EDIT <��> OK <Enter>

Enter Password:[ ? x x ] = 0




Modifying/deactivating password

If the password has not yet been entered since the unit wasswitched on:

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

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


2. Confirm your entry with OK <Enter>. The next entry posi�tion will be displayed.

3. Repeat the entry for the remaining entry positions.

If the password has already been entered since the unit wasswitched on:

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

5. After entering the third digit, save your setting with SAVE<Enter>.

· Store the password for the SFC−LAC in a suitable place,e.g. in the internal documentation for your system.

If the active password in the SFC−LAC is nonetheless lost: the password can be deleted by entering a master password.If this is required, please contact your Festo Service partner.

Enter Password:[ ? x x ] = 0


New Password:[ ? x x ] = 0




4.2.5 �Positioning" menu

Starting a reference run or a positioning run to test theposition records.

WarningDanger of injury

During all positioning procedures, the HME−... will move.


Note· Before starting the reference run, make sure that:

� The positioning system is set up and wiredcompletely, and is supplied with power.

� The parameterising is completed.

· Only start a positioning run after:

� The reference system has been defined by areference run.

� You have checked that the software end positions arefar enough away from the mechanical end positions /fixed stops (at least 1 mm).

NotePlease note that position records with speed v = 0 orinvalid target positions (−> error TARGET POSITION OUT OFLIMIT) cannot be executed.



Executing a reference run

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

2. Select the menu command:

� Reference run [Homing]

[Positioning] Description Note

[Homing] Reference run for anchoring thedimensional reference system

First set the parameters in the [Settings][Homing parameter] menu.�Factory setting: referencing to referenceswitch and index pulse.

3. Make sure that nobody can reach into the positioningrange of the moveable load and that there are no objectsin its path. Start the reference run with START <Enter>.

The following information is displayed:

� The search speed to the reference point, v_rp

� 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

HomingAttention!Motor moves...

ESC <Menu>START <Enter>

HOMINGv_rp = 7.7 mm/sv_zp = 3.8 mm/s

STOP<Menu>



Executing position records

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

2. Select the menu command:

� positioning run �Position record" [Move posit set] � or

� positioning run �Position record table" [Demo posit tab]

[Positioning] Description Note

[Move posit set] Positioning run for testing a particularposition record in the position recordtable.

Parameterising and referencing musthave been completed.

[Demo posit tab] Positioning run (continuous loop) fortesting all position records (1...31) inthe position record table.

Parameterising and referencing musthave been completed.There must be at least two positionrecords in the memory.

In the [Demo posit tab] positioning run, all position records1...31 in the position record table will be executed one afterthe other. If the position record table contains a position re�cord with speed v = 0, this position record and all the follow�ing sets will not be executed; the positioning run will be con�tinued with position record 1.

} Positioning

Homing} Move posit set

Demo posit tab



3. Make sure that nobody can reach into the positioningrange of the moveable load and that there are no objectsin its path. Start the positioning procedure with START <Enter>.

During the positioning run the following information isdisplayed:

� the active position record, Pos...

� the target position, xt

� the positioning 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

DEMO STOP

With <Enter> you can interrupt the �Positionrecord table" positioning run [Demo posittab]. The current positioning set will beexecuted before the axis stops. If you restart,the run will begin with position record 1.

Enter

...Attention!Motor moves...

ESC <Menu>START <Enter>

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

Commissioning


Chapter 5

5. Commissioning


Contents

5.1 Preparations for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Checking the drive 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Checking the power supply 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Simultaneous attempts to access the controller 5−4 . . . . . . . . . . . . . . .

5.2 Commissioning with the control panel (only type SFC−LAC−...−H2−...) 5−5 . . . . . .

5.2.1 Before switching on 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting the drive type 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Setting the reference run parameters 5−7 . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Activating device control 5−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Carrying out a reference run 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Teaching the axis zero point 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Teaching software end positions 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.8 Teaching position records 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.9 Test run 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with the Festo Configuration Tool 5−19 . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the Festo Configuration Tool 5−19 . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Procedure for commissioning with the Festo Configuration Tool 5−20 . .

5.4 I/O function test (only type SFC−LAC−...−IO) 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Communication with the higher−level controller (only�type�SFC−LAC−...−IO) 5−23 .

5.5.1 Description of the I/Os 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Function description (pulse−time diagrams) 5−29 . . . . . . . . . . . . . . . . . .

5.5.3 I/O specification 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Instructions on operation 5−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning


5.1 Preparations for commissioning

For commissioning, the mechanical layout must be configured(type of drive) and a dimensional reference system must bedefined (see also Tab.�1/1). By means of the dimensional ref�erence system, all positions are defined and movement canbe made to them, e.g. with a position record from the positionrecord table.

· Carry out parameterising and commissioning by means ofthe control panel or FCT, as described in the followingsections and in the FCT/PlugIn help.

· Check the presettings in the [Diagnostic] menu.

· Upon completion of commissioning, note the instructionsfor operation in the FCT/PlugIn help and in section 5.6.

5.1.1 Checking the drive

NoteDuring operation, the HME must not strike a stop withoutshock absorption.

· Use shock absorbers or buffers on all stops (exception:reference runs).

· Before commissioning, make sure that:

� drive and controller have been completely set up andwired

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

· Observe the operating instructions for the HME−...

5. Commissioning


5.1.2 Checking the power supply

NoteMake sure that the supply voltage tolerance can be main�tained at full load directly on the voltage terminal of theSFC−LAC (see section 3.2 and Technical Data).

WarningDanger of injury: errors in parameterisation can causeinjuries to people and damage to property.

· Always carry out a reference run every time the logicvoltage supply is switched on, in order to anchor the di�mensional reference system to the reference point (REF).

5.1.3 Simultaneous attempts to access the controller

CautionSimultaneous attempts to access the SFC−LAC via FCT,control panel and control interface can cause unpredictableerrors.

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

NoteIn the following cases it is not permitted to use the FCT toaccess the SFC−LAC for purposes of writing data (e.g.downloading parameters) or for control (e.g. �Movemanually" or starting a reference run):

� While the SFC−LAC is executing a positioning motion orwhen a motion is started during access (e.g. via thecontrol interface or via the control panel).

� When parameterising or operation is being performedusing the control panel on the SFC−LAC.

Please note:

· Control by the FCT must not be activated while the driveis in motion or when control is being carried out via I/Os.

5. Commissioning


5.2 Commissioning with the control panel (only type SFC−LAC−...−H2−...)

Information on the button functions and the menu structureof the control panel can be found in chapter 4.

Overview for initial commissioning

Commissioning steps Section

1. Before switching on: make sure that there is no activeENABLE signal on the control interface.

5.2.1

2. Switch on the SFC−LAC and select the drive type. 5.2.2

3. Set the parameters for the reference run:� Referencing method� Search speed to reference point� Positioning speed to axis zero point

5.2.3

4. Activate device control for control panel [HMI = on] 5.2.4

5. Carry out a reference run. 5.2.5

6. Teach axis parameters:� Axis zero point� Positive and negative software end positions

5.2.6

7. Enter position records. 5.2.8

8. Carry out a test run. Check motion behaviour, basispoints and working range.

5.2.9

9. If needed, optimise position records, basis points andworking range.

5.2.9

10. Test the functioning of the control interface. 5.4

11. Upon completion of commissioning, note the instructions on operation.

5.6

Tab.�5/1: Commissioning steps

5. Commissioning


5.2.1 Before switching on

When switching on the SFC−LAC, the control interface is acti�vated under the default settings [HMI = off ]. If the HME set inthe SFC−LAC (e.g. HME−16−...) is different to the HME actuallyconnected (e.g. HME−25−...) when commissioning, activationof the controller by ENABLE or [HMI = on] can lead to an un�expected reaction from the entire system (the controller at�tempts to control a different linear module).

CautionUnexpected movements of the HME due to incorrectparameterisation

· Make sure that there is no active ENABLE signal on thecontrol interface when switching on the SFC−LAC.

· Parameterise the entire system completely beforeactivating the controller with ENABLE or [HMI = on].

5.2.2 Setting the drive type

1. Switch the SFC−LAC on.

2. Select your positioning drive:

� e.g. size 16, stroke 100 mm [HME_16_100] <Enter>

3. Save the setting with SAVE <Enter>.

} SettingsAxis type

HME_16_100HME_16_200HME_16_320HME_25_100...

5. Commissioning


5.2.3 Setting the reference run parameters

You can set two different speeds for searching for the refer�ence point and for the subsequent run to the axis zero point.The maximum possible speed is subject to built−in limits.

The reference point is determined as follows, depending onthe referencing method:

� by means of the reference switch (recommended) or

� by means of a fixed stop (to be fitted externally by thecustomer).

�Reference switch" referencing method

The reference switch is located at the retracted (negative) endposition. It must not be moved.

�Reference switch" referencing method

1

2REF AZ+

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 displace�ment encoder. That is the reference point.

2 The slide then moves at speed v_zp from the reference point tothe axis zero point (offset can = 0).

Tab.�5/2: Referencing to reference switch

5. Commissioning


�Fixed stop" referencing method

Precise referencing to a fixed stop can only be done onto ex�ternally fitted fixed stops (without rubber buffers or similarattachments). Therefore it is preferable to use the �referenceswitch" referencing method.

�Fixed stop" referencing method

� Negative fixed stop (retracted end position, near motor)

1

2REF AZ

+

REF

OffsetRef

� Positive fixed stop (extended end position, remote from motor)

1

2

AZ

�

REF

OffsetRef

3

1 Slide moves at search speed v_rp to the mechanical fixed stop (= reference point).

2 Slide moves at speed v_zp from reference point to axis zeropoint�AZ.

3 Externally fitted fixed stop

Tab.�5/3: Referencing to fixed stop

5. Commissioning


When referencing to fixed stop:

1. Measure the distance between your reference point andthe retracted end position (OffsetRef�; see Tab.�5/3).

2. Enter the value (±1�mm) in FCT or via the CI object6410/16h.

If you do not enter the offset of the reference point, controlinaccuracies (e.g. overshooting) can occur with small(100�mm) and large nominal strokes (400�mm).


The reference run may only be carried out against the fixedstop if the permitted impact pulse is not exceeded.

· Operate the HME−... linear module with the permittedload mass only (see operating instructions for HME−...).

· If needed, limit the maximum current (motor force)during the reference run using:

� the Festo Configuration Tool

� the CI command �Object 6073 Max. current".


During operation, the drive must not move to the mechan�ical end positions/stops.

· Set the offset of the axis zero point ��1�mm; e.g. +1�mmwhen referencing to negative stop, or −100�mm whenreferencing to positive stop.

· Set the software end positions accordingly.

· Specify target positions only within the permittedpositioning range.

5. Commissioning


Setting parameters

1. Set the following in the order shown:

� Referencing method [Homing method]

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

� Positioning speed to axis zero point [Velocity v_zp].

2. Accept each setting with OK <Enter>. The setting will thentake effect in the drive.

3. Save the parameter settings in EEPROM with the [SAVE]menu command. Only then will the settings be retainedwhen the power supply is switched off or if there is apower failure.

4. Then carry out a reference run as described in thefollowing section.

5.2.4 Activating device control

· Enable the control panel so that it can control the SFC−LAC[HMI�=�on]. This simultaneously deactivates the SFC−LAC’s controlinterface (I/O control). The actual statuses of the ENABLEand STOP inputs then have no effect.

CautionWhen control via the control panel or FCT is activated(HMI: on), the drive cannot be stopped with the STOPinput on the control interface.

When the controller is enabled for the first time with theENABLE signal or [HMI = on], the HME−... will spend a fewseconds determining its commutation point.

} SettingsHoming paramet.

Homing methodVelocity v_rpVelocity v_zpSAVE...

DiagnosticPositioningSettings

} HMI controlLCD adjustment

PLEASE WAIT!COMMUT.�POINTEVALUATION ISACTIVE.

5. Commissioning


5.2.5 Carrying out a reference run

Overview


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 reach into the operatingrange of the axes or other connected actuators and thatno objects lie in the positioning range while the systemis still connected to a power supply.

CautionWhen the referencing method is changed, the axis zeropoint offset is reset to the factory settings (see section5.2.6). Settings already made for the software end posi�tions and the target positions in the position record tableare retained and are shifted together with the axis zeropoint.

· Always carry out a reference run after changing thereferencing method.

· Teach the offset of the axis zero point again if needed.

If the axis zero point is modified:

· teach the software end positions and the targetpositions again.

During the reference run, the drive moves at first at thepreset search speed v_rp as per the selected referencingmethod up to the reference switch (or to the mechanical fixedstop) and when the signal has been evaluated, takes up theposition as reference point. The drive then moves at speedv_zp to the axis zero point. See also Tab.�5/2 and Tab.�5/3.

5. Commissioning


Starting a reference run

1. Select [Positioning] [Homing].

2. Start the reference run with START <Enter>.

Interrupting the reference run

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

NoteIf a reference signal is not found with the �referenceswitch" referencing method, the SFC−LAC will stop beforethe drive reaches a fixed stop and an error will be indi�cated (HOMING ERROR).

The reference run must be repeated after the error messagehas been acknowledged:

· Acknowledge the error message with <Enter>.

· If necessary, check the functioning of the referenceswitch.

· Check the settings of the parameters.

· If required, use the arrow keys to move the HME into adifferent position (see section 4.2.4 �Settings" menuunder [Jog Mode]��).

· Repeat the reference run.

} PositioningHomingMove posit setDemo posit tab

5. Commissioning


5.2.6 Teaching the axis zero point

Factory settings Axis zero point (= distance between axis zero point AZ andreference point REF):

� referencing to reference switch: 0 mm

� referencing to negative fixed stop: +1 mm

� referencing to positive fixed stop: −1 mm

NoteWhen referencing to stop:

· Set the offset of the axis zero point � 0.

You thereby avoid hitting the mechanical end positionsduring operation (causing mechanical damage and over�heating).

If necessary, teach the axis zero point:

WarningThe drive will move during the teaching procedure.


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

2. Move the drive manually to the desired axis zero pointusing the arrow keys.

3. Accept the position reached with OK <Enter>.

4. Carry out a reference run (see section 5.2.5).When the reference run is finished, the drive is at the newaxis zero point (xa = 0).

} SettingsAxis parameter

Zero pointSW�limit�negSW�limit�posSAVE

5. Commissioning


NoteIf the axis zero point is modified:

Software end positions and the target positions which havealready been set in the position record table are shiftedtogether with the axis zero point.

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

5.2.7 Teaching software end positions

Factory settings The factory settings differ depending on the referencingmethod selected:

Referencing method Factory settings [mm]

Reference switch (AZ: 0 mm) SW−limit−neg = 0SW−limit−pos = (nominal stroke −10)

Negative stop (AZ: +1 mm) SW−limit−neg = 0SW−limit−pos = nominal stroke

Positive stop (AZ: −1 mm) SW−limit−neg = −nominal strokeSW−limit−pos = 0

If necessary, teach the software end positions:

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

2. Move the drive with the arrow keys.

3. Accept the position reached with OK <Enter>. The settingwill then take effect.

NoteThe software end positions (SW limits) must lie at least1�mm from the next mechanical end position.

4. Save the parameter settings in EEPROM with [SAVE]. Onlythen will the settings be retained even when the powersupply is switched off or if there is a power failure.

5. Commissioning


5.2.8 Teaching position records

Prerequisites:

� The axis has been completely set up and wired andsupplied with power.

� The SFC−LAC has been correctly parameterised.

� The reference run has been carried out successfully.

� The axis zero point and the software end positions havebeen set correctly.

Enter the position records as follows:

1. Activate the desired position record (1...31) with[Settings] [Position set] [Position nr].

2. Add or correct the positioning mode of the positionrecord:

· Select [Pos set mode].

· Set the positioning mode with the arrow keys:Absolute = absolute position specification, relative

to the axis zero point (= project zero point)Relative = relative position specification, relative to

the current position

· Accept the value with OK <Enter>.

NoteIf the positioning mode is modified:

If this position record already has a target position, checkit for plausibility in the next step.

} SettingsPosition set

Position nrPos set modePositionVelocityAccelerationJerkWork loadSAVE

5. Commissioning


3. Teach the target position of the position record:

· Select [Position].

· Move the drive manually to the desired target positionwith the arrow keys.

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

4. Set the speed:

· Select [Velocity].

· Set the nominal speed with the arrow keys.

· Accept the setting with OK <Enter>. The setting willthen take effect in the drive.

5. Set the acceleration (approach and braking ramps):

· Select [Acceleration].

· Set the nominal acceleration with the arrow keys.


6. Set the jerk:

· Select [Jerk].

· Set the jerk with the arrow keys [m/s3].The jerk is the first derivative of the acceleration.Lower values result in gentler movement.


7. Set the effective load for this position record.

· Select [Work load].

· Set the effective load with the arrow keys.


5. Commissioning


8. Save this position record in EEPROM with [SAVE]. Onlythen will the settings be retained even when the powersupply is switched off or if there is a power failure.

9. Enter the next position record.

5.2.9 Test run

1. Enter several position records in order to check thepositioning behaviour (see section 5.2.8).

· You may wish to set the target positions at the limitsof the positioning range in order to check the softwareend positions.

· You may wish to set various different speeds.

2. Select [Positioning] [Move posit set] in order to execute aparticular position record.

or

3. Select [Positioning] [Demo posit tab] in order to executeall position records. At least two position records must beentered in the position record table in order to use thisfunction.

In the [Demo posit tab] positioning run, all position re�cords 1...31 in the position record table will be executedone after the other. If the position record table contains aposition record with speed v = 0, this position record andall the following sets will not be executed; the positioningrun will be continued with position record 1.

} PositioningHomingMove posit setDemo posit tab

5. Commissioning


4. Start the test run.

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

With DEMO STOP <Enter> you can interrupt the [Demoposit tab] positioning run. The current position record willbe executed before the drive stops.

NotePlease note that position records with speed v = 0 orinvalid target positions (−> error TARGET POSITION OUT OFLIMIT) cannot be executed.

· Check the positioning behaviour.

· Check the displayed positions of the axis.

5. If necessary, optimise the settings for position records,and for the basis points and the working range.

5. Commissioning


5.3 Commissioning with the Festo Configuration Tool

5.3.1 Installing the Festo Configuration Tool

The Festo Configuration Tool (FCT) is installed on your PC bymeans of an installation program. The SFC−LAC PlugIn is in�stalled on your PC together with the Festo ConfigurationTool’s installation program.

NoteThe FCT PlugIn SFC−LAC Version V01.00 supports thefollowing motor controllers of type SFC−LAC−...−IO:

� Hardware version V 01.00 and higher

� Firmware version V 01.00 and higher

Check with later versions of the SFC−LAC whether anupdated PlugIn is provided. If necessary consult Festo.

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 Festo Configuration Tool CD 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 [Run] in the Start 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


5.3.2 Procedure for commissioning with the Festo Configuration Tool

Starting the Festo Configuration Tool (FCT)

To commission the SFC−LAC with the Festo Configuration Tool,complete the following steps:

1. Connect the SFC−LAC to your PC via the RS232 interface.Follow the instructions in chapter 3.6.

2. Start the FCT: double−click the �Festo Configuration Tool"icon on the desktop.� or � go to the Windows [Start] menu and select the entry[Festo Software] [Festo Configuration Tool].

3. Create a project in the Festo Configuration Tool or open anexisting project. Add a device to the project with theSFC−LAC PlugIn.

4. Establish the device connection (online connection) be�tween the PC and the SFC−LAC via the toolbar of the FestoConfiguration Tool.It may be necessary here to have the same device names.

Device control

So that the Festo Configuration Tool can control the con�nected SFC−LAC, the control interface of the SFC−LAC must bedeactivated and control must be enabled in the FCT. Theactual statuses of the ENABLE and STOP inputs then have noeffect. To do this, go to the �General output" window, go tothe �Operate" tab, then under �Device control" activate firstthe �FCT control" box and then the �Enable" box. The controlinterface of the SFC−LAC will then be deactivated and controlwill be enabled for the Festo Configuration Tool.

5. Commissioning


Instructions on parameterising and commissioning

Further information can be found in the help function for theFesto Configuration Tool, using the command [Help] [ContentsFCT general]�; e.g.

� help on working with projects and on adding a device to aproject

� help on defining the dimensional reference system(referencing and basis points).

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

With the SFC−DC PlugIn for the Festo Configuration Tool, youcan perform any required parameterising offline, i.e. withoutthe SFC−LAC being connected to the PC. This enables prepara�tion for the actual commissioning, e.g. in the design officewhen planning a new system.

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

� descriptions of the dialogs for �Device SFC−LAC"

� descriptions of the steps involved in commissioning

� information on the basic functions: device connection,device name, device control and password protection.

5. Commissioning


5.4 I/O function test (only type SFC−LAC−...−IO)


Errors in parameterising can cause injury to people anddamage to property.

· Enable the controller only if the axis system has beencorrectly installed and parameterised.

To allow the SFC−LAC to be controlled via the control inter�face, you must deactivate the manual device control:

� Via the SFC−LAC control panel using the menu command[HMI control] (HMI = off).

� With the Festo Configuration Tool under �Device control"in the �Project output" window (FCT control).

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 functional description of thecontrol interface in section 5.5.1.

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

· Observe also the output signals which are output. Therewill be a 1−signal at the READY output (ready to operate) ifthe controller and the power output stage are enabledand if no error has been detected.

· Program or start the reference run and some positioningmovements.

· Check the positioning behaviour.

5. Commissioning


5.5 Communication with the higher−level controller(only�type�SFC−LAC−...−IO)

CautionLong I/O signal cables reduce immunity to interference.

· Therefore do not exceed the maximum permitted I/Osignal cable length of 30 m.

WarningDanger of injury Errors in parameterising can cause injuryto people and damage to property.


· Always carry out a reference run (position record 0)every time the logic voltage supply is switched on, thereferencing method is changed or the axis zero point ischanged.

Use the control cable specified in appendix A.2 to connect theSFC−LAC to a higher−level controller (PLC/IPC).

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

· Do not apply voltage to the outputs.

· Note the current limitation for the outputs.

5. Commissioning


5.5.1 Description of the I/Os

Position record I1 ... I5 In the SFC−LAC’s I/O variant, you can choose between32�position records (0...31) as desired. Position record 0carries out the reference run. The position records are se�lected via the binary code of the inputs I1 (bit 0) ... I5 (bit 4).

Position record I1 (20) I2 (21) I3 (22) I4 (23) 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

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

1) Reference run

5. Commissioning


I5 (24)I4 (23)I3 (22)I2 (21)I1 (20)Position record

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 positioning set

STOP: I6 Reset stop signal or error (see Tab.�3/6)

Input Status STOP (input)

I6 1 > 0 With MC = 0−signal:� Motor system stops with max. brake ramp.

With ERROR = 0−signal:� Error is reset

0 > 1 After error acknowledgement or axis stop:� Restore readiness to operate. READY > 1

(when ENABLE = 1)

The progress of the position record will be stopped by a fal�ling edge at the STOP input under the following preconditions:

� 0−signal is active at MC

� 1−signal is active at ERROR

MC (Motion Complete) provides a 0−signal until a positionrecord is interrupted with STOP. The position record canbe started again with a rising edge at the START input.

5. Commissioning


An active error will be reset by a falling edge at the STOPinput under the following preconditions:



Readiness to operate is restored by a rising edge at the STOPinput under the following preconditions:

� 1−signal is active at ENABLE


ENABLE: I7 Enable controller and power output stage.

A 1−signal at the ENABLE input causes the controller and thepower output stage of the SFC−LAC to be switched on.

A 0−signal at the ENABLE input causes the controller and thepower output stage of the SFC−LAC to be switched off.

NoteWhen the power output stage is switched off, the motor isno longer supplied with current. If the HME−... is mountedin a sloping or vertical position, this can result in the move�able load falling down.

As long as the logic voltage supply is not switched off, theactual position is recorded even after enabling is revoked. Itis not necessary to carry out a new reference run.

Input Status ENABLE (input)

I7 1−signal Controller and power output stageswitched on.

0−signal Controller and power output stageswitched off.

0 > 1 Acknowledge error.

START: I8 Start position record.

5. Commissioning


The execution of a position record is started by a rising edgeat the START input under the following preconditions:

� 1−signal is active at READY


� 1−signal is active at STOP

� The desired position record is active at I1...I5

Input Status START (input)

I8 0 > 1 Start of the position record.

The position record can be stopped (abort) with a falling edgeat the STOP input. If started again, the position record will becontinued as from the current position.

MC: O1 Motion Complete

Output Status MC (output)

O1 0−signal � Positioning procedure is being carried out.� There is an error (if ERR=0).

1−signal � Positioning procedure completed (actual position is within target window,compare object 6067h), or

� nominal position = actual position (if enable is not set).

5. Commissioning


READY: O2 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 is active at ENABLE or� there is an error or� 0−signal is active at STOP.

1−signal System is ready to operate.� 1−signal is active at ENABLE and� there is no error and� 1−signal is active at STOP.

ACK: O3 Acknowledge.The ACK signal confirms receipt of the START signal.

This can be used, for�example, to implement handshake func�tions with the higher−level PLC/IPC (see also section 5.5.2).

Output Status ACK (output)

O3 1 > 0 START signal accepted.

0 > 1 START input reset.

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

While there is a positive level at the START input during theexecution of a position record (MC signal = 0), the ACK outputremains set (until START is reset).

ERROR: O4 Error.

A 0−signal at the ERROR output indicates that the SFC−LAC isreporting an error (see chapter 6.3).

A 1−signal at the ERROR output indicates that the SFC−LAC isnot reporting any error.

Output Status ERROR (output)

O4 0−signal Error

1−signal No error

5. Commissioning


5.5.2 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

Initialisation

1

0

Position recordI1...I5 = 0

1

0MC O1

ACKsignal


ÏÏÏÏ

*)

Fig.�5/1: Pulse−time diagram � switch−on and reference run

5. Commissioning


Switch−on behaviour

To ensure that the system starts correctly, all input signalsmust be stable when the power supply is switched on(min.�1 s). Only then are the input signals scanned.

*) If there are no errors (ERROR signal = 1) and enabling is activated for the first time (ENABLE signal = 1), the drive searches for its commutation point. It will vibrate for a few seconds and move minimally. The SFC−LAC then reports readiness to operate (READY signal > 1).

After that the reference run can be started (input wordI1...I5 = 0, positive edge at START input).Other position records (I1...I5 � 0) cannot be started (−> error PLEASE ENFORCE HOMING RUN!").

Start of the reference run

When the START signal is set (> 1), confirmation follows viathe ACK signal (> 0). The MC signal (Motion Complete) isreset (> 0); the drive carries out the reference run. When the START signal is reset (> 0), confirmation followsvia the 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.�5/3.

Stopping the reference run

An ongoing reference run, like any position record, can bestopped with a negative edge at the STOP input (> 0); seeFig.�5/2. The drive stops the motion with maximum brakeramp. The MC signal (Motion Complete) is set (> 1), theREADY signal is reset (> 0).

Error 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−LAC reports anerror.

5. Commissioning


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

NoteIf an error occurs during the reference run or if thereference run is stopped, the reference run must first berepeated before a different position record is started.

Information on error handling via the I/O interface can befound in Fig.�5/5 and Fig.�5/6. Information about the errormessages can be found in chapter 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 inmotion

Reference runstopped


1

0

Position recordI1...I5 = 0

1

0MC O1

Deletingerrors

Start of position record

I1...I5 = 1...31

Error

Fig.�5/2: 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

Start ofposition record

1

0

Position recordI1...I5 = 0...31

1

0MC O1



No start

Fig.�5/3: 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 other positioning 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

Stoppingpositioningprocedure


1

0


1

0MC O1


New start ofposition record

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

Stopping the positionrecord

An ongoing positioning procedure can be stopped with a0−signal at the STOP input (> 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 a 1−signal at the STOPinput (> 1); after that any desired position record can bestarted.

5. Commissioning


Error during positioning procedure andacknowledging errors with STOP input

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

Error occurs


1

0


1

0MC O1

Error ack−nowledged

New start of position record

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

Error during positioning If an error occurs during the positioning procedure, thedrive is stopped immediately, and the ERROR signal and theREADY signal are reset (> 0).

The SFC−LAC reports the corresponding error.

5. Commissioning


Error during positioning procedure andacknowledging errors with ENABLE input

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

Error occurs


1

0


1

0MC O1

Error ack−nowledged

Ready for operation


Fig.�5/6: Pulse−time diagram � acknowledging errors with ENABLE

A 0−signal at the ENABLE input causes the controller and thepower output stage to be switched off. The motor is no longersupplied with current, and the drive can be shifted.As long as the logic voltage supply is not switched off, theactual position is still recorded. It is not necessary to carryout a new reference run.

5. Commissioning


5.5.3 I/O specification

I/O specification

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 Typically >��7 mA

Maximum permitted input voltage 30 VDC

Minimum input voltage 0 VDC

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.Reversed−polarity voltagemust not be applied�!

Tab.�5/5: I/O specification

5. Commissioning


5.6 Instructions on operation

Note the following instructions and recommendations:


Errors in parameterising can cause injury to people anddamage to property. In the following cases a reference runis absolutely essential so that the basis points and workingrange can be set correctly:

� Every time the logic voltage supply is switched on.

� When the referencing method is changed.

� When the axis zero point is modified.

NoteMake sure that:

� a reference run is carried out when the higher−order con�troller or motor controller is switched on or, if applicable,after errors.

� the drive can move freely when ENABLE is set.

Device connection

CautionThe RS232 interface is not electrically isolated. It is notintended for permanent connection to PC systems, nor as acontrol interface.

· Use the connection only for parameterising anddiagnosis.

5. Commissioning


Control during operation


Errors in parameterising can cause injury to human beingsand damage to property when you enable the controllerwith a 1−signal at the ENABLE input.


CautionNote the manufacturer’s specifications for the permittedoperating conditions of the motors and drives used, suchas the permitted positioning speeds, for example.


Movement onto the mechanical end positions is notpermitted during operation.

NoteAny functions implemented within the framework of theEMERGENCY STOP concept must be accommodated in thecontrol programs.

5. Commissioning


Password protection

Protection by means of a password is not set when the prod�uct is supplied from the factory. In order to prevent unautho�rised or unintentional overwriting or modification of para�meters in the device, all download and control functions canbe blocked.

· Recommendation:Protect your settings against undesired modificationswith a password:

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

� HMI password protection on the control panel of theSFC−LAC−...−H2−... (3 characters, see chapter 4.2.4)

Care and maintenance

The motor controllers of type SFC−LAC−... are maintenance−free within the service life specified. However, follow themaintenance instructions for the additional components.

5. Commissioning


Diagnosis and error treatment


Chapter 6

6. Diagnosis and error treatment


Contents

6.1 Diagnosis options 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

6.3 Error messages on the display (only type SFC−LAC−...−H2−...) 6−6 . . . . . . . . . . . .

6.3.1 Warnings 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Errors 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 Diagnosis options

The SFC−LAC offers the following options for diagnosis anderror display:

� LEDs indicate readiness to operate, positioning status,and errors.

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

� READY indicates readiness to operate.

� MOTION COMPLETE indicates whether a positioningtask has been completed.

� ERROR indicates an error in the SFC−LAC.

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

� The LCD display shows diagnostic data, error mess�ages, the operation mode, the current position record,target and actual positions and speed.

� The FCT (with active device connection):

� Displays the current position record, with target andactual positions and speed.

� Displays the operation mode, special outputs andoperating statuses, and error messages from the con�nected SFC−LAC.



6.2 LED status displays

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

1

Fig.�6/1: LEDs on the SFC−LAC−...−H2

The three LEDs indicate the operating status:

� Operating voltage LED (Power)

� Interface LED (I/F)

� Error LED (Error)

Operating voltage LED (Power)

Power Status

Operating voltage applied.

Green

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

Off

Check the operating voltage connection if necessary.



Interface LED (I/F)

I/F 1) Status

Ready to operate; is enabled� Positioning procedure has been completed or

stopped (Motion Complete)Green

stopped (Motion Complete)� Controller and power output stage enabled

Ready to operate; is not enabled� Positioning procedure has been completed or

stopped (Motion Complete) andGreen/red

stopped (Motion Complete) and� Controller and power output stage not enabled.

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

cedure in progress); controller and power outputt bl d

Off

p g p pstage are enabled.or

� Error (e.g. I2t error)

Controller output stage is switched off� E.g. after �Load Power Down" error

Red

1) Two−colour LED

Error LED (Error)

Error Status

ErrorThe SFC−LAC is not ready for operation.

Red

WarningCheck cause and rectify if necessary; see section 6.3.

Flashing

No internal error reported.The SFC−LAC is ready for operation.

Off

The SFC−LAC is ready for operation.



6.3 Error messages on the display (only type SFC−LAC−...−H2−...)

6.3.1 Warnings

If the operating temperature is not in the permitted range orthe reference switch is in an unfavourable position, theSFC−LAC will display a corresponding warning. If a positioningtask is running, it will not be interrupted. The error LEDflashes; the ERROR output is not reset.

Warning Cause

WARNINGMOTOR COLD

Operating temperature of the HME T <��−10 °C,increase ambient temperature as appropriate.

WARNINGMOTOR HOT

Operating temperature of the HME 70...75 °C,check for possible overloading of the drive;check the mechanical system, e.g. forsluggishness; reduce ambient temperature.

WARNINGSFC−LAC COLD

Operating temperature T <��−10 °C

WARNINGSFC−LAC HOT

Operating temperature 80...85 °C

INDEX PULSEWARNING

During the reference run: The reference switch signal is too close to theindex pulse. This can in some cases mean thatno reproducible reference position can bedetermined.· Please do not move the reference switch.· Consult Festo Service.



6.3.2 Errors

If there is an error, the drive will be stopped. The error LEDflashes; the ERROR output is reset (> 0).

· Eliminate the cause of the error.

· Acknowledge the error message:

� with <Enter> on the control panel

� via I/Os with a falling edge on the STOP signal(see�chapter 5.5.2)

� via I/Os with a falling edge on the ENABLE signal(which will switch off the controller; if unit is mountedvertically, load can fall down�!)

� with the �Acknowledge error" button in the FestoConfiguration Tool.

Error Possible cause and remedy

HARDWARE ERROR HME

Wire fracture on temperature sensor.· Consult the Festo Service.

HARDWARE ERRORSFC−LAC

Device fault e.g. EEPROM defective.· Please contact your Festo Service.

CAN COMMUNICATION ERROR CAN communication error.· Please contact your Festo Service.

ELGO SENSOR / COMMUNICATION ERROR

Positioning sensor faulty· Please contact your Festo Service.

ERROR MOTOR HOT Overheating (operating temperature HME >��75 °C).· Check that limit values (motor characteristics) are not exceeded

and check mechanical system, e.g. for sluggishness.· If necessary, reduce the ambient temperature.· Improve heat dissipation.

ERROR SFC−LAC HOT Overheating (operating temperature >��85 °C).· Check that limit values (motor characteristics) are not exceeded

and check mechanical system, e.g. for sluggishness.· If necessary, reduce the ambient temperature.· Improve heat dissipation.




DIGITAL−POWER−DOWN Voltage monitoring: U <��15 VPossible causes:� Digital voltage supply too low� Voltage drops under load· Check the voltage supply:

� Power supply unit too weak?� Feed line too long, cross−sectional area too small?

LOAD−POWER−DOWN Voltage monitoring: U <��36 VPossible causes:� Load voltage supply lacking or too low� Voltage drops under load· Check the voltage supply:

� Power supply unit too weak?� Feed line too long, cross−sectional area too small?

HOMING ERROR Error during the reference run.Possible causes:� Built−in reference switch is defective· If necessary, check the function of the reference switch.· If necessary, check the software end positions.· In all cases, be sure to repeat the reference run.· Please contact your Festo Service.

PLEASE ENFORCE HOMINGRUN!

When starting a positioning set:After the power supply was switched on, no reference run wascarried out or a reference run was stopped.· Carry out a reference run.

POSITION ERROR Position error (following error)Possible causes:� The drive is blocked.� Speed, acceleration or jerk is too great.· Check the drive’s mechanical system and the speed of the

position record.

TARGET POSITION OUT OFLIMIT

The target position is outside the permitted positioning range.· Check the software end positions and the target position.

I2t−ERROR Current monitoring i2t.Possible cause: The drive is blocked; load/dynamic response toogreat.· Check the drive’s mechanical system.· Reduce load/dynamic response; increased pause times.




MOTOR STOP ERROR Emergency stop. A positioning procedure has been stopped withthe <Menu> button (EMERG.�STOP [Menu]��).

POSITION PLAUSIBILITYERROR

Error when searching for the commutation point.· Acknowledge the error. The search will begin again.

COMMUTATION POINT ERROR Commutation point not valid.

Possible causes:� The drive is blocked.· Ensure free movement.� Non−permitted high load.· Reduce load.� Control parameter set incorrectly.· Ascertain control parameters and set correctly. If necessary, find

commutation point without load (disconnect load, set tool loadand work load correctly), start the axis, connect load (set toolload and work load correctly), ascertain new control parameters(see FCT help for controller parametrizing), re−parametrize driveand start the search for the commutating point again with newcontrol parameters.

� The drive is at a hard end stop. In the direction of the stop novibrating mouvements are possible. These are necessary to findthe commutation point.

· Use elastic end stops (e.g. rubber buffer).� Axis fastening not stiff enough .· Form stiffer fastening.� Load mass coupling not stiff enough.· Form stiffer coupling.� Load can oscillate.· Form stiffer load.· Modify natural frequency of the load.

Please contact the Festo Service if the measures described abovehave no effect.



Technical appendix

A−1Festo P.BE−SFC−LAC−IO−EN en 0604NH

Appendix A

A. Technical appendix

A−2 Festo P.BE−SFC−LAC−IO−EN en 0604NH

Contents

A.1 Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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



A.1 Technical data

General

Protection class as per EN�60529(plug connector inserted or fitted with protective cap)

IP54

Relative air humidity (at 25 °C) 0...95 %, non−condensing

Temperature range� Operation� Storage/transport

0...+40�°C−20...+60�°C

Protection against electric shock(protection against direct and indirect contact as perIEC/DIN EN 60204−1)

By means of PELV circuit (Protected�Extra−Low Voltage)

Electromagnetic compatibility (EMC) 1) 2)

(interference immunity and interference emission)See declaration of conformity

Vibration As per DIN/IEC 68/EN�60068 part 2−6:0.15�mm travel at 10...58 Hz2�g acceleration at 60...150�Hz

Shock As per DIN/IEC 68/EN�60068 part 2−27:±15�g for 11�ms duration5 shocks per direction

Temperature monitoring Warning at temperature >��80 °CShutdown at temperature >��85 °C (restartonly when temperature falls below 80 °C)

Display resolution 128 x 64 pixels

Serial interface RS232, 38400 baud

Mounting Wall or hat−rail mounting

1) The device is intended for industrial use.2) Max. permitted I/O signal line length: 30 m.

Max. permitted length for power supply line: 10 m.



Mechanical data

Dimensions Approx. 178 x 120 x 66 mm (without plugs)

Product weight Approx. 1200 g

Electrical data

Load voltage supply(power connection, pins O1, O2)� Rated voltage� Rated current (max. continuous motor current)� Peak current

48 VDC (+5/−10 %) (Load power down: � 33 V)10 A20 A

Logic voltage supply(power connection, pins 1, 2)� Rated voltage� Rated current� Peak current

24 VDC ±10 %0.4 A0.8 A

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

24 VDC ±10 %0.05 A2 A

Specifications for electrical inputs and outputs See chapter 5.5.3

Specifications for serial interface See chapter 3.6



A.2 Accessories

Terminal Cable Type Length [m]

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

Motor terminal Motor cable KMTR−LAC−S50HC−S50HC−... 2.5 / 5 / 10

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

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 items per bag

Wall mounting Type Remarks

2 sets of central supports (4 brackets) MUP−18 2 items per bag

Wall mounting requires 4 additional M3 screws with cylindrical head.

Hat−rail mounting

Hat−rail mounting is done on a mounting rail EN 50022 � 35�x�7.5; width 35 mm,height 7.5 mm or 15 mm (recommended).

User documentation in paper form

German P.BE−SFC−LAC−IO−DE

English P.BE−SFC−LAC−IO−EN

French P.BE−SFC−LAC−IO−FR

Italian P.BE−SFC−LAC−IO−IT

Spanish P.BE−SFC−LAC−IO−ES

Swedish P.BE−SFC−LAC−IO−SV



Supplementary information

B−1Festo P.BE−SFC−LAC−IO−EN en 0604NH

Appendix B

B. Supplementary information

B−2 Festo P.BE−SFC−LAC−IO−EN en 0604NH

Contents

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

B.1.1 Procedure for data transmission B−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 CI commands B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.3 CI objects (overview) B−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.4 Object description B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Converting the units of measurement B−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



B.1 The Command Interpreter (CI)

The commands implemented in the SFC−LAC’s Command In�terpreter are based on the objects standardised 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 parameterising and control possibilities is re�ferred to as the object directory. The controller’s object direc�tory can be accessed via Service Data Objects (SDO). SDOsare used for normal parameterising of the controller. TheSDOs are always accessed from the higher−order controller(host). A unique number (index, subindex) is assigned toeach object.

Access procedure The higher−order controller sends the controller either a writecommand (WRITE) to modify a parameter in the object direc�tory, or a read command (READ) to read out a parameter.

For each command the higher−order controller receives a re�sponse which either contains the value read or, in the case ofa write command, serves as an acknowledgement. The trans�mitted value (1, 2 or 4 data bytes) depends on the data typeof the object to be read or written.

The firmware of the SFC−LAC offers the option of simulatingSDO access with CI commands via the RS232 interface.



B.1.1 Procedure for data transmission

CautionIn special cases, access with CI commands enables para�meterising and commissioning the SFC−LAC directly via theRS232 interface. It is, however, not suitable for real−time−capable communication.

Control via RS232 goes beyond the unit’s intended useand requires measures such as the following:

� A risk estimation by the user.

� Ambient conditions free of interference.

� Securing the data transmission e.g. via the controlprogram of the host.

· It is preferable to use the control panel or the FCT forcommissioning and parameterising.

· Use the SFC−LAC’s control interface for control.

WarningInjury to people and damage to property.

The CI commands allow full access to the internal variablesof the controller. Incorrect operation can cause the con�troller to react unexpectedly and the motor may start in anuncontrolled manner.

· Use the CI commands only if you already have experi�ence of Service Data Objects.

· Familiarise yourself with the CiA Draft Standard 402regarding use of the objects before you executeCI�commands on the SFC−LAC’s Command Interpreter.

For data transmission, you will require the FCT software or aconventional terminal program.



Carry out the following steps:

· Connect the SFC−LAC to your PC via the RS232 interface.Follow the instructions in chapter 3.6.

· If necessary, adapt the PC interface to the following trans�mission protocol:

Transmission protocol

Transmission speed (baud rate) 38400 Baud

Data format Asynchronous character frame:� 1 start bit� 8 data bits� 1 stop bitNo flow control.

Parity None

· You can use the following command to initialise datatransmission and determine the SFC−LAC’s responsereadiness:

Command 310D h Response 31310D h

1 <CR> 11 <CR>

· Select the commands in accordance with the object list insection B.1.3.

· Use CI commands only if you already know their effectsand if they are permitted for your SFC−LAC.

· Transfer the commands using the FCT software or a con�ventional terminal program.For the command syntax see section B.1.2.



Permitted value ranges Transferred parameters and values are checked by theSFC−LAC before being accepted.

� Invalid parameters will not be accepted.

� Values outside the permitted value range will be limitedto the nearest valid value.

NoteIn the case of invalid parameters or values, an error mess�age will not appear in the response; rather, the transferredvalue will always be returned.

Recommendation:

· Check that values and parameters have been writtencorrectly by downloading the current contents of theparameter or value with one of the following Read com�mands:

Transmission error If there is a transmission error between host (PC) and targetdevice, e.g. due to an error in the host command, the object2FF0:FF<CR> will be transferred instead of the usual response.

Possible causes:

� incorrect initial character, separating character or emptycharacter

� incorrect hex digit

� incorrect value type.

Name Class IIII SS Type Acc

communication_error

Var 2FF0 00 UINT16 R

Value Comment

0xFF In the case of a transmission error, the value <0xFF>will be transferred instead of the usual response.



NoteTransmission of the command is repeated 8 times by thehost. After that the serial connection is regarded as unus�able and is interrupted. Transmission must then be initia�lised again.

B.1.2 CI commands

CautionLoss of data

The Command Interpreter (CI) contains commands whichreorganise or delete parts of the memory. Existing data willbe destroyed in the process:

· It is preferable to use the FCT or the control panel forcommissioning and parameterising.

· Use the CI commands only in special cases which requiredirect access to the controller.

· Use CI commands only if you already know their effectsand if they are permitted for your SFC−LAC.

WRITE (W) Write commands (W) transfer a value in the specified formatto the SFC−LAC. As a response, write commands will bereflected exactly character by character from the SFC−LAC. A checksum <PS> will be inserted in front of the <CR>.

NoteThe following applies when writing to the objects:

� Discrete values (values from a value list): an invalidvalue will not be accepted; the previously valid value willbe retained.

� Continuous values (e.g. lengths, speeds, etc.): an invalidvalue will be limited to the nearest permissible minimumor maximum value.



READ (R) Read commands (R) transfer a value from the SFC−LAC. Theresponse from the SFC−LAC controller contains the value read.A checksum <PS> will be inserted in front of the <CR>.

All commands are entered as a character sequence withoutany empty spaces. A hex character is a Char character in hexformat.

Acc Command Response

W =IIIISS:<value>CR =IIIISS:<value> <PS> <CR>

R ?IIIISS<CR> =IIIISS:<value> <PS> <CR>

W = writeR = read

Syntax Explanation

�=", �?" Initial character for write or read commands

IIII Index in 4 hexadecimal digits (4H)

SS Subindex in 2 hexadecimal digits (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 digits (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 sectionB.1.4).

The following data types are supported:

Type Hex Format

UINT8 2H 8 bits without algebraic sign: 0...255

INT8 8 bits with algebraic sign: −128...127


INT16 16 bits with algebraic sign: −32768...32767


INT32 8H 32 bits with algebraic sign: −(231)...(231−1)

V−STRING Corresponds to the preset string

NoteDirect transfer of values using CI commands via the serialinterface always takes place in increments and requiresconversion.

All parameters are always saved in the controller in metricunits.

Further information can be found in section B.2.

All values are transferred in hexadecimal digits. A characterconsists of 4 bits, and is called a tetrad <Tn>. The first tetradtransferred contains the higher−value bits of the value. Gen�erally: Tetrad <Tn> contains the bits bn...bn+3

Example: UINT8

Dec 26

Hex 1 A

Bin 0 0 0 1 1 0 1 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 and isshortened to 1 byte (modulo 256).

The other station must compare the sent command with the�ecco" from the controller and process the checksum.

Checksum

Syntax IIIISS:<Checksum>

Format 2 hexadecimal digits

Type UINT8

B.1.3 CI objects (overview)

NoteThe following table contains an overview of the CI objects.Some objects can only be used for certain product variantsor only with limitations (e.g. writing only for servicingpurposes):

· When using the objects, observe the detailed descrip�tion in section B.1.4.



Name CI objects

Class Type Index Subind. Access

Group 1xxx

Device Type Var uint32 1000h 00h r

Manufacturer_Device_Name (manufacturer’s name for the device)

Var V−string 1008h 00h r

Manufacturer_Hardware_Version Var V−string 1009h 00h r

Manufacturer_Firmware_Version Var V−string 100Ah 00h r

Group 2xxx

Record_Number Array uint8 2032h 01h rw

Profile_Jerk Var uint32 2036h 00h rw

Work_Load (effective load) Var uint32 2037h 00h rw

Min_FCT_Version (minimum FCT version) Var V−string 2067h 00h r

Opt_FCT_Version (optimum FCT version) Var V−string 2068h 00h r

Scaling (system of measurement and no. ofdecimal places)

Array uint8 20D0h 01h, 02h r

Record_Table_Element (element in position record table)

Struct various 20E0h 01h...06h rw

Axis_Parameter (axis type) Struct uint32 20E2h 04h rw

Controller_Type Var uint16 20E3h 00h rw

Data_Memory_Control (commands for EEPROM) Array uint8 20F1h 01h, 02h w

Trace_Control (recording of measured values) Struct various 20F2h 01h...04h various

FCT_Password Array V−string 20FAh 01h, 02h rw

Local_Password (password for MMI control panel) Var V−string 20FBh 00h rw

User_Device_Name (user−defined name for the device)

Var V−string 20FDh 00h rw

LCD_Parameter Array uint8 20FFh 01h, 02h rw

Communication_Error (transmission error) Var uint16 2FF0h 00h r



Name CI objectsName

AccessSubind.IndexTypeClass

Device_Error Var uint16 2FF1h 00h rw

Device_Warning Var uint16 2FF2h 00h rw

Cycle_Number Var uint32 2FFFh 00h r

r = read only; w = write only; rw = read and write

NoteSome control parameters of the SFC−LAC are preset.Modification is only permitted for servicing purposes. If necessary consult Festo.

Name CI objects

Class Type Index Subind. Access

Group 6xxx

Control_Word Var uint16 6040h 00h w

Status_Word Var uint16 6041h 00h r

Operation_Mode Var int8 6060h 00h w

Operation_Mode_Display (display of operation mode)

Var uint8 6061h 00h r

Target_Position Var int32 6062h 00h r

Actual_Position Var int32 6064h 00h r

Following_Error_Window (lag error) Var uint32 6065h 00h rw

Following_Error_Timeout (timeout for following error monitoring)

Var uint16 6066h 00h rw

Position_Window Var uint32 6067h 00h rw

Position_Window_Time (adjustment time for position)

Var uint16 6068h 00h rw

Velocity_Target_Value (nominal value for speed) Var int32 606Bh 00h r



Name CI objectsName

AccessSubind.IndexTypeClass

Velocity_Actual Value (actual value of speed) Var int32 606Ch 00h r

Max_Current (maximum current) Var uint16 6073h 00h rw

Target_Position Var int32 607Ah 00h rw

Software_End_Positions Array int32 607Bh 01h, 02h rw

Offset_Axis_Zero_Point (offset for axis zero point) Var int32 607Ch 00h rw

Polarity (reversal of direction) Array uint8 607Eh 00h r

Profile_Velocity (final speed) Var int32 6081h 00h rw

Profile_Acceleration (acceleration) Var int32 6083h 00h rw

Quick_Stop_Deceleration (quick−stop ramp) Var uint32 6085h 00h rw

Homing_Method (reference run method) Var uint8 6098h 00h rw

Homing_Velocities (speeds for reference run) Array int32 6099h 01h, 02h rw

Position_Control_Parameter_Set (parameters of the position controller)

Array int32 60FBh 12h...15h rw

Local_Digital_Inputs Var uint32 60FDh 00h r

Local_Digital_Outputs Array uint32 60FEh 01h, 02h r

Motor_Type Var uint16 6402h 00h rw

Motor_Data (HME data) Record various 6410h 01h...36h various

Supported_Drive_Modes (supported drive functions)

Var uint32 6502h 00h r

Drive_Manufacturer (manufacturer name) Var V−string 6504h 00h r

HTTP_Drive_Catalog_Address (HTTP address of manufacturer)

Var V−string 6505h 00h r

Drive_Data (data of the SFC−LAC) Record various 6510h 31h...A0h various

r = read only; w = write only; rw = read and write



B.1.4 Object description

Password

CI access 20FAh 01h...02h Array V−string rw/r

Description Managing the FCT password, entering the super password

FCT Password 20FAh 01h V−string rw

Password for the FCT softwareValue: <........> (fixed 8 characters (ASCII, 7−bit)Default: <00000000> (status upon delivery and after resetting)

Super password 20FAh 02h V−string rw

Entering the super passwordResets all passwords (FCT password and HMI password, object 20FB).Contact Festo Service if you require the super password.

1 Name of the parameter in English(sometimes with explanation inbrackets)

2 CI object number

3 Subindices of the parameter

4 Class of the element

5 Type of the element

6 Description of the parameter

7 If applicable: description of thesubindices

8 Read/write permission: r = read onlyw = write onlyrw = read and write

Fig.�B/1: Layout of object entries

1 2 3 4 5

6

7

8



Group 1xxx

Device_Type

CI access 1000h 00h Var uint32 r

Description Classification of the device type.Fixed: 0

Manufacturer_Device_Name (manufacturer’s name for the device)

CI access 1008h 00h Var V−string r

Description Designation of the drive.Example: �SFC−LAC−VD−10−E−H2−IO"

Manufacturer_Hardware_Version


Description Code of the hardware versionFormat = �Vxx.yy" (xx = main version, yy = secondary version)

Manufacturer_Firmware_Version

CI access 100Ah 00h Var V−string r

Description Code of the firmware versionFormat = �Vxx.yy" (xx = main version, yy = secondary version)



Group 2xxx

Record_Number

CI access 2032h 01h Array uint8 rw

Description Selection of a position record:� From the CI object for the position record table

object 20E0 (record_table_element) or

� From the individual objects object 607Ah: target_positionobject 6081h: profile_velocityobject 6083h: profile_accelerationobject 2036h: jerkobject 2037h: work_load

Record Number 2032h 01h uint8 rw

Set number: reading or writing.Values:00 (0x00): reserved, do not use (CANopen)01 (0x01): reserved, do not use (CANopen)02 (0x02): positioning record 0 (reference run)03 (0x03): position record 104 (0x04): position record 2... position record ...33 (0x21): position record 31



Profile_Jerk

CI access 2036h 00h Var uint32 rw

Description Reading and writing the jerk [increments/s3] for a position record.The jerk is the first derivative of the acceleration. Lower values result in gentlermovement.The number of the position record is defined by object 2032h Record_Number.Writing does not cause any immediate movement.For the range of values, see object 20E0/05h.

Work_Load (effective load)


Description Reading and writing the effective load [g] for a position record.The number of the position record is defined by object 2032h Record_Number.Writing does not cause any immediate movement.For the range of values, see object 20E0/06h.

Min_FCT_Version (minimum FCT version)


Description Specifies the minimum FCT version required.Format: �xx.yy" (xx = main version, yy = secondary version)

Opt_FCT_Version (optimum FCT version)


Description Specifies the optimum FCT version.Format: �xx.yy" (xx = main version, yy = secondary version)



Scaling (system of measurement and no. of decimal places)

CI access 20D0h 01h, 02h Array uint8 r

Description Definition of the system of measurement used for displaying the values on thecontrol panel and the number (n) of places after the decimal point.

Measuring Unit(unit of measure

20D0h 01h uint8 r(unit of measure�

ment) Definition the unit of measurement.The setting for the system of measurement only affects the display. All parameters are converted to the given unit of measurement only whenwriting or reading. Note: The SFC−LAC operates internally with metric units; the CI interface with

increments.Values:� 01 (0x01): Millimetres: e.g. mm, mm/s, mm/s2 (default)� 04 (0x04): Angular measurements: e.g. degrees, degrees/s, degrees/s2

(cannot be set on SFC−LAC−IO)� 08 (0x08): Rotations: e.g. rev, rev/min, rev/min2

(cannot be set on SFC−LAC−IO)� 15 (0x0F): Increments: e.g. inc, inc/s, inc/s2

(cannot be set on SFC−LAC−IO)

Scaling Size(no of places

20D0h 02h uint8 r(no. of places

after dec. point) Number of places after the decimal point.Value range: 0...4 (0x00...0x04)Fixed: 2 (cannot be set for SFC−LAC)




CI access 20E0h 01h...06h Struct uint16, uint32, int32 rw

Description Editing the entries in the position record table:1. Selection of line (= Position number) with object 2032h.2. Selection of column under subindex 20E0: 01...06

20E0/01 20E0/02V

20E0/03 20E0/04 20E0/05 20E0/06

Recordnumber

Pos setmode

Targetposition

Velo�city

Accele�ration

Profilejerk

Workload

02

2032h}

03 <1> <...>

...

The values are only saved in the position table with this command; no move�ment is made. The subindices 02h...06 correspond to the objects 607A, 6081,6083, 2036 and 2037. Different data types are converted accordingly whenwriting and reading.

Positioning mode 20E0h 01h uint16 rw

Positioning mode.Values (bit 0):0 (0x0000): absolute positioning (default)1 (0x0001): relative positioning

Target Position 20E0h 02h int32 rw

Target position in increments (compare Target Position, object 607A).Value range: −231...+(231−1) (0x80000000...0x7FFFFFFF)Default: 0. Compare object 607A

Velocity(speed)

20E0h 03h int32 rw(speed)

Positioning speed in increments (compare Profile Velocity, object 6081).Value range: 0...3072000 (0x002EE000) inc/s Z 0...3000 mm/sDefault: 0. Negative values are set to zero. Compare object 6081.

Acceleration 20E0h 04h int32 rw

Acceleration in increments/s2 (compare Profile Acceleration, object 6083h).Value range: 1024...61440000 (0x400...0x3A98000) inc/s2

Z 1...60000 mm/s2

Default: 7168000 (0x6D6000) Z 7000 mm/s2.Compare object 6083.




Jerk 20E0h 05h uint32 rw

[increments/s3]Value range: 0x19000...0x1E848000 inc/s3 (Z 1...5000 m/s3)Default: 0x2710000 inc/s3 Z 400 m/s3

Compare object 2036h.

Work Load(effective load)

20E0h 06h uint32 rw(effective load)

The effective load [g] for a position record.Value range: HME−16: 0...10000 g. HME−25: 0...25000 gCompare object 2037h.

Axis_Parameter (axis type)

CI access 20E2h 04h Struct uint32 rw

Description Reading and writing the axis parameters, e.g. for diagnosis.

Axis Parameter(axis type)

20E2h 04h uint32 rw(axis type)

Value range: 0...60: HME−16−1001: HME−16−2002: HME−16−3203: HME−25−1004: HME−25−2005: HME−25−3206: HME−25−400

Controller_Type

CI access 20E3h 00h Var uint16 r

Description 0 = SFC−LAC−VD−10−E−H0−IO1 = SFC−LAC−VD−10−E−H2−IO



Data_Memory_Control (EEPROM commands)

CI access 20F1h 01h...02h Array uint8 w

Description Commands for the EEPROM (non−volatile data storage)

Delete EEPROM 20F1h 01h uint8 w

After writing the object, the data in EEPROM are deleted.Fixed: 16 (0x10): restore factory settings (delete data in EEPROM)

Save Data 20F1h 02h uint8 w

The data in EEPROM will be overwritten with the current user−specific settings.Fixed 1 (0x01): save data

NoteAll user−specific settings will be lost during deletion(except for cycle number). The status after deletioncorresponds to the standard factory setting.

· After deleting the EEPROM, always carry out the stepsfor commissioning the device.

· The settings of the LCD parameters are lost when theEEPROM is deleted and must be set again. The LCDremains black if the parameter setting is not correct.

· If problems arise: consult Festo Service.



Trace_Control (recording of measured values)

CI access 20F2h 01h...04h Struct uint8, uint16 rw

Description Recording of positioning motion

20F2h 01h uint8 w

0x00: start trace recording0x80: stop trace recording0x0F: delete trace recording0xF0: transmit trace recording

20F2h 02h uint16 rw

Trace resolution in [ms]Value range: 0x1...0xFFFFDefault: 0x1

20F2h 03h uint8 w

Selection of measured variable:0x01 Pos_nominal0x02 Pos_actual0x04 v_nominal0x08 v_actual0x10 a_nominal0x20 a_actual0x40 Status word

20F2h 04h uint16 rw

Number of measured valuesValue range: 100...7140Default: 1000



Password

CI access 20FAh 01h, 02h Array V−string rw

Description Managing the FCT password, entering the super password

FCT Password 20FAh 01h V−string rw

Password for the FCT softwareValue: <........> (fixed 8 characters (ASCII, 7−bit)Default: <00000000> (status upon delivery and after reset)

Super Password 20FAh 02h V−string w

Entering the super passwordResets all passwords (FCT password and HMI password, object 20FB). Contact Festo Service if you require the super password.

Local_Password

CI access 20FBh 00h Var V−string rw

Description Managing the (local) HMI password for enabling particular functions which arecarried out via the control panel.Value: <........> (fixed 8 characters (ASCII, 7−bit)

Only the first 3 characters are evaluated.Default: <00000000> (status upon delivery and after reset)

User_Device_Name (user−defined name for the device)

CI access 20FDh 00h Var V−string rw

Description Designation of the drive by the user, max. 24 characters (ASCII, 7−bit).Default: <motor001>



LCD_Parameter

CI access 20FFh 01h, 02h Array uint8 rw

Description Setting of the LCD display (only for SFC−LAC−...−H2−...)

LCD Current(LCD voltage)

20FFh 01h uint8 rw(LCD voltage)

Value range: 1...8 (0x01...0x08). Default: 5 (0x05)

LCD Contrast 20FFh 02h uint8 rw Value range: 0...63 (0x00...0x3F). Default: 0 (0x00)

Communication_Error (transmission error)

CI access 2FF0h 00h Var uint16 r

Description Special object; see section B.1.1.In the case of a transmission error, the value <0xFF> will be transferred instead of theusual response.

Device_Error

CI access 2FF1h 00h Var uint16 rw

Description Reading or deleting the active device malfunction.Explanations of the error messages can be found in the Diagnosis, chapter 6.3.Writing: Delete all device malfunctions = <0> 0x0000Reading: Bit 0 HARDWARE ERROR SFC−LAC

Bit 1 CAN COMMUNICATION ERRORBit 2 POSITION SENSOR/COMMUNICATION ERRORBit 3 HARDWARE ERROR HMEBit 4 ERROR MOTOR HOTBit 5 ERROR SFC−LAC HOTBit 6 DIGITAL POWER DOWNBit 7 LOAD POWER DOWNBit 8 HOMING ERRORBit 9 PLEASE ENFORCE HOMING RUNBit 10 POSITION ERRORBit 11 TARGET POSITION OUT OF LIMITBit 12 i2t−ERRORBit 13 MOTOR STOP ERRORBit 14 POSITION PLAUSIBILITY ERRORBit 15 COMMUTATION POINT ERROR



Device_Warning

CI access 2FF2h 00h Var uint16 rw

Description Reading or deleting the active device malfunction.Explanations of the error messages can be found in the Diagnosis, chapter 6.3.Writing: Delete all device malfunctions = <0> 0x0000Reading: Bit 0 INDEX WARNING

Bit 1 WARNING MOTOR COLDBit 2 WARNING MOTOR HOTBit 3 WARNING SFC−LAC COLDBit 4 WARNING SFC−LAC HOTBit 5...15 (reserved)

Cycle_Number

CI access 2FFFh 00h Var uint32 r

Description Number of positioning records executed, reference runs etc.Value range: 0...(232−1)



Group 6xxx

Control_Word

CI access 6040h 00h Var uint16 w

Description Modifying the current controller status or triggering an action.As status modifications require a certain amount of time, all status modificationstriggered via Control Word must be read back via Status Word (object 6041).Further commands cannot be written via Control Word until the requested statusis able to be read in Status Word.After switching off the I/O interface (object 6510_43), ENABLE OPERATION shouldbe set to enable the controller when FCT control is being used.For typical values see Tab.�B/1.

Value Function

0x000F ENABLE OPERATION enable controller

0x000D VOLTAGE DISABLED output stage OFF

0x001F Start ABSOLUTE movement

0x005F Start RELATIVE movement

0x010F Stop movement

0x008F Reset error + ENABLE OPERATION

0x004F Set target position as RELATIVE

Tab.�B/1: Typical values for the control word



Status_Word


Description Reading the current controller or regulator status.For typical values see Tab.�B/2.Default: 0x0031

Bits 0...3, 5 and 6 indicate the status of the device.

Value (binary) Status (x = irrelevant for this status)

xxxx xxxx x0xx 0000 Not ready to switch onxxxx xxxx x1xx 0000 Switch on disabledxxxx xxxx x01x 0001 Ready to switch onxxxx xxxx x01x 0011 Switched onxxxx xxxx x01x 0111 Operation enabledxxxx xxxx x0xx 1111 Fault

Bit Value Comment

0x0000 Not ready to switch on (status before initialisation)

0x0021 Ready to switch on (status after initialisation)

0x0027 Switched on + operation enable (power electronics and positioning have been enabled)

0x000F Fault (there is an error)

4 0x0010 <1>: Voltage disabled (output stage off )<0>: Voltage enabled (output stage on).

7 0x0080 There is a warning

10 0x0400 Desired position reached<1>: Target reached /Motion complete (compare object 6068)<0>: Motion not complete

11 0x0800 I2t error<1>: Internal limit active<0>: Internal limit not active

13 0x2000 Error in the reference run<1>: Homing error<0>: Homing no error

Tab.�B/2: Typical values for the status word



Operation_Mode

CI access 6060h 00h Var int8 w

Description Operation mode of the controller.Values:0xFE: Demo Mode (fixed sequence)0x01: Profile Position Mode (position controller with positioning mode)0x03: Reserved (Profile Velocity Mode; not available with SFC−LAC)0x04: Reserved (Profile Torque Mode; not available with SFC−LAC)0x06: Homing Mode (reference run)

Operation_Mode_Display


Description Reading the operation mode of the controller.Values: see object 6060h.

Target_Position

CI access 6062h 00h Var int32 r

Description Nominal target position of the last positioning task, in increments.Value range: −231...+(231−1)

Actual_Position

CI access 6064h 00h Var int32 r

Description Current position of the drive in increments.Value range: −231...+(231−1)

Following_Error_Window (lag error)


Description Reading a following error [increments]Write 0xFFFFFFFF = following error monitoring OFFDefault: 0x2800 Inc (10 mm)



Following_Error_Timeout (following error monitoring time)


Description Timeout time for following error monitoring = value * 0.7 ms.Value range: 1...60000. Default: 80 (Z 56 ms)

Position_Window (target position window)


Description Reading or writing a position window (= distance from the target position)Value range: 1 ... nominal stroke [Inkrements]. Default: 102 Inc (Z 100 m)

Position_Window_Time (adjustment time for position)


Description Adjustment time in milliseconds.Once the actual position has been in the target position window for this amountof time, the �Target reached" bit will be set in the status word (object 6041).Value range: 1...60000 ms. Default: 10 ms

Velocity_Target_Value (nominal speed value)

CI access 606Bh 00h Var int32 r

Description Current nominal speed value for speed regulator.Value range: −231...+(231−1) [increments/s]

Velocity_Actual_Value

CI access 606Ch 00h Var int32 r

Description Current actual speed value for speed regulator.Value range: −231...+(231−1) [increments/s]



Max_Current (Max. rel. current during reference run/homing)


Description Maximum motor current in 1/1000 of the specified max. string current.Only applies to the reference run to a stop. Limits the motor force duringreference runs onto stops and, in the event of an error, protects the stopsduring reference runs onto a reference switch.Note that the current limitation also limits the maximum possible speed andthat the set nominal speeds may therefore not be reached.Please note: With highly reduced values and simultaneously high positioningresistance, there is a danger that the HME−... remains stationary and the SFC−LAC incorrectly recognizes a stop. Value range: 100...1000 (0x64...0x3E8). Default: 1000 (0x3E8)

Target_Position

CI access 607Ah 00h Var int32 rw

Description Defining or reading a target position in increments.This position will be saved in the position table in the column provided in theline addressed by object 2032. No movement is made at this point.For the range of values, see object 20E0/02h.

Software_End_Positions

CI access 607Bh 01h, 02h Array int32 rw

Description Software end positions in increments. The offset to the axis zero point isentered. A target position (see object 607Ah) outside the end positions is notpermitted and will lead to an error.Plausibility rule: Min−limit � Max−limit Value range: −231...+(231−1)

Lower Limit 607Bh 01h int32 rw

Lower software end positionValue range and factory settings: see chapter 5.2.7

Upper limit 607Bh 02h int32 rw

Upper software end positionValue range and factory settings: see chapter 5.2.7



Offset_Axis_Zero_Point (offset for axis zero point)

CI access 607Ch 00h Var int32 rw

Description Offset for axis zero point in increments.The offset for the axis zero point (home offset) defines the axis zero point <AZ>as a dimensional reference point relative to the physical reference point <REF>.The axis zero point (AZ) is calculated as follows: AZ = REF + axis zero pointoffset. The axis zero point is the basis point for the project zero point <PZ> and for thesoftware end positions. All positioning operations are conducted relative to theproject zero point. For the SFC−LAC−...−IO, the project zero point is identical tothe axis zero point.Value range: −231...+(231−1). Factory settings: see chapter 5.2.6.

Polarity (reversal of direction)

CI access 607Eh 00h Array uint8 r

Description The direction of the position values is reversed.For SFC−LAC−...−IO: fixed: 1

Profile_Velocity (speed)

CI access 6081h 00h Var int32 rw

Description Final speed for a positioning procedure, in increment/s.This speed will be saved in the position table in the column provided in the lineaddressed by CI object 2032h. No movement is made at this point.For the range of values, see object 20E0/03h.

Profile_Acceleration (acceleration)

CI access 6083h 00h Var int32 rw

Description Acceleration and deceleration for a positioning procedure, in [increment/s2]This will be saved in the position table in the column provided in the lineaddressed by CI object 2032h. No movement is made at this point.For the range of values, see object 20E0/04h.



Quick_Stop_Deceleration (quick−stop ramp)


Description Deceleration during quick stop, in [increments/s2] Value range: 0x400...0x03A98000 inc/s2

Default: 0x01388000 inc/s2 Z 20000 mm/s2

Homing_Method (reference run method)


Description Defines the method which the drive uses to carry out the reference run. TheSFC−LAC supports the following modes:Values Function

0xB Search for reference switch in negative direction (default)0xEF Search for stop in negative direction0xEE Search for stop in positive direction

Homing_Velocities (speeds for reference run)

CI access 6099h 01h...02h Array int32 rw

Description Speeds during the reference run, in inc/s.

Search REF 6099h 01h int32 rw

Speed when searching for the reference point REFValue range: 1024...102400 inc/s (1...100 mm/s)Default: 10240 incr/s (10 mm/s)

Search AZ 6099h 02h int32 rw

Speed when moving to the axis zero point AZValue range: see object 6099/01h



Position_Control_Parameter_Set (parameters of the position controller)

Caution: Injuries to people and damage to propertyThe factory settings for the controller parameters should only be modified inexceptional cases. Unfavourable settings can lead to uncontrollable behaviourof the entire system.· Follow the instructions in FCT for the controller parameters.

CI access 60FBh 12h...15h Array int32 rw

Description Controller parameters

Position Controller:closed loop

60FBh 12h int32 rwclosed loop

natural frequency Position controller: circuit frequency. Value range: 1...1000Factory setting:HME−16−100: 150 HME−25−100: 110HME−16−200: 140 HME−25−200: 150HME−16−320: 180 HME−25−320: 120

HME−25−400: 130

Position Controller:damping

60FBh 13h int32 rwdamping

Position controller: damping. Value range: 100...5000Factory setting:HME−16−100: 1300 HME−25−100: 1100HME−16−200: 1200 HME−25−200: 1100HME−16−320: 1300 HME−25−320: 1200

HME−25−400: 1200

Current Controller:gain

60FBh 14h int32 rwgain

Current controller: gain. Value range: 100...10000Factory setting:HME−16−100: 2200 HME−25−100: 1150HME−16−200: 2500 HME−25−200: 1500HME−16−320: 2500 HME−25−320: 1800

HME−25−400: 1800

Current Controller:integrating time

60FBh 15h int32 rwintegrating time

constant Current controller: integral time constant. Value range: 1...15000Factory setting:HME−16−100: 5000 HME−25−100: 2000HME−16−200: 8700 HME−25−200: 2500HME−16−320: 8700 HME−25−320: 3100

HME−25−400: 3100



Local_Digital_Inputs

CI access 60FDh 00h Var uint32 r

Description Mapping the digital inputsFor SFC−LAC−...−IO:Bit 0...15: Reserved (= 0)Bit 16...20: Current record number (compare control byte 3)Bit 21: STOPBit 22: ENABLEBit 23: STARTBit 24...31: Reserved (= 0)

Local_Digital_Outputs

CI access 60FEh 01h...02h Array uint32 r

Description Mapping the digital outputs

Digital Outputs 60FEh 01h uint32 r

For SFC−LAC−...−IO:Bit 0...15: Reserved (= 0)Bit 16 : MCBit 17: ReadyBit 18: AcknowledgeBit 19: ErrorBit 20...31: Reserved (= 0)

Mask 60FEh 02h uint32 r

Always 0 for the SFC−LAC−...−IO (writing not permitted).

Motor_Type


Description Classification of the motorFixed: 0x0000 (cannot be set on SFC−LAC−...−IO)



Motor_Data (HME data)

CI access 6410h ... Record uint32 r(w)

Description Only for writing by Festo (at factory or by service technician)

Serial number 6410h 01h uint32 r

Serial number of the motor

I2t Factor 6410h 03h uint32 rw

I2t factor. Value range: 1...20000. Default: 3000.

I2t 6410h 04h uint32 r

Actual I2t value

Max. Coil Current 6410h 05h uint32 rw

Max. string current. Value range: 0...20000 mA. Default: 15000 mA.

Commutation Point 6410h 11h int32 r

Commutation point (is determined automatically) [increments]

MeasurementSystemResolution

6410h 12h uint32 r(w)System Resolution

Measurement resolution: 2048 increments between two index pulses

MeasurementSystem Pitch

6410h 13h uint32 r(w)System Pitch

Measurement graduation: 2000 ìm distance between two index pulses

Nominal Power 6410h 14h uint32 rw

Nominal power rating. Value range: 1...2000Default: HME−16: 120 W HME−25: 200 W

Actual Power 6410h 15h uint32 r

Actual power of the HME in [W]. Value range: 0...2000

Offset ReferencePoint

6410h 16h int32 rwPoint

Distance from the reference point to the retracted end position. Only relevantwhen referencing to fixed stop. See Tab.�5/3. Default: 0.Value range [increments]HME−...−100: 0...102400 HME−...−200: 0...204800HME−...−320: 0...327680 HME−...−400: 0...409600

Actual Coil Temp 6410h 31h int16 r

Current coil temperature (= motor). Measuring range: −20...+120 °C.



Motor_Data (HME data)

Max. Coil Temp 6410h 32h int16 r

Highest coil temperature measured to date (= motor).Measuring range: −20...+120 °C. Is saved in EEPROM.

Lower Coil TempThreshold

6410h 33h int16 rwThreshold

Lower temperature threshold for the coils (= motor): 70 °CWhen this temperature is reached, a warning is triggered.

6410h 34h int16 rw

Upper temperature threshold for the coils (= motor): 75 °CWhen this temperature is reached, an error message is triggered.Restart only after the temperature has dropped below the lower threshold (see subindex 33h).

Actual InterfaceTemp

6410h 35h int16 rTemp

Current temperature of the interface board in the HME−... Measuring range: −20...+120 °C

Max. InterfaceTemp

6410h 36h int16 rTemp

Highest temperature measured to date on the interface board in the HME.Is saved in EEPROM. Measuring range: −20...+120 °C.

Supported_Drive_Modes (drive functionality)


Description Not adjustableFixed: 0x00000021

Drive_Manufacturer (manufacturer’s name)


Description Name of drive manufacturer.Fixed: �Festo AG & Co. KG"

HTTP_Drive_Catalog_Address (manufacturer’s HTTP address)


Description Internet address of the manufacturer.Fixed: �www.festo.com"



Drive_Data (data of the SFC−LAC)

CI access 6510h 31h...34h,�41h, 43h, 50h,51h, A0h�

Record

Description General data of the SFC−LAC.

Output StageTemp

6510h 31h int16 rTemp.

Temperature of the SFC−LAC in °C. Range: −20...+120 °C

Output Stage Max.Temp

6510h 32h int16 rTemp.

Highest temp. measured to date for the SFC−LAC, in °C. Is saved in EEPROM.

Output StageLower Threshold

6510h 33h int16 rwLower Threshold

Temp Lower temperature threshold for SFC−LAC: 80 °CWhen this temperature is reached, a warning is triggered.

Output StageUpper Threshold

6510h 34h int16 rwUpper Threshold

Temp Upper temperature threshold for SFC−LAC: 85 °C. When this temperature isreached, an error message is triggered. Restart only after the temperature hasdropped below the lower threshold (see subindex 33h).

Max. Current 6510h 41h uint16 rw

See object 6073h.

Device Control 6510h 43h uint16 rw

Control of the I/O interface: Bit 0: 0 = I/O control OFFBit 0: 1 = I/O control ON

To enable FCT control after the I/O interface has been switched off, set ENABLEOPERATION in Control Word as well (object 6040h).

Power Supply 6510h 50h int32 rw

Output of power supply unit in [W]. Value range: 0...3000 W. Default: 960 W.The rated output must be specified accurately. Rounding up (e.g. from 960 W to1000 W) is not permitted.

Tool Load 6510h 51h uint32 rw

Tool load (e.g. a gripper on front panel of the HME−...)Value range: HME−16: 0...10000 g HME−25: 0...25000 g

Controller SerialNumber

6510h A0h uint32 rNumber

Serial number of the controller in format 0xTTMYYSSS:TT (day): 8 bit: 0x01...0x1F M (month): 4 bit: 0x1...0xCYY (year): 8 bit: 0x00...0x63 SSS (serial no.): 12 bit: 0x001...0xFFFOnly for writing by Festo (at factory or by service technician)



B.2 Converting the units of measurement

In order to set the parameters of the electric axis, a system ofmeasurement must be defined; e.g.:

� the metric system [mm, mm/s, mm/s2, mm/s3]

� the imperial system [inch, inch/s, inch/s2, inch/s3] (can only be set with FCT)

� increments [inc, inc/s, inc/s2, inc/s3].

In the SFC−LAC’s status controller, all parameters are alwayssaved in the metric system of measurement. Therefore noconversion is required to display values in the metric systemon the control panel and in FCT. To display values in the im�perial system, they are converted in the FCT software. Theserial CI interface, on the other hand, works with increments.

The distance between two index lines (= north or south poleof the magnetic displacement encoder) is 2 mm. This equals2048d (800h) increments. The increments are calculated bymeans of interpolation.

This results in the following conversions (all figures aredecimal):

[inc] > [mm]mm � x�Inc

2048�Inc� 2�mm

[mm] > [inc]Inc � x�mm

2�mm� 2048�Inc

1�[inch]�� 25.4�[mm]

1�[minch]�� 0.0254�[mm]

Index

C−1Festo P.BE−SFC−LAC−IO−EN en 0604NH

Appendix C

C. Index

C−2 Festo P.BE−SFC−LAC−IO−EN en 0604NH

Contents

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

C. Index


Index

A

Absolute 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access procedure B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Algebraic sign 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis parameters 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting 4−13 , 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis type, Setting 4−12 , 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis zero point XIV , 1−12 , 5−13 , B−31 . . . . . . . . . . . . . . . . . . Default values 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B

Basis points 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Button function, Menu selection 4−6 . . . . . . . . . . . . . . . . . . . .

Button functions, Overview 4−5 . . . . . . . . . . . . . . . . . . . . . . . .

C

Cable 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Programming 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CAN COMMUNICATION ERROR 6−7 . . . . . . . . . . . . . . . . . . . . .

Care and maintenance 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningOptions 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preparations 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With control panel 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With the Festo Configuration Tool (FCT) 5−20 . . . . . . . . . . .

C. Index


COMMUNICATION ERROR 6−7 . . . . . . . . . . . . . . . . . . . . . . . . .

COMMUTATION POINT ERROR 6−9 . . . . . . . . . . . . . . . . . . . . .

Components 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Electric axis 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control 3−4 , 3−11 , 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control panel 1−18 , 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessing the main menu 4−6 . . . . . . . . . . . . . . . . . . . . . . . Button functions 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Menu system 4−6 , 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller XIV , 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conversion factors B−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Demo mode 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Demo posit tab 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device control 4−11 , 5−10 , 5−20 . . . . . . . . . . . . . . . . . . . . . . .

Diagnostic 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DIGITAL−POWER−DOWN 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive XIV , 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E

Earth terminal 3−4 , 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Effective stroke 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMERGENCY STOP 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error during positioning procedure 5−34 . . . . . . . . . . . . . . . .

ERROR MOTOR HOT 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


ERROR SFC−LAC HOT 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Errors, acknowledging 5−34 , 5−35 . . . . . . . . . . . . . . . . . . . . . .

ESD 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

FCT XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Configuration Tool XIV . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Configuration Tool (FCT) 1−18 . . . . . . . . . . . . . . . . . . . . . Help system 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FLASH memory 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

HARDWARE ERROR 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Hat−rail mounting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HMI control 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HOMING ERROR 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing param 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I/O interface 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I2t−ERROR 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X . . . . . . . . . . . . . . . . . . . . . . . . . .

Increments 1−14 , B−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

INDEX PULSE WARNING 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . .

Inputs/outputs 4−10 , 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum current 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal level 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

J

Jog mode XIV , 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


L

LED 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LOAD−POWER−DOWN 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Measurement, system of 1−14 . . . . . . . . . . . . . . . . . . . . . . . . .

Memory typesEEPROM 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FLASH memory 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RAM 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Menu system 4−6 , 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MOTOR STOP ERROR 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor terminal 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mounting 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hat−rail mounting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wall mounting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Move posit set 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Nominal stroke 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

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

Operating principle 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operation modeHoming mode 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positioning mode XIV , 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . Profile position mode 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference run 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Referencing XV , 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operation modes 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


P

Parameterising 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Units of measurement 1−14 . . . . . . . . . . . . . . . . . . . . . . . . .

ParametersAxis type 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displaying 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference run 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password 4−17 , 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Entering 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modifying/deactivating 4−18 . . . . . . . . . . . . . . . . . . . . . . . . Setting up 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password protection 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pictograms XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLEASE ENFORCE HOMING RUN! 6−8 . . . . . . . . . . . . . . . . . . .

POSITION ERROR 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POSITION PLAUSIBILITY ERROR 6−9 . . . . . . . . . . . . . . . . . . . .

Position record XIV , 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Executing 4−19 , 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position record table 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Creating 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displaying 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Executing 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning, Position record 1−17 . . . . . . . . . . . . . . . . . . . . . .

Positioning mode XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning proceduresStarting 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Stopping 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 3−4 , 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply unit 1−5 , 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile position mode XIV , 1−6 . . . . . . . . . . . . . . . . . . . . . . . . .

Project zero point XV , 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Protection class 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


R

RAM 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference point 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference run XV , 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carrying out 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Executing 4−20 , 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameters 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting parameters 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Stopping 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference system 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference point XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference switch XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Referencing method XV . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing method 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fixed stop 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference switch 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Relative 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

Safety instructions VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scope of delivery IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SDO B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial interface 3−4 , 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SoftwareFesto Configuration Tool (FCT) 1−18 . . . . . . . . . . . . . . . . . . . Festo Configuration Tool, installing 5−19 . . . . . . . . . . . . . . . Starting the Festo Configuration Tool 5−20 . . . . . . . . . . . . .

Software end position XV , 1−13 , B−30 . . . . . . . . . . . . . . . . . . Negative XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Positive XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teaching 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switching on 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


System data, Displaying 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . .

System parameters 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T

Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target position, Teaching 5−15 . . . . . . . . . . . . . . . . . . . . . . . . .

TARGET POSITION OUT OF LIMIT 6−8 . . . . . . . . . . . . . . . . . . .

Teach mode XV , 1−6 , 4−13 , 4−15 , 5−13 . . . . . . . . . . . . . . . . .

Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terminal 3−4 , 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Text markings XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission errors B−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission protocol B−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

Units of measurement 1−14 , B−38 . . . . . . . . . . . . . . . . . . . . . .

V

Value ranges, permitted B−6 . . . . . . . . . . . . . . . . . . . . . . . . . .

Version XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

W

Wall mounting 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

WARNING MOTOR COLD 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . .

WARNING MOTOR HOT 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . .

WARNING SFC−LAC COLD 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . .

WARNING SFC−LAC HOT 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Working range 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Software end position XV . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor Controller SFC−LAC › net › SupportPortal › Files › ...Festo P.BE−SFC−LAC−IO−EN en 0604NH VII Intended use The Single Field Controller type SFC−LAC−... is

Documents