SPC200 Smart Positioning Controller - Festo€¦ · · 2018-04-26Electronics/ pneumatics manual System manual Smart Positioning Controller type SPC200 Manual 170 246 en 0901d [713

Electronics/pneumatics manual

System manual

Smart PositioningControllertype SPC200

Manual170 246en 0901d[713 873]

SPC200 Smart Positioning Controller

Contents and general instructions

IFesto P.BE−SPC200−EN en 0901d

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

Edition en 0901d. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−SPC200−EN. . . . . . . . . . . . . . . . . . . . . . . . .

Order no. 170 246. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG�&�Co.�KG, D�73726 Esslingen, Federal Republicof Germany, 2009)Internet: 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−SPC200−EN en 0901d

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IIIFesto P.BE−SPC200−EN en 0901d

Contents

Designated use IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety regulations X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Documentation for the SPC200 Smart Positioning Controller XV . . . . . . . . . . . . . . . . . . .

Information on operating system versions of the SPC200 and software versions of WinPISA XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Summary of components 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 The SPC200 positioning controller 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 The range of devices for the SPC200 1−5 . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Structure of the SPC200 1−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Positioning systems with the SPC200 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Components of a pneumatic positioning axis 1−13 . . . . . . . . . . . . . . . . .

1.2.2 Examples of multiple−axis systems 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Structure of the axis interface string 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Operating modes of the SPC200 1−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Multi−axis applications with the SPC200 1−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Commissioning and programming possibilities 1−26 . . . . . . . . . . . . . . . . . . . . . . .

1.7 I/O address range of the SPC200 1−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2.1 Fitting and removing components 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Fitting the basic unit 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Fit the control panel into position 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Fitting the axis interface and the I/O function module 2−16 . . . . . . . . . . . . . . . . . .

2.5 Notes on fitting the pneumatic axis 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−SPC200−EN en 0901d

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

3.1 General instructions on installation 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 General instructions on fitting the pneumatic components 3−5 . . . . . . . . . . . . . .

3.2.1 the compressed air supply 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Service unit 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Compressed air reservoir (optional) 3−7 . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Proportional directional control valve type MPYE−... 3−8 . . . . . . . . . . . .

3.2.5 Compressed air tubing and screw connectors 3−10 . . . . . . . . . . . . . . . . .

3.2.6 Drives 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.7 General instructions on measuring systems 3−11 . . . . . . . . . . . . . . . . . .

3.2.8 Requirements of the mechanism 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.9 Mass load 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Additional pneumatic circuits 3−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Dimensional reference system � terms and definitions 3−17 . . . . . . . . . . . . . . . . .

3.5 Installing the SPC200 3−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Selecting the power unit 3−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 Connections on the supply module 3−29 . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.3 Connections of the diagnostic module 3−35 . . . . . . . . . . . . . . . . . . . . . . .

3.5.4 Connections of the I/O module type SPC200−DIO−... 3−38 . . . . . . . . . . . .

3.5.5 Connections of the analogue input module type SPC200−2AI−U 3−47 . .

3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF 3−50 .

3.6 Installing the modules on the axis interface string 3−52 . . . . . . . . . . . . . . . . . . . . .

3.6.1 Installing the axis interface SPC−AIF−... 3−56 . . . . . . . . . . . . . . . . . . . . . . .

3.6.2 Installation I/O function module type SPC−FIO−2E/2A−M8 3−61 . . . . . . .

3.6.3 Installing control panel SPC200−MMI−1F 3−65 . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−SPC200−EN en 0901d

4. Commissioning 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Procedure for commissioning 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Connecting a single−axis system for the first commissioning 4−8 . . . . . . . . . . . .

4.3 Overview of the parameters of a positioning axis 4−17 . . . . . . . . . . . . . . . . . . . . .

4.3.1 Pneumatic axis data 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Application data for pneumatic axes 4−19 . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Axis data of an electric stepping motor axis 4−20 . . . . . . . . . . . . . . . . . .

4.3.4 Application data of an electric stepping motor axis 4−21 . . . . . . . . . . . .

4.3.5 Controller data 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Commissioning with the control panel 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Saving the hardware configuration 4−24 . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Commissioning pneumatic axes 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 Notes on commissioning multi−axis systems 4−42 . . . . . . . . . . . . . . . . . .

5. Controlling the SPC200 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 General notes on operation 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Start/Stop mode 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Explanation of all I/O signals in Start/Stop mode 5−11 . . . . . . . . . . . . . .

5.3 Record Select mode 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Explanation of all I/O signals in Record Select mode 5−22 . . . . . . . . . . .


VI Festo P.BE−SPC200−EN en 0901d

6. Operating the SPC200 with the control panel 6−1 . . . . . . . . . . . . . . . . . . . . . . .

6.1 Structure and functions of the control panel 6−4 . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Moving in the menu system 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Setting project−specific parameters 6−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Edit program 6−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Create new program 6−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Instructions on editing 6−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.3 Store of commands on the control panel 6−35 . . . . . . . . . . . . . . . . . . . . .

6.3.4 Edit existing program 6−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.5 Delete program 6−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Edit position register 6−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Controlling the program sequence 6−46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Displaying operands and system states 6−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 Set controller factors 6−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8 Test and diagnostic functions of the control panel 6−52 . . . . . . . . . . . . . . . . . . . . .

7. Description of the commands 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 General instructions on programming 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Parallel program processing 7−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Program organisation 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3 Presetting for positioning 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4 New NC syntax and new NC commands 7−12 . . . . . . . . . . . . . . . . . . . . . .

7.2 Addressing, registers and axis status flags 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Addressing 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Addressing the control signals 7−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Position register X [Y Z U] @n 7−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4 Register Rn 7−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5 Flag Fn 7−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6 Axis status flag Fn 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Command syntax 7−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Explanation of the NC commands 7−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VIIFesto P.BE−SPC200−EN en 0901d

8. Diagnosis and error treatment 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 On−the−spot diagnosis� 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Fault messages on the control panel 8−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 Fault stages 8−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.2 Fault classes 8−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Eliminating faults in the system 8−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 Faults when switching on 8−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 Faults when positioning 8−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Notes on installing the pneumatic components A−1 . . . . . . . . . . . . . . . . . . . . .

A.1 Axis structure with drive type DGP(L)−... and type DGPI(L)−... A−3 . . . . . . . . . . . .

A.2 Axis structure with standard cylinder type DNC−... A−10 . . . . . . . . . . . . . . . . . . . .

A.3 Axis structure with standard cylinder type DNCM−... A−17 . . . . . . . . . . . . . . . . . . .

A.4 Axis structure with rotary module type DSMI−... A−24 . . . . . . . . . . . . . . . . . . . . . .

A.5 Axis structure with standard cylinder type DNCI−... A−31 . . . . . . . . . . . . . . . . . . . .

B. Optimizing the positioning behaviour B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 Basic information on control B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Description of the controller factors B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 Optimize positioning behaviour B−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.1 Proceed as follows if the compressed air supply is unstable B−16 . . . . .


VIII Festo P.BE−SPC200−EN en 0901d

C. Technical appendix C−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 Sequence plans for the programmer C−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Creating readiness to operate C−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.2 Start NC record in Record Select mode C−7 . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Start program or NC record C−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.4 Carry out fault acknowledgement C−10 . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 Cable length and cross−sectional area C−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.3 Internal layout of the inputs/outputs C−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.4 Technical specifications C−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.4.1 Technical specifications for the SPC200 C−22 . . . . . . . . . . . . . . . . . . . . . .

C.4.2 Technical specifications of axis interface type SPC−AIF−... C−28 . . . . . . . .

C.4.3 Technical specifications of the I/O function module type SPC−FIO−... C−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.4.4 Technical specifications of control panel type SPC200−MMI−1 C−31 . . . .

C.4.5 Technical specifications of control panel type SPC200−MMI−1F C−32 . . .

D. Index D−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IXFesto P.BE−SPC200−EN en 0901d


X Festo P.BE−SPC200−EN en 0901d

Designated use

The SPC200 Smart Positioning Controller is designed for fit�ting into a control cabinet. It serves as a closed−loop position�ing controller for pneumatic axes and as a positioning con�troller for stepping motor axes. Basic components andmodules for the SPC200 are described in this �documenta�tion. Special extension modules are described in separatemanuals.

It is absolutely necessary to observe the safety instructionsas well as the designated use of the relevant components andmodules. Observe also the safety regulations listed in theoperating instructions for the pneumatic and electric compo�nents used.

The SPC200 and the modules and cables to be connected areonly to be used as follows:

� in accordance with designated use

� only in industrial applications

� without any modifications by the user. Only the conver�

sions or modifications described in the documentationsupplied with the product are permitted.

� in faultless technical condition.

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

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


XIFesto P.BE−SPC200−EN en 0901d

Safety regulations

When commissioning and programming positioning systems,the safety regulations listed in this manual as well as in theoperating instructions for the other components used, mustalways be observed.

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.

WarningPneumatic and electric axes move at high speed and withhigh force.

Collisions can lead to serious injury to human beings anddamage to components.

Make sure that nobody can place his/her hand in the posi�tioning range of the axes or other connected actuators andthat no objects lie in the positioning path whilst the systemis connected to sources of energy (compressed air, supplyvoltage).

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

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


XII Festo P.BE−SPC200−EN en 0901d

WarningIf the tubing of your axis system is incorrectly connectedand you enable the controller, the drive will move, depend�ing on the level of the supply pressure, at high speed andwith high acceleration into one of the end positions (con�trol direction reversed). This can lead to serious injury tohuman beings and damage to components.

Always check the tubing before enabling the controllerwith a 1−signal at the ENABLE input.

Target group

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

Service

Please consult your local Festo repair service if you have anytechnical problems.


XIIIFesto P.BE−SPC200−EN en 0901d

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.


XIV Festo P.BE−SPC200−EN en 0901d

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.


XVFesto P.BE−SPC200−EN en 0901d

Product−specific terms and abbreviations

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

Term/abbreviation

Meaning

0−signal Input or output supplies 0 V

1−signal Input or output supplies 24 V

Application data Configuration data which describe the conditions of use specified by theapplication.

Axis data Configuration data which describe the structure, the features and the com�ponents of the axis used.

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

Axis interface string All the modules and cables which are each connected to an axis interfaceconnection of the SPC200.

CP cable Special cable for connecting the various modules to the axis interface string.

F Flags

I Digital input

I/O modules Common term for the modules which provide digital inputs and outputs onthe axis interface string.

I/Os Digital inputs and outputs

Modules Function cards which are inserted in the rack of the SPC200.

PLC/IPC Programmable logic controller/industrial PC

Q Digital output

R Register

String All the modules which are each connected to an axis interface string.


XVI Festo P.BE−SPC200−EN en 0901d

Documentation for the SPC200 Smart Positioning Controller

This manual contains general basic information on fitting,installing and commissioning pneumatic axes with theSPC200 as well as on their functioning.

Extension modules are available for coupling to field bussystems and for connecting electric axes. Detailed informa�tion on this can be found in the manual for the relevantmodule.

Information on commissioning, programming and diagnosingthe SPC200 with the WinPISA software package can be foundin the relevant manual for WinPISA.

Type Title Contents

System manual SPC200 Smart PositioningControllertype P.BE−SPC200−...

Installation, commissioning and diagnosingpneumatic axes with the SPC200; standardcomponents and modules

Software manual WinPISA software packagetype P.SW−WIN−PISA−...

Functions of the WinPISA software package

Help system WinPISA help system(contained in WinPISA)

WinPISA help system

Manuals Field bus moduletype P.BE−SPC200−...−...

Installing, commissioning and diagnosingthe relevant field bus module

Stepping motor moduletype P.BE−SPC200−SMX−1−...

Installing, commissioning and diagnosingwith a stepping motor

Electric positioning systemtype P.BE−ATP−...

Further information on electric positioningsystems

Information on the pneumatic components can be found inthe operating instructions supplied with the product.


XVIIFesto P.BE−SPC200−EN en 0901d

Information on operating system versions of the SPC200 and software versions of WinPISA

This manual supports the following operating systems andWinPISA versions:

Operating system Date of validity Associated WinPISA Date of validity

Version 3.8 08−2001 Version 4.1 05−2001

Version 4.1a 06−2002

Version 4.63 10−2003 Version 4.31 10−2003

Version 4.82 12−2004 Version 4.41 12−2004

Version 4.90 03−2006 Version 4.5 03−2006

Version 4.93 11−2008 Version 4.51 11−2008

Please noteThe operating system and WinPISA versions are alwaysdownward compatible, i.e. a newer version supports thecapabilities of an older one.

Conversely: Any older version does not support theexpanded and new capabilities of newer versions.

CautionThe functionality of the MMI (control panel) has beenfrozen to that of operating system version 3.8. This meansthat all new functions from operating system version 4.63onwards are no longer supported by the MMI.

When commissioning with the MMI, from operating systemversion 4.63 onwards, the exact switching cycle of theENABLE signal must be observed during the movementtest, see section 4.4.2.

The sole purpose of this change is to increase safety forpersons and the machinery during commissioning.


XVIII Festo P.BE−SPC200−EN en 0901d

Identification of version−specific information

Passages in the text containing special information aboutparticular operating system versions are identified as fol�lows:

New feature:Note that the the function marked is new as from the speci�fied operating system version (in the example 4.63) and isnot supported by the older operating system versions.

Compatibility violation:Note that as from the specified operating system version (inthe example 4.63), the function marked is not compatiblewith the older versions. The explanations in the text must beobserved.

Overview of operating system versions

The following table provides an overview of the changes inthe operating system (firmware) of the SPC200:

Version Identification What has been changed See section

up to 3.8 � � WinPISA version 4.1a is recommended forthis version.

� Supports drives of the DGP family andstepping motors of the MTR−VRDM family.

� With regard to system functionality, thisversion is the reference for all newer ver�sions.

�

New feature

as from OS 4.63

Non−compatible

as from OS 4.63


XIXFesto P.BE−SPC200−EN en 0901d

Version See sectionWhat has been changedIdentification

as from4.63

New feature

as from OS 4.63

� WinPISA version 4.31 or higher is recom�mended for this version.

� Piston rod drives of the DNC/DNCM familyand DSMI rotary drives are supported.

� The new stepping motor controller SEC−STis supported. The stepping motor cardmust have software version 1.42.

� The capabilities of the PROFIBUS cardfrom software version 2.0 onwards aresupported.

� The field bus card for DeviceNet version1.2 is supported.

� Command M39 has been introduced forthe first time. This command can be usedto specify directly a valve variable, andthus a specific flow rate in the propor�tional valve.

� Commands M40 and M41 have been in�troduced for the first time. These twocommands can be used to define Move�ment limitvalues when command M39 isemployed.

� Movement commands G01, G02, G08, G09and G25 can obtain their parameters fromthe @n position registers.

� Movement commands G01 and G02 canalso obtain the parameters for the percen�tage speed from the @n registers.

� Command G25 X[Y,Z,U] 0 receives themeaning 0 % (instead of 100 %), with theresult that after the start of the motioncommand which follows it , the programline after that is executed immediately.

� M10 without parameters activates thespecifications from the configuration list.

� The axis status flags F64...F127 have beenintroduced.

�

A.2, A.3 and A.4

Description ofstepping motorindexer moduleDescription offield bus modulesPROFIBUS andDeviceNet

7.3

7.3

7.3

7.3

7.3

7.3

7.2.6

as from4.63

Non−compatible

as from OS 4.63

� Movement test: The process and thesequence for switching the ENABLE signalon and off have been modified.

� A version check has been introduced. Thisprevents programs with new capabilities/functions from being changed inadver�tently by older versions.

4.4.2, step 2

�


XX Festo P.BE−SPC200−EN en 0901d


as from4.82

New feature

as from OS 4.82

� WinPISA version 4.41 or higher is recom�mended for this version.

� The DNCI drive family with an incrementalmeasuring system is supported.

� The reference run for pneumatic axes hasbeen introduced } G74.

� Configuration data of channel 5 have beenintroduced for digital nominal valuespecification } M10.

� The M37 command can be parametrizedwith values (mass value) from the @nposition registers.

� In addition, the �Workpiece mass in initialstate" (of the axis) has been introduced.This defines what mass load is to be ineffect when the system is switched on.The dialogue for the identification run ofthe axes has been adapted accordingly inWinPISA 4.41.

� Commands M10 and M11 can be parame�trized with values from the @n positionregisters.

� Undervoltage in the load voltage nolonger causes a �serious error" to be gen�erated. Data exchange with the measuringsystem remains intact, and the countervalue of the incremental measuring sys�tem continues to be updated as long asthe supply voltage is available and no�serious system error" is active.

�

A.5

7.3

7.3

7.3

3.2.9

7.3

�

as from4.90

New feature

as from OS 4.90

� At least WinPISA 4.50 is recommended forthis version.

� Support of fieldbus module typeSPC200−COM−DN2

� System status flags F88 and F89 as statusflags for Task A and B.

� CP−I/O modules type CP..−CL are sup�ported.

�

Description offieldbus module7.2.6

�


XXIFesto P.BE−SPC200−EN en 0901d


as from4.93

New feature

as from OS 4.93

� At least WinPISA 4.51 is recommended forthis version.

� Error messages via the fieldbus can besuppressed through paramaterization (nostop of the PLC).

� Stop behaviour can be configured.

�

Description offieldbus module

5.2.1, 5.3.1


XXII Festo P.BE−SPC200−EN en 0901d

Summary of components

1−1Festo P.BE−SPC200−EN en 0901d

Chapter 1

1. Summary of components

1−2 Festo P.BE−SPC200−EN en 0901d

Contents

1.1 The SPC200 positioning controller 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 The range of devices for the SPC200 1−5 . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Structure of the SPC200 1−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Positioning systems with the SPC200 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Components of a pneumatic positioning axis 1−13 . . . . . . . . . . . . . . . . .

1.2.2 Examples of multiple−axis systems 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Structure of the axis interface string 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Operating modes of the SPC200 1−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Multi−axis applications with the SPC200 1−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Commissioning and programming possibilities 1−26 . . . . . . . . . . . . . . . . . . . . . . .

1.7 I/O address range of the SPC200 1−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Contents of this chapter This chapter provides an overview of the extension possibi�lities for positioning systems with SPC200 as well as therange of devices and the structure of the SPC200. �Thischapter also �contains basic information on:

� connecting pneumatic axes to the axis interface string

� the operating modes, commissioning and programming

possibilities of the SPC200

� the I/O address range of the SPC200.

Further information Coupling to field bus systems is made possible by specialfield bus modules. Detailed information on this can befound in the manual for the relevant field bus module.

The coupling of electric axes is made possible with specialmodules. Detailed information on this can be found in the

manual for the relevant module.



1.1 The SPC200 positioning controller

Festo assists you with your positioning tasks with the

SPC200 Smart Positioning Controller. The SPC200 is a univer�

sal, modular−based controller which supports the coupling ofpneumatic and electric axes with connection to field bus sys�

tems.

Up to 4 axes can be connected depending on the equipmentfitted on the controller. Pneumatic and electric axes can be

operated in mixed mode.



1.1.1 The range of devices for the SPC200

The range of devices for the SPC 200 includes the following

components:

Components Function

SPC200 type SPC200−...−...

The SPC200 is housed in a rack. Depend�ing on the requirement of the positioningtask you can install the necessary compo�nents in the rack.

Control panel type SPC200−MMI−1...

The control panel has six buttons withwhich all functions can be accessed bymenu.Control panel type SPC200−MMI−1 can beplaced directly on the SPC200.Control panel type SPC200−MMI−1F isintended for mounting in a front plate.

Axis interfacetype SPC−AIF−...

The axis interface provides the connectionbetween the components on the pneu�matic axis and the SPC200. It receives thevalues supplied by the measuring system,passes them onto the SPC200 and pro�vides the positioning signal for the pro�portional directional control valve.

I/O function module(optional) typeSPC−FIO−2E/2A−M8

This module provides 2 inputs/outputs forconnecting sensors and actuators directlyon the axis. Additional functions, such ase.g. gripping, lifting, lowering and turningcan be implemented with these sensorsand actuators.



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

terminals can be connected to the end of the axis interfacestring.

CP modules(optional)

Function

CPV valve terminalstype CPV...−...−...

Provides via valve plates different valvefunctions for controlling pneumaticactuators. Relay plates, pressure zoneseparation plates and blanking plates canalso be fitted.

Input module type CP−E16...−M...

Special designs are available for variousconnection variants. Provide inputs forconnecting sensors and enable e.g.cylinder positions to be scanned.

Output module type CP−A08−M12

Provide universally useable electricoutputs for controlling low−currentconsuming devices (valves, bulbs etc.).



Supported drives

The SPC200 supports the pneumatic drives listed in thefollowing table. Consult Festo if you wish to use other drives.

Drive Description Measuringsystem

From operatingsystem

Permittedfittingposition

Linear drive typeDGP(I)(L)−25...63

Built−on orintegrated

Version 3.8 Horizontal,vertical ordiagonally

Standard cylindertype DNC−32...80

Built−onNew feature

as from OS 4.63

Standard cylindertype DNCM−32 and −50

Built−onNew feature

as from OS 4.63

Standard cylindertype DNCI−32...63

IntegratedNew feature

as from OS 4.82

Rotary drive typeDSMI−25 and −40

IntegratedNew feature

as from OS 4.63

Drive shaftverticalupwards ordownwards or inclinedhorizontally tothe side

The SPC200 supports various electric stepping motor drives.Detailed information can be found in the description of thestepping motor indexer module, see �Documentation for theSPC200", page XV.



Notes on planning pneumatic axes

Note that in conjunction with the SPC200, the completestroke of the drive must not be used. On each side of thedrive positioning must not take place in the range of thestroke reduction (see appendix A).

CautionIf the range is exceeded, this can lead to impairment offunction and thereby to operating faults.

Please noteFor faultless operation of the pneumatic axes with theSPC200 the following performance limits must be ob�served.

Performance limits Value

Minimum speed With DGP(I)(L)−... and DNC(I)(M)−...: 50 mm/sWith rotary drive DSMI−...: 40 °/s

Minimum positioningstroke

With DGP(I)(L)−..., DNC−... and DNC(I)(M)−...:� with cylinder lengths of < 700 mm: max. 3 % of the stroke length� with cylinder lengths of � 700 mm: 20 mmWith rotary drive DSMI−...: 5°

Usable stroke lengthor usable swivel angle

� The best positioning behaviour (reproducibility and positioning time) isachieved between 10 % and 90 % of the max. stroke length of thecylinder.

� The max. permissible positioning stroke of a cylinder is equal to themax. stroke length minus the stroke reserve of the cylinder, see section3.4 and appendix A



1.1.2 Structure of the SPC200

The SPC200 is built up on a modular basis and is housed in a

rack. The host computer and memory of the SPC200 are situ�

ated on the rear wall printed circuit board in the rack.

The combination of rack and rear wall printed circuit board is

referred to as the basic unit. Basic units with 4 and 6 loca�

tions are available for implementing variants with differentequipment.

1

23

1 Rack (basic unit)

2 Rear wall printed circuit board (in the rack)

3 Modules

Fig.�1/1: SPC200 Smart Positioning Controller

Depending on the requirement of the positioning task, youcan install the necessary components in the basic unit.



Basic modules With the following modules the SPC200 provides a func�tional controller device for penumatic axes:

1

2

3

1 Power supply module type SPC200−PWR−AIF

2 Diagnostic module type SPC200−MMI−DIAG

3 I/O module type SPC200−DIO

Fig.�1/2: Basic modules of the SPC200

Module Description

Power supplymodule

Enables the power supply and the axis interfacedesigned as a field device to be connected.

Diagnosticmodule

Enables the control panel to be inserted orconnected and a PC to be connected.

I/O module Provides the necessary I/Os for controlling in thevarious operating modes.



A system with the modules mentioned above offers thefollowing scope of performance:

� up to two pneumatic axes can be controlled

� various measuring system types can be connected due todifferent variants of the axis interface

� independent operation or coordination with external

PLC/IPC via I/Os

� programming and operation via a PC or a control panel.

Extension modules The modules listed in the following table are available forextending the system:

Module Description

Analogue inputmodule

With this module you can specify ana�logue nominal position values. The mod�ule has two analogue input channels forthis purpose. The permitted voltage rangeis 0...10 V.

I/O module Provides further freely programmableI/Os. The SPC200 supports maximum4�I/O modules.

Sub−controller module Enables two further pneumatic axes andfurther I/O modules to be connected. The module provides here the necessarycomputer output as well as a connectionfor a further axis interface string.



Module Description

Stepping motorindexer module

Enables a stepping motor controller to beconnected for operating a stepping motorSee section �Documentation for theSPC200", page XV.

Field bus module Enables connection to be made to therelevant field busSee section �Documentation for theSPC200", page XV.



1.2 Positioning systems with the SPC200

1.2.1 Components of a pneumatic positioning axis

With pneumatic axes the SPC200 takes over the control andpositioning of the axes. The measuring system and the pro�portional directional control valve are connected via the axisinterface which is placed directly on the drive.

The axis interface is connected to the SPC200 by only one

cable, the axis interface string. The following diagram shows

the basic layout of a pneumatic axis with the SPC200.

1

2

3

4

5

6

7

1 Proportional directional control valvetype MPYE−...

2 Drive

3 Measuring system

4 Axis interface string

5 SPC200 Smart Positioning Controller

6 Axis interface type SPC−AIF−...

7 Service unit with 5 �m filter

Fig.�1/3: Connecting pneumatic axes to the SPC200



Components You will require the following components for setting up a

pneumatic axis:

� the SPC200 axis controller

� an axis interface type SPC−AIF−...

� a proportional directional control valve

type�MPYE−5−...−010B

� a measuring system type MLO−POT−...−TLF,

type�MLO−POT−...−LWG or type MME−MTS−...−TLF−AIF or a

drive with integrated measuring system

� a permitted drive

� if necessary, further components for the drive, e.g. a

mechanical guide, a coupling etc. (see appendix �A.)

� a service unit with 5 �m filter

� a 24 V DC power supply

� if necessary, components for a pneumatic emergency

stop circuit.

The SPC200 Smart Positioning Controller takes control of thefollowing tasks:

� specification of the nominal positions by positioning

control

� comparison of the nominal and actual positions and posi�

tioning control by means of the proportional directional

control valve (status control)

� optimization of the controller behaviour by parameter

adaptation

� control of the peripherals via digital inputs and outputsand sequence control.



Method of operation

The following diagram shows the basic layout of a position�

ing control circuit with the SPC200 Smart Positioning Con�troller.

1

2

3

4

5

6

1 Position of the drive = control variable

2 Actual position (actual value)

3 SPC200 positioning controller

4 Axis interface

5 Valve voltage (positioning signal)

6 Proportional directional control valve(positioner)

Fig.�1/4: Positioning control circuit with pneumatic components

The axis interface, valve, drive and measuring system are

connected with each other to form a closed−loop control cir�cuit. In this closed−loop control circuit, the position of the

drive represents the control variable. This control circuit istherefore also called positioning control.

The measuring system registers continuously the position of

the drive and passes this on to the axis interface in the form

of an electric signal.



The measured values are passed on from the axis interface to

the SPC200 Smart Positioning Controller. The SPC200 com�pares the nominal position with current position and calcu�

lates from this value the positioning signal for the propor�

tional directional control valve.

The proportional directional control valve controls the driveby pressurizing one drive chamber and exhausting the other.

In the mid−position the flow is blocked so that the drive stopstypically at the current position.



1.2.2 Examples of multiple−axis systems

The SPC200 can be operated independently as well as in con�

junction with a higher−order PLC/IPC. Within certain limits, itcan also manage control functions. For this purpose I/O mod�

ules with digital inputs/outputs can be incorporated in theSPC200 or external I/O modules can be connected to the axis

interface string.

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

inputs/outputs or via special field bus modules (e.g. Inter�bus; PROFIBUS−DP etc.).

The components of the pneumatic axes, in some cases also

external I/O modules, are connected via maximum two axisinterface strings with one cable each to the SPC200.



POWERDIAG OUTPUT

PNP

0 1

INPUT/OUTPUT

INPUT0 1

1

2

3

4

3

3

1

2

1 First axis interface string

2 Second axis interface string (optional)

3 Axis interface

4 External I/O modules

Fig.�1/5: Connecting pneumatic axes and external I/O modules



1

2

3

4

5

6

7

8

1 Field bus connection (optional)

2 SPC200 Smart Positioning Controller

3 Control cabinet

4 Stepping motor controller

5 Further field bus slaves

6 Stepping motor axis

7 Pneumatic axis (here type DGPL−...)

8 Axis interface string (max. 2 axes)

Fig.�1/6: Extension possibilities for positioning systems with the SPC200



1.3 Structure of the axis interface string

The SPC200 is intended for fitting into a control cabinet. The

connection to the measuring system and the proportional

directional control valve is made via the axis interface whichis connected to the SPC200 via the axis interface string.

In its basic design, the SPC200 can take control of the posi�

tioning of two pneumatic axes. Two axis interfaces and twopneumatic axes can therefore be connected to the axis inter�

face string. The axis interface for the second axis is con�

nected here to the axis interface of the first axis.

Axis identifiers The axis identifiers are assigned to the axes automatically.

The first axis is addresses as the X−axis; the second axis as

the Y−axis.

1 Axis interface ofthe X−axis

2 Axis interface ofthe Y−axis

3 Axis interfacestring

POWER

ERROROUT

VALVEIN

POWER

ERROROUT

VALVEIN

1

2

3

3

Fig.�1/7: Assignment of axis identifiers (example 1)



Maximum two axis interface strings and therefore up to four

pneumatic axes are possible (X, Y, Z, U) per SPC200. The sec�ond axis interface string is connected via the sub−controller

module type SPC200−SCU−AIF, which takes control of the

positioning of the further axes. Modules for connecting elec�tric axes can then be installed.

If modules for connecting further pneumatic or electric axes

are fitted, the following applies:

� Axis identifiers (X, Y, Z, U) are distributed automatically inascending order without gaps from left to right on the

installed modules.

� On the axis interface string the first axis receives thelower−value axis identifier, the second axis the higher−

value axis identifier.

1

2 3 1 2 3 4

1 Axis interface of the X−axis

2 Axis interface of the Y−axis

3 Axis interface of the Z−axis

4 Stepping motor controller of the U−axis

Fig.�1/8: Assignment of axis identifiers (examples 2 and 3)



Further modules with inputs and outputs can be connected

to the axis interface string. The following diagram shows thepossible configurations on the axis interface string, with the

example of a two−axis system.

POWER

ERROROUT

VALVEIN

POWERDIAG OUTPUT

PNP

0 1

INPUT/OUTPUT

INPUT0 1

POWER

ERROROUT

VALVEIN

POWER

ERROROUT

VALVEIN

POWER

ERROROUT

VALVEIN

POWER

ERROROUT

VALVEIN

POWER

ERROROUT

VALVEIN

1 1 1

2

3

4

5

6

1 Possible alternatives

2 Axis interface of the X−axis

3 Axis interface of the Y−axis

4 Module with outputs/valves

5 Module with inputs

6 Module with inputs and outputs

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



If required, the I/O function module 6 or the module with

outputs 4 is connected to the Out connection of axis inter�face 2 or 3. Modules with outputs 4 possess a connection

for coupling an input module 5.

Input modules can also be connected directly to the axis

interface.

The individual modules are connected to each other by

cables. Information is transmitted between the modules and

the SPC200 via this cable. The operating voltage and the loadvoltage are also provided via this cable. Identification of all

connected modules is carried out automatically by the

SPC200.



1.4 Operating modes of the SPC200

The SPC200 offers suitable operating modes for the different

applications. The functions of the digital inputs and outputs

of the SPC200 depend on the operating mode set. The follow�ing operating modes are available:

� Start/Stop mode

� Record Select mode

Start/stop mode In Start/stop mode the SPC200 can control simple position�ing tasks independently or together with a higher−orderPLC/IPC. Freely programmable inputs and outputs are avail�able in this operating mode.

You can start and stop positioning programs either with the

control panel, a handheld or a higher−order PLC/IPC.

The command Programmed Stop (M00) is available for loosecoupling with a higher−order PLC/IPC. With this command

you can synchronize the program sequence of the SPC200,

e.g. with externally controlled processes.

Record Select mode The Record Select operating mode supports the closecoupling of the SPC200 with a higher−order PLC/IPC. Thecomplete sequence control here is carried out by the con�trolling PLC/IPC. This controller passes positioning tasks inthe form of record numbers via digital I/Os to the SPC200.

When the I/O module is used, the NC records 0...31 of the

active program can be accessed via 5 digital inputs. Theserecords usually contain positioning tasks. The PLC/IPC can

therefore access freely up to 32 positions per axis. The maxi�

mum permitted number of NC records (1000 NC records) canbe accessed via field bus modules.



1.5 Multi−axis applications with the SPC200

The SPC200 axis controller offers the possibility of parallel

program processing and supports the setting up of multi−axis

applications. An SPC200 can control up to 4 axes. It therebysupports:

� the coordinated mode

� the autonomous mode

Coordinated mode The possibility of parallel program processing is not nor�mally used in the coordinated mode. Only one program isdefined as the starting program. NC records with positioningtasks for all axes are programmed in this program.

If a positioning task concerns e.g. all axes, it is not completed

until all the axes have reached the target position. The move�ment sequence of all axes is thereby coordinated.

Autonomous mode With the implementation of multi−axis systems, the con�nected axes can be distributed into two asynchronously−functioning independent work stations. This permits thelow−cost implementation of two independent one or two−axis systems with one SPC200.

In the autonomous mode, the two parallel−running programs

each contain positioning tasks for one defined work station.In this way, e.g. a loading and unloading station can be con�

trolled with just one SPC200.



1.6 Commissioning and programming possibilities

You can carry out the commissioning and programming of the

SPC200 with the:

� WinPISA software package

� control panel type SPC200−MMI−...

With the control panel you can commission and program

single and multi−axis systems.

The functionality of the MMI (control panel) has been frozento that of operating system version 3.8. This means that all

new functions from operating system version 4.63 onwards

can no longer be displayed or edited using the MMI.

Compared with the control panel WinPISA offers an extended

scope of functions and a very user−friendly user interface. The

following table gives a brief overview:

Please noteFrom operating system 4.6 onwards it is recommended tocarry out configuration and commissioning of the axes andprogramming of the SPC200 controller with WinPISA ver�sion 4.3 or later.

Non−compatible

as from OS 4.63



Theme Functions Controlpanel

WinPISA

Configuration � Entering axis data� Entering application data� Entering controller data

1)

1)

Programming � Entering programs� Entering positions� Teach Editor for positions� Project backup functions� New NC syntax and new NC commands

��

2)

Commissioning � Test functions for components� Program test in single steps� Extended test functions� Uploading/downloading programs� Starting and stopping programs

��

Service � Updating the SPC200 firmware by downloading� Reading out statistic diagnostic data

��

Analysis andOptimization

� Graphical representation of measured data� Entering extended system data

��

1) If they correspond to operating system version 3.8, see also page XVI2) Only in conjunction with operating system versions 4.6 and WinPISA from version 4.3 onwards



Control panel Control panel type SPC200−MMI−1... has a two−line LCD dis�

play. Up to 16 characters per line can be represented. Thecontrol panel has six buttons with which all functions can be

accessed by menu.

Control panel type SPC200−MMI−1 can be placed directly onthe SPC200. Control panel type SPC200−MMI−1F is intendedfor mounting in a front plate.

1

2 3

1 Display (LCD display with 2 x 16 characters)

2 Touch−sensitive keyboard

3 Interface to the SPC200 on the rear

Fig.�1/10: Control panel type SPC200−MMI−1

The control panel offers all the necessary functions for com�missioning, programming, diagnosing and operating directly

on the SPC200. The control panel provides editor functions

for editing position registers and programs.

You can enter positions or programs via menus on the key�board. If your positioning system is built−up completely, you

can move to positions very easily and transfer them to theposition register with the Teach functions.



WinPISA The WinPISA software package runs on the Windows® oper�

ating system on version 98 or higher. It offers a convenientuser interface.

1

2

3

1 Icon bar

2 Project window

3 Program window

Fig.�1/11: User interface of WinPISA

The WinPISA project window offers fast access to all project

data. All project components, such as the position list, pro�

grams and configuration data are represented graphically inthe project window. A double click suffices for checking set�

tings or for undertaking modifications.



WinPISA provides the following functions:

� graphically supported configuration of the current project

� a user−friendly Editor for NC programming based onDIN�66025

� load functions for programs, projects, etc.

� a graphical function for analyzing the positioningbehaviour.

WinPISA supports single−axis applications and multi−axis

applications with up to four axes.

Position list As an alternative to the direct entry of positions (e.g. X100)when programming, you can also specify positions bymeans of the position register. You simply need to enter thedesired position in the program register (e.g. X@1).

100 position registers are available per axis.

In WinPISA you can map the position register by means of theposition list. The position registers of all the axes aregrouped together under the same index in the position listand are given a name as a symbolic position. You can thenuse the names of the symbolic positions in user programsinstead of specifying position registers.

Please noteFrom operating system version 4.63 onwards, positionregisters (@n) can also be used for saving speed and ac�celeration values and other parameters. Detailed informa�tion can be found under the specific NC commands, seesection 7.2.3.



1.7 I/O address range of the SPC200

A complete word (16 bit) for inputs and/or outputs is avail�

able for every component and every I/O module, irrespective

of how many I/Os are integrated.

Configuring the SPC200 Maximum address range

without field bus module with �field bus module

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

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

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

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

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

Fourth I/O module Third I/O module I5.0�...�I5.9 Q5.0 ... Q5.7

� Field bus module I10.0�...�I13.15 2) Q10.0 ... Q13.15 2)

1) Address range is not available if a field bus module is used2) Address range not available without a field bus module



The following diagram shows an example.

I0.0�...�I0.9

Q0.0�...�Q0.7

I2.0�..�I2.9

Q2.0�...�Q2.7I4.0�...�14.9

Q4.0�...�Q4.7

Q1.0�...�Q1.11

I1.0�...�I1.15

Q3.0�...�Q3.15

I3.0�...�I3.15

1

1 These I/Os are partly reserved bypre−assigned functions (control inputsand outputs)

Q = output; I = input

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

Fitting


Chapter 2

2. Fitting


Contents

2.1 Fitting and removing components 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Fitting the basic unit 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Fit the control panel into position 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Fitting the axis interface and the I/O function module 2−16 . . . . . . . . . . . . . . . . . .

2.5 Notes on fitting the pneumatic axis 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting


Contents of this chapter This chapter explains how to fit and remove SPC200modules as well as how to fit the following components:

� SPC200 basic unit

� Control panel

� Axis interface

� I/O function module

This chapter also contains instructions on how to fit the

pneumatic axis.

Further information Instructions on fitting electromechanical axes, power con�trollers and sensors can be found in the documentation forthe relevant component.

Detailed information can also be found in the instructionssupplied with the product. Further information on the electric

axis can be found in the manual for the relevant module.

2. Fitting


WarningBefore carrying out installation and/or maintenance work,switch off the following in the sequence specified:

1. the compressed air supply

2. load and operating voltage supplies on the SPC200 and,if applicable, load voltage supply on the axis interfacestring.

You can thereby avoid:

� uncontrolled movements of the connected actuators.

� uncontrolled movements of loose tubing

� undefined switching states.

2. Fitting


2.1 Fitting and removing components

CautionComponents may be damaged if they are not handledcorrectly.

· Do not touch the electrical contacts of the modules.

· Observe the regulations for handling electrostaticallysensitive components.

· Protecting the components against discharges of staticelectricity: Discharge yourself of static electricity beforefitting or removing the modules.

The rack type SPC200−CPU−... serves as a housing for the

components of the SPC200. The processor and memory ofthe SPC200 are situated on the integrated rear−wall printed

circuit board. The components inserted are connected with

each other via this rear−wall printed circuit board.

The components are fastened with the aid of a locking lever

on the rack. A tool is not therefore required for fitting or re�

moving the components.

Locations The locations are marked from left to right with 1 to 4 or 6.Location 1 is reserved for the power supply module

(type�SPC−200−PWR−AIF). Other components can be fitted asdesired in locations 2 to 4 or 6. Individual identification of all

inserted components is carried out automatically.

2. Fitting


Module Type designation Max. number

Power supply module SPC200−PWR−AIF 1

Diagnostic module SPC200−MMI−DIAG 1

Sub−controller module SPC200−SCU−AIF 1

Field bus module SPC200−COM−... 1

Nominal value module SPC200−2AI−U 2

Stepping motor indexer modules SPC200−SMX 3

I/O modules SPC200−DIO 3 or 4 1)

1) Maximum four I/O modules if a field bus module is not installed.

Recommendation:

� If a sub−controller or stepping motor module is installed.Check to see if the modules must be fitted in a certain

sequence. Axis identifiers (X...U) are assigned automati�

cally to these modules in ascending order without gapsfrom left to right (see chapter 1.3).

� Mount the sub−controller module if possible in the outer�

most right−hand location. The cable screening/shield canthen be fitted easily to the earth connection on the right−

hand side.

� Mount the stepping motor indexer module and the fieldbus module with a gap of at least one location from the

diagnostic module, if you are using a control panel.

2. Fitting


WarningActuators can be activated unintentionally and the SPC200can be damaged if modules are fitted or removed whenthe power supply is switched on. Before carrying out in�stallation and/or maintenance work, switch off the follow�ing in the sequence specified:


2. the load voltage and operating voltage supplies of theSPC200.

Fitting modules Fit the modules into the rack as follows:

1. Switch off the compressed air supply and the operatingvoltage supply.

2. If necessary, remove the blanking plate.

3. Hold the module by the front plate and push it into theguide rail. Make sure that the modules are not tilted

when they are pushed in and that the components on the

printed circuit board are not damaged.

4. Make sure that the plugs on the contact strips are cor�

rectly aligned. Then gently push the module in com�

pletely. The locking levers will then engage automatically(see Fig.�2/1).

2. Fitting


1 Locksautomatically

2 Direction forunlocking

3 Guide rail

4 Contact strip

5 Front plate of themodule

6 Locking lever

1

2

34

5

6

Fig.�2/1: Installing the modules

Removing modules Proceed as follows when removing a module:

1. Switch off the compressed air supply and the operating

voltage supply.

2. Disconnect and remove the connecting cable from thefront of the module.

3. Unlock both locking levers (see Fig.�2/1) and carefully

remove the module.

4. If necessary, seal the unused connections with blanking

plates.

2. Fitting


2.2 Fitting the basic unit

You can fit the SPC200 into a control cabinet in one of two

ways:

� by screwing it directly to the wall of the control cabinet

� by means of a hat rail.

Please noteFit the SPC200 or the hat rail so that there is sufficientspace (above or below for heat dissipation 40 mm).

Screwing the SPC200 to the wall

You will require:

� a mounting surface of approximately 126 x 120 mm2

� four threaded holes for screw size M4 (dimensions see following diagram).

94 mm

1

1 SPC200−CPU−4: 117 mmSPC200−CPU−6: 158 mm

Fig.�2/2: Screwing the SPC200 to the wall

2. Fitting


Fitting with a hat rail

In order to fit the rack onto a hat rail, you will require mount�

ing kit CPV10/14−VI−BG−NRH. This kit consists of 2 brackets,4�M4x10 screws and 2 clamping elements with spring (see

Fig.�2/3).

Proceed as follows when fitting the SPC200 onto a hat rail:

1. Make sure that the mounting surface can support the

weight of the SPC200.

2. Fit a hat rail (support rail EN 50022 � 35x7.5; width 35�mm, height 7.5 mm).

3. Fasten the hat rail at least every 100 mm to the fastening

surface.

4. Screw the two brackets 2 with the M4x10 screws sup�plied 1 to the fastening bracket of the rack (see follow�

ing diagram). Make sure that the fixing bolts 5 of thebracket grip into the groove of the rack.

5. Hang the rack onto the hat rail. Fasten the rack with the

clamping elements 4 so that it cannot tilt or slide down.

2. Fitting


1 M4*10 screw

2 Clip

3 Hat rail

4 Clampingelement

5 Fixing bolts

12

3

45

Fig.�2/3: Fitting the rack onto a hat rail

Proceed with dismantling as follows:

1. Remove the clamping elements.

2. Lift up the rack.

2. Fitting


2.3 Fit the control panel into position

Control panel type SPC200−MMI−1

Control panel type SPC200−MMI−1 can be inserted directlyinto the diagnostic module type SPC200−MMI−DIAG of theSPC200 (see Fig.�2/4).

WarningActuators can be activated unintentionally and the SPC200can be damaged if modules are fitted or removed whenthe power supply is switched on. Before carrying out in�stallation and/or maintenance work, switch off the follow�ing in the sequence specified:


2. the load and operating voltage supplies on the SPC200and, if applicable, the load voltage supply on the axisinterface string.

Proceed with fitting as follows:

Control panel type SPC200−MMI−1 can be inserted directly

into the diagnostic module type SPC200−MMI−DIAG of theSPC200 (see Fig.�2/4).

1. Switch off the compressed air supply.

2. Switch off the load voltage and operating voltage sup�plies on the SPC200.

3. Carefully place the control panel onto the diagnostic

module type SPC200−MMI−DIAG of the SPC200. Make

sure that plug 3 and socket 5 are correctly aligned be�fore fully inserting the control panel.

4. Make sure that locking pins 2 snap into position.

2. Fitting


1 Control panel(side view)

2 Locking pin

3 Locking pins onthe control panel

4 Diagnosticmodule

5 Socket for controlpanel (X3)

6 Groove forlocking pins

ÎÎÎ

1

2 3

4

5

6

2

Fig.�2/4: Fitting the control panel


1. Switch off the compressed air supply.

2. Switch off the operating voltage and load voltage

supplies for the SPC200.

3. Carefully lift up the control panel from diagnostic moduletype SPC200−MMI−DIAG.

2. Fitting


Control panel type SPC200−MMI−1F

Control panel type SPC200−MMI−1F is intended for mountingin a front plate. For fastening the control panel you require aspace of approx. 114 x 102 x 70 mm and a cut−out area ofapprox. 92 x 92 mm. The front plate must not be thicker than4 mm.

1 Display (LCD display with2 x 16 characters)

2 Fastening clamps

1

2

Fig.�2/5: Control panel type SPC200−MMI−1F

The following diagram shows appropriate dimensions.

1 2 3

1 Control panel (side view)

2 Control panel (rear view)

3 Fastening clamps (included in delivery)

Fig.�2/6: Dimensions of type SPC200−MMI−1F

2. Fitting



1. Push the control panel into the cut−out in the front plate.

2. Hang the fastening clamps from the rear into theappropriate cut−outs.

3. Screw the control panel to the front plate.

1 Control panel

2 Front plate

3 Fastening clamps

4 Fastening screws

1.

2.3.

1

2

3

4

Fig.�2/7: Fitting control panel type SPC200−MMI−1F

2. Fitting


2.4 Fitting the axis interface and the I/O function module

This section explains how to fit the axis interface type

SPC−AIF−... and the I/= function module type SPC−FIO−... .

Fitting the axis interface

Fit the axis interface as close as possible to the relevantdrive. The length of the cable to the measuring system

should be approx. 500 mm.

The axis interface type SPC−AIF−... must be fitted on a flatsurface.

· Fasten the axis interface with at least 3 M4 screws.

The dimensions for the threaded holes for screw size M4 areshown in Fig.�2/8 and Fig.�2/9.

Fig.�2/8 shows the current design of the axis interfaces oftype SPC−AIF−POT, ...−LWG and ...−MTS. For older axis interfaces, separate support brackets arenecessary. These enable horizontal or vertical fitting with themiddle holes shown in Fig.�2/8 (dimension �16.9 mm"), seethe brief description supplied with the product.

The axis interfaces of type SPC−AIF−POT, ...−LWG, ...−MTS canbe fitted vertically. Separate support brackets (accessories)are necessary here.

2. Fitting


1 2

3

1 Fastening holes for horizontal mounting

2 Angled plug

3 Additional support bracket (accessory) for fitting with vertical mounting

Fig.�2/8: Fitting dimensions of axis interface type SPC−AIF−POT, ...−LWG and ...−MTS

12

1 Fastening holes for horizontal mounting

2 Angled plug

Fig.�2/9: Fitting dimensions of axis interface type SPC−AIF−INC

2. Fitting


Fitting the I/O function module

I/O function modules are intended for fitting onto a flat

surface and for hat rails.

Fitting onto a wall For fastening to a flat surface you will require a mountingarea of approx. 70 x 80 mm2. The following diagram showsthe dimensions for the four threaded holes of screw size M4.

1 I/O functionmodule typeSPC−FIO−2E/2A−M8

POWER

DIAGOUTPUT

PNP

0 1

INPUT/OUTPUT

INPUT0 1

67 mm

40 mm

1

Fig.�2/10: Fitting dimensions of the I/O function module

Fitting onto a hat rail In order to fit the I/O function module onto a hat rail, youwill require mounting kit CP−TS−HS35. This kit consists oftwo fastenings, two M4*12 screws and two washers.


1. Fit a hat rail (support rail EN 50022 � 35x15; width 35�mm, height 15 mm).

2. Fasten the hat rail at least every 100 mm to the fastening

surface.

3. Snap both fastenings into the hat rail (see Fig.�2/11).

4. Screw the housing to the fastening with the screws and

washers supplied, as shown in the following diagram.

2. Fitting


5. Tighten the screws. The fastening and the housing will

then be clamped firmly on the hat rail.

1 Fastening

2 Housing

3 M4x12 screw

4 Washer

5 Hat rail

1 2

3

4

5

Fig.�2/11: Fitting the SPC−FIO−2E/2A−M8 onto a hat rail


1. Loosen the screws.

2. Remove the housing.

3. Use a screwdriver to lift the fastening out of the hat rail.

1 Screwdriver

2 Fastening 1

2

Fig.�2/12: Dismantling the fastening

2. Fitting


2.5 Notes on fitting the pneumatic axis

Please noteFit the drive, the measuring system and the proportionaldirectional control valve in accordance with the relevantoperating instructions.

The following sections contain general rules which are

important for the reliable operation of a pneumatic axis.

Proportional directional control valve

� Fit the proportional directional control valve as close as

possible to the drive. Short compressed air tubing willensure the dynamics of the system.

� If you wish to fit the proportional directional control valve

onto moving parts, you must fit it at right angles to thedirection of movement. Acceleration forces then have no

influence on the valve slide setting.

� If the proportional directional control valve is to be used

in an environment subjected to heavy electrical interfer�ence, it should be insulated from the mounting surface.

� Use silencers with a large flow.

2. Fitting


Drives

CautionMount shock absorbers on the drive, also on drives withadjustable cushioning (PPV). In this way you can avoiddamage in the event of operating and system faults.

CautionLimit the positioning range by means of fixed end stops ifthe measuring system is shorter than the positioningrange. In this way you can avoid damage to the measuringsystem in the event of operating and system faults.

Important for positioning accuracy

� The cylinder, guide, measuring system and load must be

rigid in the direction of movement, have very little playand must be connected flush with each other.

� The play between the drive, guide, mass and measuring

system must be smaller by the factor 10 than the requiredtolerance (max. 0.1 mm).

2. Fitting


Installation


Chapter 3

3. Installation


Contents

3.1 General instructions on installation 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 General instructions on fitting the pneumatic components 3−5 . . . . . . . . . . . . . .

3.2.1 the compressed air supply 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Service unit 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Compressed air reservoir (optional) 3−7 . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Proportional directional control valve type MPYE−... 3−8 . . . . . . . . . . . .

3.2.5 Compressed air tubing and screw connectors 3−10 . . . . . . . . . . . . . . . . .

3.2.6 Drives 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.7 General instructions on measuring systems 3−11 . . . . . . . . . . . . . . . . . .

3.2.8 Requirements of the mechanism 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.9 Mass load 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Additional pneumatic circuits 3−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Dimensional reference system � terms and definitions 3−17 . . . . . . . . . . . . . . . . .

3.5 Installing the SPC200 3−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Selecting the power unit 3−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 Connections on the supply module 3−29 . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.3 Connections of the diagnostic module 3−35 . . . . . . . . . . . . . . . . . . . . . . .

3.5.4 Connections of the I/O module type SPC200−DIO−... 3−38 . . . . . . . . . . . .

3.5.5 Connections of the analogue input module type SPC200−2AI−U 3−47 . .

3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF 3−50 .

3.6 Installing the modules on the axis interface string 3−52 . . . . . . . . . . . . . . . . . . . . .

3.6.1 Installing the axis interface SPC−AIF−... 3−56 . . . . . . . . . . . . . . . . . . . . . . .

3.6.2 Installation I/O function module type SPC−FIO−2E/2A−M8 3−61 . . . . . . .

3.6.3 Installing control panel SPC200−MMI−1F 3−65 . . . . . . . . . . . . . . . . . . . . .

3. Installation


Contents of this chapter This chapter contains general instructions on installing thepneumatic axis. It also deals with the installation of theSPC200 basic unit with the following components andmodules:

� Power supply module type SPC200−PWR−AIF

� Diagnostic module type SPC200−MMI−DIAG

� I/O module type SPC200−DIO

� Analogue input module� type SPC200−2AI−U

� Sub−controller module type SPC200−SCU−AIF

� Axis interface type SPC−AIF−...

� I/O function module type SPC−FIO−2E/2A−M8

This chapter also contains important basic rules on setting upan axis interface string.

Further information Installation instructions on special drives can be found inappendix A.

Installation instructions on field bus modules as well as mod�ules for coupling electric axes can be found in the manual forthe relevant module.

Instructions on fitting electromechanical axes, power con�trollers and sensors can be found in the documentation forthe relevant component.

3. Installation


3.1 General instructions on installation

CautionUse only the special matching components from Festo forsetting up and wiring the system. Only in this way can youguarantee the correct functioning of the system.



2. load and operating voltage supplies on the SPC200 and,if applicable, load voltage supply on the axis interfacestring.


� uncontrolled movements of the connected actuators



3. Installation


3.2 General instructions on fitting the pneumatic components

Please noteFaults in the axis set−up can lead to malfunctioning. Observe all the instructions on installing pneumatic com�ponents. Set up the system with great care. Only then canyou guarantee faultless operation.

The following sections contain general instructions on instal�ling pneumatic components. These instructions apply to allthe drives mentioned here. Special installation instructionsrelated to a certain drive can be found in appendix A.

Please noteIt is necessary to carry out system identification during thefirst commissioning, when components are replaced, aswell as when the drive configuration is modified (e.g. mounting position, tubing or supply pressure), (see section 4.4.2).

3.2.1 the compressed air supply

For protecting the proportional directional control valveagainst damage you will require a service unit with a 5 �mfilter.

· Use only dry non−lubricated 5 �m filtered compressed air4...8 bar, tolerance ± 1 bar. Note the permitted pressurerange of the components used.

3. Installation


3.2.2 Service unit

· Use a service unit consisting of a compressed air filterand a regulating valve (e.g. type LFR−...−D−... with 5��mfilter element) as well as a safety start−up valve (e.g. HEL−...−...):

� without lubricator

� with a 5 �m filter

� with sufficiently large nominal flow corresponding tothe air requirement of the connected cylinder duringpositioning. Reference value: twice the rated flow ofthe valve (type MPYE−5−...)

� use a microfilter if you cannot avoid slight oil mistfrom the compressed air supply.

3. Installation


3.2.3 Compressed air reservoir (optional)

For good positioning behaviour during operation, fluctuationsin pressure of max. 1 bar are permitted in front of the propor�tional directional control valve. In order to check the stabilityof the supply pressure, you can fit a pressure measuringpoint directly in front of the proportional directional controlvalve.

· Install a compressed air reservoir (e.g. type VZS−...−B)between the service unit and the proportional directionalcontrol valve, if the positioning behaviour does not meetyour requirements and if you ascertain fluctuations inpressure of over 1 bar in front of the proportional direc�tional control valve.

In this way you can reduce fluctuations in pressure duringoperation. You can compensate for slight excesses in thepermitted pressure by using supply tubing with a largerdiameter.

Reservoir volume:

The size of the reservoir volume depends on the cylinder vol�ume of the drive used and should be at least twice as large asthe volume of the cylinder used.

VP = 2 * VZ

VP = buffer volume;VZ = cylinder volume (VZ = r2 * * LZ )LZ = cylinder stroke lengthr = cylinder diameter / 2

3. Installation


3.2.4 Proportional directional control valve type MPYE−...

· Fit the proportional directional control valve as close aspossible to the drive. Short compressed air tubing willensure the dynamics of the system.

· If the proportional directional control valve is to be usedin an environment subjected to heavy electrical interfer�ence, it should be insulated from the mounting surface.

· Fitting onto moving parts If fitted to moving parts, the proportional directional con�trol valve must be mounted at right−angles to the direc�tion of movement. Acceleration forces then have no influ�ence on the valve slide setting.

1 2

3

1 Fitting at right angles to the direction of movement

2 Not permitted

3 Proportional directional control valve type MPYE−...

Fig.�3/1: Fitting to moving parts

· Use silencers with a large rated flow (e.g. U−1/8).

Reducing loud exhaust noises:

· Install larger silencers with the aid of tubing or pass theducted exhaust into a small compressed air reservoir andexhaust this with a large silencer. Make sure that thescrew connectors and tubing provide sufficient flow. Keepthe tubing as short as possible.

3. Installation


1 Ducted exhaust

2 Compressed airreservoir

3 Silencer

1

2

3

Fig.�3/2: Ducted exhaust

3. Installation


3.2.5 Compressed air tubing and screw connectors

· If possible, use screw connectors from the QS or QSMseries. In the case of drives with 3/8" connection,CK�screw connectors of type CK−3/8−PK−13 are alsopermitted.

· Use only straight screw connectors. If angled connectorscannot be avoided, use plug connectors from the FestoQuick Star series.

· Use screw connectors with the largest possible ratedwidth. If the proportional directional control valve and thedrive have connections of different sizes, select thelargest possible rated width of the smaller connectionsize.

· Depending on the screw connectors, always use thelargest possible tubing diameter.

· Avoid installing restrictors or non−return valves in thesupply line.

· Arrange the tubing so that it does not project into thepositioning range.

· Use only clean compressed air tubing and connectors.

· Use tubing as short as possible between the valve(MPYE−5−...) and the drive and arrange the tubingsymmetrically.

The permitted tubing lengths for the relevant drive can befound in appendix A.

Details on permitted temperature and pressure ranges fortubing and connectors can be found in the PneumaticsCatalogue.

3. Installation


3.2.6 Drives

Use only the permitted drives with suitable guide listed inappendix A. Consult Festo if you wish to use other drives.

Installation instructions for the permitted drives can be foundin appendix A.

3.2.7 General instructions on measuring systems

Please noteNote that the positioning accuracy which can be reacheddepends on the type of measuring system used.

The mechanical work path (possible slide path) of themeasuring system can be longer than the electrical work path(usable stroke length of the measuring system).

If analogue measuring systems are used (e.g. type MLO−POT−...), the following also applies:In conjunction with the SPC200, an electrical reserve of��0.3�% of the rated length is also required in both endpositions, see section 3.4.

Example:

� Nominal length of the measuring system: 1000 [mm]

� Permitted work path: 3...997 [mm]

CautionIf the slide of the measuring system leaves the permittedwork path, the SPC200 will generate an appropriate faultmessage. In order to avoid these fault messages, limit thepositioning range so that the slide of the measuring sys�tem is always within the permitted work path.

3. Installation


Measuring systems with actuator slides

� If you wish to use a measuring system with a slide underdifficult ambient conditions, fit it so that the side with the

actuator slide faces downwards. The drip edge on bothsides prevents excessive dirt from forming on the running

surface.

3.2.8 Requirements of the mechanism

� The drive, guide, measuring system and load must berigid in the direction of movement, have very little playand must be mounted flush with each other.

� If necessary, provide a sufficiently large supply of energyin order to minimise the effects of transverse forces onthe positioning behaviour.

� The play between the drive, guide, mass and measuring

system must be smaller by the factor 10 than the requiredtolerance, but never greater than 0.1 mm.

3.2.9 Mass load

For good positioning behaviour, the SPC200 must be adjustedto the mass load. Here the mass load represents the com�plete mass to be moved with the positioning drive, includingthe weight of the piston and the slide. It consists of the massof the workpiece � which generally changes during the pro�cess � and all other parts of the drive with mass, such as pis�tons, piston rods, slides, workpiece grippers or gripper units,etc. which are defined during the design engineering, andgenerally do not change:

Mass load = workpiece mass+ total moving mass without workpiece

3. Installation


There is a maximum and a minimum permissible mass load.The mass load depends on:

� the type of drive used

� the diameter of the drive used

� the selected mounting position

� the operating pressure.

Make sure that in all load situations the effective mass load:

� is at least equal to the minimum permissible mass load.This applies in particular when there is no workpiece. Ifnecessary, fasten an additional mass / mass load to theslide.

� the maximum permissible mass load must not beexceeded, see Tab.�3/1 and Tab.�3/2.

Please noteMinimum mass load.

A pneumatic positioning axis always requires a minimummass load. You can find these values in Tab.�3/1 andTab.�3/2. If necessary, this minimum mass load must be ensuredthrough the use of an additional weight.

3. Installation


In order to configure a positioning axis, the user must definenot only the Max. workpiece mass which is to be moved in theapplication, but also the �Workpiece mass in initial state".The latter is used to specify the workpiece mass which is ineffect on the positioning axis when the system is switched on(Power−on), and which accordingly must be taken into ac�count in the SPC200. The following applies:

0 � Workpiece mass in initial state � Max. workpiece mass (max. workpiece mass, is defined in the application data)

With this option you have the capability to adjust the servosetting of the SPC200 to various mass loads. Depending onthe application, you can thus, if necessary, define the massload of the initial state so that it is between the smallest andlargest value.

This feature is available from operating system version 4.82(together with WinPISA version 4.41) onwards. Operatingsystem 4.63 and earlier recognises only the initial state:Mass load = workpiece mass + mass of all other moving

parts of the axis

Please noteIf the mass load varies from positioning task to positioningtask (e.g. due to different workpieces) by more that 30 %,the mass load must be adapted to the actual parameters.

The NC command M37 can be used for this, see section 7.4.

New feature

as from OS 4.82

3. Installation


Mass load for linear drives and piston rod cylinders

Determine the permitted mass load based on Tab.�3/1:

Mounting position Maximum mass load Minimum mass load

horizontal (á = 0°) mmax 0.1 * mmax

vertical (á = 90°) 0.33 * mmax 0.1 * mmax

diagonal (0° < á < 90°) (1−2/3 sin) * mmax 0.1 * mma

á = Mounting position in �[°]mmax = d³ * Psys * 0.008d = Cylinder diameter [mm]Psys = Supply pressure [bar]mmax = Maximum mass load for horizontal mounting position [kg]�

Tab.�3/1: Maximum and minimum mass load

Mass moment of inertia for rotary drives

The mass moment of inertia must not change during themovement. Permitted mass moments of inertia for rotarymodule type DSMI−... in electronically regulated operationwith the SPC200 are shown in the following table:

Rotary module Permitted mass moment of inertia[kgm2 * 10−4]

DSMI−25−... 15 ... 300

DSMI−40−... 60 ... 1200

Tab.�3/2: Permissible mass moment of inertia

Festo supports you in calculating the mass moment of inertiawith the MTM calculation program (Internet: http://www.festo.com). This program serves for calculating the mass mo�ments of inertia of the 2nd degree for various basic units andstandard parts from Festo (e.g. clip−on flange for DSMI−...).

3. Installation


3.3 Additional pneumatic circuits

You may require additional pneumatic circuits in order toattain a particular status for the system in certain applica�tions.

Please noteIf the operating voltage supply for the SPC200 is switchedoff, the proportional directional control valve type MPYEwill move to the mid−position. Due to the asymmetricalvoltage−pressure curve of the proportional directional con�trol valve when the supply pressure is switched on, theslide can move slowly into one of the end positions.

Additional information

The "Guide To Safety Technology" brochure contains detailedinformation on:

� Directives and norms

� Machine guidelines and DIN EN ISO 13849−1

� Definition and concept of risk

� Risk assessment

� Directive−compliant procedure for safe design (as perEN ISO 12100)

� Control architectures (as per DIN EN ISO 13849−1)

� Operating modes and safety functions

� Sample circuit diagrams

� Festo products

� Services

You can request the "Guide To Safety Technology" brochurein the Internet at:è www.festo.com

3. Installation


3.4 Dimensional reference system � terms and definitions

In this section you will find descriptions of the dimensionalreference system and the reference points for the variousdrives.

Please noteWith regard to the reference vectors in Fig.�3/3, Fig.�3/4,Fig.�3/5 and Fig.�3/6, the following applies:

� an arrow pointing to the right (or clockwise) represents apositive or increasing value.

� an arrow pointing to the left (or anti−clockwise) repre�sents a negative or decreasing value.

3. Installation


A) Drive type DGP(I)(L)−...

1 Linear drive � in this case DGPL with measuring system built on

2 Slide � shown here in various positions

3 Measuring system type TLF, electric connection on the left side

Fig.�3/3: Dimensional reference system for DGP(I)(L)

3. Installation


Dimensional reference system for drive type DGP(I)(L)−...

Reference points

(1) Measuring system zero point � this is always on the connection side of the measuring system,and is reached when the connecting rod of the measuring system is retracted; corresponds to ameasured value of �0".

(2) Axis zero point, position of the slide/piston at the stop which is located closest to the measur�ing system zero point. All other axis−specific reference values refer to this point.

(3) Project zero point � reference point for all position values in programs and the positionregisters; defined by the user. An actual position which is displayed also refers to this point.With this reference value, the user has the option of using software to compare the location ofthe position values to a fixed point on the machine.

Definition of paths

(A) Mounting offset � specifies the offset between the measuring system zero point and the axiszero point. It is a signed value; the arrow direction indicated corresponds to a positive numericvalue. The mounting offset also affects the servo optimization of the SPC200; even smallvalues (a few mm) must be specified as precisely as possible.

(B) Project zero point offset � specifies the offset between the axis zero point and the project zeropoint. It is a signed value; the arrow direction depicted corresp. to a positive numeric value.

(C) Value of the current position (j actual position) relative to the project zero point.

(D) Value of the lower software end position; defines the smallest position value that can bemoved to.

(E) Value of the upper software end position; defines the largest posi. value that can be moved to.

(F) Working stroke � specifies the working positioning range of the axis; it is determined by thesoftware end positions and specified by the user. The following applies: (F) = (E) � (D)

(G) Maximum permissible positioning range; determined by the drive length and the strokereserve. The following applies: (G) = (H) � 2 * [K]

(H) Stroke of the drive; corresponds to the ordered length, also indicated on the type plate.

(J) Measuring system length; corresponds to the ordered length, also indicated on the type plate.

[K] Stroke reserve � positioning must not take place in the range in front of the end covers.Positioning behaviour becomes unreliable in this range because it is affected by the dampingelements in the covers. These values can be found in the appendices for the relevant drives.

[L] Electric reserve of the measuring system (0.3 %). This is used to monitor the electrical connec�tion. When selecting the measuring system and the drive, the following relationship betweenthe lengths must be observed: 0.994 * (J) � (G) � (F)

3. Installation


B) Drive type DNC(M)−...

1 Piston rod drive � in this case DNC with measuring system built on

2 Piston rod advanced in variouspositions

3 Measuring system type LWG, electricconnection on the left side

4 Connecting rod of the measuringsystem in various positions

Fig.�3/4: Dimensional reference system for DNC(M)

3. Installation


Dimensional reference system for drive type DNC(M)−...

Reference points

(1) Measuring system zero point � this is always on the connection side of the measuring system,and is reached when the connecting rod of the measuring system is retracted; corresponds to ameasured value of �0".

(2) Axis zero point, position of the slide/piston at the stop which is located closest to the measur�ing system zero point. All other axis−specific reference values refer to this point.

(3) Project zero point � reference point for all position values in programs and the position regis�ters; defined by the user. An actual position which is displayed also refers to this point. Withthis reference value, the user has the option of using software to compare the location of theposition values to a fixed point on the machine.

Definition of paths

(A) Mounting offset � specifies the offset between the measuring system zero point and the axiszero point. It is a signed value; the arrow direction indicated corresponds to a positive numericvalue. The mounting offset also affects the servo optimization of the SPC200; even smallvalues (a few mm) must be specified as precisely as possible.

(B) Project zero point offset � specifies the offset between the axis zero point and the project zeropoint. It is a signed value; the arrow direction depicted corresponds to a positive numericvalue.



(E) Value of the upper software end position; defines the largest pos. value that can be moved to.



(H) Stroke of the drive; corresponds to the ordered length, also indicated on the type plate.

(J) Measuring system length; corresponds to the ordered length, also indicated on the type plate.

[K] Stroke reserve � positioning must not take place in the range in front of the end covers.Positioning behaviour becomes unreliable in this range because it is affected by the dampingelements in the covers. These values can be found in the appendices for the relevant drives.

[L] Electric reserve of the measuring system (0.3 %). This is used to monitor the electrical connec�tion. When selecting the measuring system and the drive, the following relationship betweenthe lengths must be observed: 0.994 * (J) � (G) � (F)

3. Installation


C) Drive type DNCI−...

1 Piston rod drive � in this case DNCIwith integrated incremental measuringsystem

2 Piston rod advanced in variouspositions

5 Reference stop � either end stop of thedrive itself (reproducibility: ~ 1/10 mm)or built on externally (reproducibility:~�1/100�mm)

Fig.�3/5: Dimensional reference system for DNCI

3. Installation


Dimensional reference system for drive type DNCI−...

Reference points

(1) Reference point � point of reference for the axis zero point. The reference point can be anexternal, adjustable fixed stop or the lower or upper end stop of the drive itself.

(2) Axis zero point � position of the piston rod when completely retracted, without external fixedstop. All other axis−specific reference values refer to this point.

(3) Project zero point � reference point for all position values in programs and the position regis�ters; defined by the user. An actual position which is displayed also refers to this point. Withthis reference value, the user has the option of using software to compare the location of theposition values to a fixed point on the machine.

Definition of paths

(A) Reference position offset � specifies the offset between the axis zero point and the referencepoint. This is always a positive value. This offset value also affects the servo optimization ofthe SPC200; even small values (a few mm) must be specified as precisely as possible.

(B) Project zero point offset � specifies the offset between the axis zero point and the project zeropoint. It is a signed value; the arrow direction depicted corresponds to a positive numericvalue.



(E) Value of the upper software end position; defines the largest pos. value that can be moved to.



(H) Stroke of the DNCI; also corresponds here to the measuring system length, and is indicated onthe type plate.

[K] Stroke reserve � positioning must not take place in the range in front of the end covers.Positioning behaviour becomes unreliable in this range because it is affected by the dampingelements in the covers. These values can be found in the appendices for the relevant drives.When selecting the drive, the following relationship between the lengths must be observed:(G) � (F)

3. Installation


D) Drive type DSMI−...

1 Rotary drive type − in this case DSMIwith integrated angle measuringsystem

2 Stop lever in various angle positions

3 Electrical connection of the anglemeasuring system

Fig.�3/6: Dimensional reference system for DSMI

3. Installation


Dimensional reference system for drive type DSMI−...

Reference points

(1) Measuring system zero point � always on the behind the stop on the left−hand side of the drivein the anti−clockwise direction; corresponds to a measured value of �0". In the DSMI it cannotbe reached due to the limitation of the rotary wing, see also [L].

(2) Axis zero point � this is always to the left in the anti−clockwise direction, and corresponds tothe extreme position of the stop lever. All other axis−specific reference values refer to thispoint.

(3) Project zero point � reference point for all angle values in programs and the position registers;defined by the user. An actual position which is displayed also refers to this point. With thisreference value, the user has the option of using software to compare the location of the anglevalues to a fixed point on the machine.

Definition of paths

(A) Mounting offset � specifies the angle offset between the measuring system zero point and theaxis zero point. It is a signed value; the arrow direction indicated corresponds to a positiveangle of rotation. WinPISA automatically provides this value in the application data.

(B) Project zero point offset � specifies the angle offset between the axis zero point and theproject zero point. It is a signed value; the arrow direction indicated corresponds to a positiveangle of rotation.

(C) Value of the current angle position (j actual position) relative to the project zero point.

(D) Value of the lower software end position; defines the smallest angle of rotation that can bemoved to.

(E) Value of the upper software end position; defines the largest angle of rotation that can bemoved to.

(F) Working stroke � specifies the angle range of the rotary drive; it is determined by the softwareend positions and specified by the user. The following applies: (F) = (E) � (D)

(G) Maximum permissible angle range during positioning; determined by the max. swivel angle ofthe drive (for DSMI: 272°) and the stroke reserve. The following applies: (G) = (H) � 2 * [K]

(H) Angle of rotation of the drive, corresponds to the order specifications, and is also indicated onthe type plate.

[K] Stroke reserve; for the DSMI it is 5°. It decreases the usable angle of rotation of the rotarydrive. In this angle range, close to the inner end stops, positioning behaviour is affectedexcessively by the damping elements.

[L] Electric reserve of the measuring system. This is used to monitor the electrical connection.In the DSMI, this reserve is already built in, and does not have to be considered by the user.

3. Installation


3.5 Installing the SPC200



2. the load voltage for field devices and proportionaldirectional control valves (plug X2, pin 1)� the load voltage supply for the outputs

(plug X6/X8, pin 8)� if applicable, the load voltage supply on the axis

interface string� operating voltage supply for internal electronics

of the SPC200 and field devices (plug X2, pin 2).



� uncontrolled movement of loose tubing


Please noteIdentify the cable connected to the SPC200. You can thenavoid confusion of similar plugs during conversion work.

3. Installation


3.5.1 Selecting the power unit

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

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

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

Recommendation:

· Use a closed−loop controlled power unit.

· Select a power unit which will provide sufficient outputfor later extensions.

· The current requirement depends on the number andtype of the connected components. When selecting thepower unit, check that it provides sufficient output. Ifnecessary, calculate the total current requirement accord�ing to the following table.

3. Installation


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

Sum of the load current consumption of all proportional directionalcontrol valves (approx. 1.1 A �per MPYE−...)

+ _____ A

Load current consumption of all simultaneously actuated CPV valvecoils on the axis interface strings 1) 2)

+ _____ A

Load current consumption of all simultaneously actuated outputs onthe axis interface strings 1) 3)

+ _____ A

Recommended reserve + 0.5 A

Sum of current consumption at pin 1 = _____ A �� ______ A

Current consumption at pin 2 of module SPC200−PWR−AIF

Current consumption of the internal electronics of the SPC200� with SPC200−CPU−4 (400 mA)� with SPC200−CPU−6 (600 mA) + _____ A

Current consumption of all sensors connected to the modulesSPC200−DIO (see manufacturer specifications) + _____ A

Current consumption of the modules which are supplied withoperating voltage via the axis interface strings (logic supply) + _____ A

�

Current consumption of all sensors (see manufacturer specifications)on the modules connected to the axis interface strings. + _____ A

Sum of current consumption at pin 2 = _____ A + _____ A

Current consumption of the outputs on the I/O moduleSPC200−DIO−...

Load current consumption of the simultaneously actuated outputs onthe I/O module type SPC200−DIO−... 4)

+ _____ A

Sum of the current consumption on the I/O module SPC200−DIO−... = _____ A + _____ A

Total current consumption = _____ A

1) Separate supply possible, in some cases necessary2) depends on current consumption of valve type (see technical specifications for the valves)3) The current requirement is determined by the loads to be switched

(e.g. individual valves, protection devices, etc.).4) Supplied directly at the supply terminals of the outputs of I/O module SPC200−DIO−...

3. Installation


3.5.2 Connections on the supply module

The following connecting and display elements can be foundon the front of power supply module type SPC200−PWR−AIF:

1

2

3

4

5

1 Power supply module type SPC200−PWR−AIF

2 Combicon screw terminal for axis interface string (X1)

3 ERROR LED for fault display (red)

4 POWER LED for power supply (green)

5 3−pin Combicon screw terminal for power supply (X2)

Fig.�3/7: Connecting and display elements on the powersupply module

3. Installation


Operating voltage connection (X2)

The following are supplied with + 24 V DC via the operatingvoltage connection (X2):

� the load voltage for field devices and proportional direc�tional control valves pin 1 (24 L): + 24�V DC, tolerance−5/+25�%

� the internal electronics of the SPC200, the connectedmodules and measuring systems; pin 2 (24 V): + 24 V DC,tolerance −5/+25�%.

Please noteNote that the tolerance of − 5 % to + 25 % for the supplyand load voltages must be observed for both circuits.

Please noteCheck your Emergency stop circuit in order to ascertain themeasures necessary for switching your machine/systeminto a safe state in the event of an Emergency stop (e.g. switching off the load voltage, compressed air supply,etc.).

· Use cables with suitable cross−sectional area and lengthfor the supply cables (see also appendix C.2). The toler�ance of − 5 % to + 25 % for both circuits must also be ob�served directly at the operating voltage connection (X2)of the SPC200.

· Check the 24 V operating voltage of the outputs whilstyour system is operating. Make sure that the operatingvoltage of the outputs lies within the permitted toler�ances even when the system is operating under full load.

· If the distance between the power unit and the SPC200 ismore than one metre, provide two separate supply cablesfor the load voltage and the logic supply starting at thepower unit.

3. Installation


The following diagram shows the pin assignment of theoperating voltage connection on the power supply module.

Pin�1:�24�L

Pin�2:�24�V

Pin�3:�0�V

1

2

1 Pin assignment:Pin 1 (24 L): 24 V load voltage (can be switched off separately)Pin 2 (24 V): 24 V supply for internal electronicsPin 3 (0 V): 0 V

2 Earth connection (M4 thread)

Fig.�3/8: Operating voltage connection (X2)

Earth connection The SPC200 is provided with earth connections on the leftand right−hand sides of the rack.

Please noteConnect one of the earth cables of the SPC200 with lowimpedance (short cable with large cross−sectional area) tothe earth potential.

In this way, you will avoid interference caused by electromag�netic influences.

3. Installation


Connection example

The following diagram shows the connection of a common24�V supply for pin 1 (24 L) and pin 2 (24 V). Please note that:

� the voltage tolerance of 24 V DC −5/+25 % must be ob�served for the load voltage and electronics supply

� with regard to the load voltage supply, the voltage toler�ances of the components connected to the axis interfacestring must also be observed.

PE

24L

AC230V

DC24V

24V

0�V

1 2

1 Separate supply cables

2 Load voltage (can be switched off separately)

Fig.�3/9: Example � connection of a common 24 V supply

Please noteSwitching off the load voltage leads to faults (e.g. under�voltage, AIF string faults) which must be quitted when theload voltage is switched on again.

3. Installation


Plug for axis interface string (X1)

CautionUse the special cables from Festo (type KSPC−AIF−...)for�connecting the axis interface. Note the maximumpermitted cable lengths on the axis interface string (see section 3.6).

You can then avoid functional faults on the SPC200 and onthe modules connected to the axis interface string.

The bus signals, the operating voltage and the load voltagefor the connected field devices are provided via the 5−pinplug of the power supply module.

3. Installation


Connecting cable type KSPC−AIF−... is supplied already fittedwith a 5−pin screw terminal.

CautionThe axis interface connection is not protected against in�correct polarity. Make sure that the assignment is correct,e.g. when you fit the screw terminal yourself after shorten�ing the cable.

1 Earth/groundconnection

2 Pin assignment:1: CAN−LOW

(brown)2: CAN−HIGH

(white)3: 24 V (yellow)4: 0 V (green)5: 24 V load

voltage (grey)

1

2

3

4

51

2

Fig.�3/10: Pin assignment of the plug for the first axis interface string (X1)

Follow the installation instructions supplied with the cablewhen connecting the cable screening.

Depending on the cable used, connect the cable screeningeither to the earth connection 1 or to a large surface, com�plying with EMC requirements as follows:

� to a screening plate intended for this purpose

� through the cable opening into the control cabinet.

3. Installation


3.5.3 Connections of the diagnostic module

For commissioning, programming and diagnosing, you willrequire a diagnostic module type SPC200−MMI−DIAG. Thediagnostic module offers the following serial interfaces:

� a connection for control panel type SPC−MMI−1.

� a connection for a PC or for control panel typeSPC200−MMI−1F. This serial interface is on a 9−pin sub�min−D plug and complies with standard RS232.

The serial interface is operated with the following settings:

� Baud rate: 9.6 ... 115.2 kBaud

� Data bits: 8 bits

� Parity: even

� 1 stop bit

� No handshake

In order to connect a PC you will require:

� a screened connecting cable (e.g. Festo diagnostic cabletype KDI−PPA−3−BU9)

� a PC with serial interface (RS232) and installedprogramming and commissioning software WinPISAtype�P.SW−WIN−PISA−...�.

3. Installation


Please noteIf you wish to use a different connecting cable, note thefollowing pin assignment: Use a screened cable andconnect the screening to the plug housing.

In this way you will avoid faults in data transmission.

1 Pin assignment:2: Received

Data (RxD)3: Transmitted

Data (TxD)5: Signal Ground

(SGND)

1

23

5

Fig.�3/11: Pin assignment of the serial interfaces (X4)

Connect the diagnostic cable (programming cable) as follows:

� 9−pin plug on the 9−pin socket of the diagnostic module

� 25−pin or 9−pin socket on the serial interface of your PC.

Instructions on connecting control panel typeSPC200−MMI−1F can be found in section 3.6.3.

3. Installation


Control panel type SPC200−MMI−1 can be placed directly onthe upper interface when the power supply is switched off.

CautionThe control panel may be damaged if it is inserted into theSPC200 when power is still applied. Switch off the operat�ing voltage before inserting the control panel into theSPC200.

Fig.�3/12: Connection for control panel (X3)

3. Installation


3.5.4 Connections of the I/O module type SPC200−DIO−...

For controlling the SPC200 via digital I/Os, you will requirean�I/O module type SPC200−DIO−...�. This module provides10�digital inputs and 8 digital outputs for the following func�tions:

� providing digital I/Os for controlling the SPC200 (only ifno field bus module is installed)

� providing freely programmable digital I/Os for controllingperipherals.

Please noteMaximum three I/O modules are permitted for operationon the field bus. Without a field bus module, four I/O mod�ules can be installed in a rack.

The logical functions of the digital inputs/outputs depend onthe operating mode selected. Freely programmable I/Os areonly available in Start/stop mode.

Control via digital I/Os of the I/O module is only possible if afield bus module is not installed. Identification of all insertedmodules takes place automatically, from left to right begin�ning with the power supply module. The assignments of plugX5/X7 (inputs) and of plug X6/X8 (outputs) are shown in thefollowing diagrams.

3. Installation


Inputs

24�V0�V0

9

1

1 Pin assignment:24 V: Internal 24 V sensor supply

(not with separate potential)0 V: 0 V (not with separate potential)0: Input 0...9: Input 9

Fig.�3/13: Assignment of plug X5/X7 (inputs)

1 Three−wiresensor

2 Two−wire sensor

3 Contact

1

2

3

Fig.�3/14: Example of circuitry (PNP inputs)

3. Installation


Outputs

24�V0�V

0

7

1

1 Pin assignment:0: Output 0...7: Output 724 V: 24 V external supply of outputs (load supply)0 V: 0 V external supply of outputs (load supply)

Fig.�3/15: Assignment of plug X6/X8 (outputs)

1 Example 1

2 Example 2

3 Not permitted

4 Load supplyDC

AC

24�V

0�V

12

3

4

Fig.�3/16: Example of circuitry (outputs X6/X8)

Fig. 4/1 shows how you can supply the load voltage for plugsX2 and X6/X8 with a power unit.

3. Installation


Addressing

The assignment of the I/O address range depends on theconfiguration of the SPC200. If a field bus module is in�stalled, the address range 0.0 ... 0.9 will remain unassigned.The assignment of the I/O addresses for configurations withand without field bus module is shown in the following table:

Configuration withoutfield bus module

Configuration withfield bus module

Maximum address range

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

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

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

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

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

Fourth I/O module Third I/O module I5.0�...�I5.9 Q5.0 ... Q5.7

� Field bus module I10.0�...�I13.15 2) Q10.0 ... Q13.15 2)

1) Address range is not available if a field bus module is used2) Address range is not available without a field bus module

If a field bus module is not installed, certain I/Os on the firstidentified I/O module are pre−assigned depending on theoperating mode.

3. Installation


Basic rules If several I/O modules are installed in a rack, observe thefollowing:

� The I/O module inserted on the left next to the powersupply module is the first I/O module. Further I/O mod�ules are counted from left to right.

� If a field bus module is not installed, the first I/O modulewill provide five freely programmable inputs, three freelyprogrammable outputs and I/Os for controlling theSPC200 (I0.0 ... I0.9 and Q0.0 ... Q0.7). All I/Os of furtherI/O modules are freely programmable.

� If a field bus module is installed, the address rangesI0.0�... I0.9 and Q0.0 ... Q0.7 are not available. The firstI/O module then occupies the addresses I2.0 ... I2.9 andQ2.0 ... Q2.7. Their I/Os are therefore also freely program�mable.

Explanations of the I/O control signals in the relevant operat�ing mode can be found in chapter 5.

3. Installation


Connection assignment of front plug X5 for the firstI/O module when operated without a field busmodule

If a field bus module is not installed, the first I/O module willprovide the following control inputs:

Inputs with control function

Pin no. Design. 1) Address 2) Start/Stop mode Record Select mode

1 24 V � 24 V sensor supply (not with separate potential)

2 0 V � 0 V (not with separate potential)

3 0 I0.0 Freely programmable RECBIT1

4 1 I0.1 RECBIT2

5 2 I0.2 RECBIT3

6 3 I0.3 RECBIT4

7 4 I0.4 RECBIT5

8 5 I0.5 SYNC_IB CLK_B

9 6 I0.6 SYNC_IA CLK_A

10 7 I0.7 STOP STOP

11 8 I0.8 START/RESET 3) RESET 3)

12 9 I0.9 ENABLE ENABLE

1) Designation on the module2) Addresses of the first installed I/O module when configured without a field bus module (I = input)3) RESET (Program Reset) in conjunction with 0−signal at the STOP input

3. Installation


Connection assignment of front plug X6 for the firstI/O module when operated without a field busmodule

If a field bus module is not installed, the first I/O module willprovide the following control outputs:

Outputs with control function

Pin no. Design 1) Address 2) Start/Stop mode Record Select mode 3)

1 0 Q0.0 Freely programmable �

2 1 Q0.1 �

3 2 Q0.2 �

4 3 Q0.3 MC_B RC_B

5 4 Q0.4 MC_A RC_A

6 5 Q0.5 SYNC_OB ACK_B

7 6 Q0.6 SYNC_OA ACK_A

8 7 Q0.7 READY READY

9 24 V 24 V external supply of outputs

10 0 V 0 V external supply of outputs

1) Designation on the module2) Addresses of the first installed I/O module when configured without a field bus module

(Q = output)3) No freely programmable I/Os are supported in this operating mode.

3. Installation


General connection assignment for I/O moduleswithout special control functions

The word number (here x) depends on the configuration ofthe SPC200.



Wordnumber x

Second I/O module First I/O module 2

Third I/O module Second I/O module 4

Fourth I/O module Third I/O module 5

Inputs without control function

Pin no. Design. 1) Address 2) Start/Stop mode Record Select mode 3)

1 24 V � 24 V sensor supply (not with separate potential)

2 0 V � 0 V (not with separate potential)

3 0 Ix.0 Freely programmable �

4 1 Ix.1 �

5 2 Ix.2 �

6 3 Ix.3 �

7 4 Ix.4 �

8 5 Ix.5 �

9 6 Ix.6 �

10 7 Ix.7 �

11 8 Ix.8 �

12 9 Ix.9 �

1) Designation on the module2) The word number (here x) depends on the configuration (I = input).3) No freely programmable I/Os are supported in this operating mode.

3. Installation


General connection assignment for I/O moduleswithout special control functions

The word number (here x) depends on the configuration ofthe SPC200.



Wordnumber x

Second I/O module First I/O module 2

Third I/O module Second I/O module 4

Fourth I/O module Third I/O module 5

Outputs without control function

Pin no. Design. 1) Address 2) Start/Stop mode Record Select mode 3)

1 0 Qx.0 Freely programmable

2 1 Qx.1 �

3 2 Qx.2 �

4 3 Qx.3 �

5 4 Qx.4 �

6 5 Qx.5 �

7 6 Qx.6 �

8 7 Qx.7 �

9 24 V � 24 V external supply of outputs

10 0 V � 0 V external supply of outputs

1) Designation on the module2) The word number (here x) depends on the configuration (Q = output).3) No freely programmable I/Os are supported in this operating mode.

3. Installation


3.5.5 Connections of the analogue input module type SPC200−2AI−U

Two such modules can be installed in the basic unit typeSPC200−CPU−6. Each module possesses two differential in�puts. The first module (inserted on the left) provides differen�tial inputs 1 and 2; the second module provides differentialinputs 3 and 4. The module enables positions to be specifiedin the form of a voltage (0...10 V).

REFGNDA1+A1−REFGNDA2+A2−PE

1 2 3

Cross−sectional area of connection max. 1.5 mm2

1 Differential inputs 1 and 2

2 Differential inputs 3 and 4

3 Pin assignment:REF 10 V reference voltage (outputs)GND GroundA...+ Signal (+)A...− Signal (−)PE Earth/ground connection

Fig.�3/17: Analogue input module type SPC200−2AI−U (plug X9)

The analogue inputs can be assigned to any axes and can beactivated by means of appropriate commands in the position�ing program. Various nominal value modes are supportedhere (e.g. constant position adjustment, individual position�ing etc.).

3. Installation


The voltage range is 0...10 V. Within the possible positioningrange of the axis, you can use a program to define any de�sired range for movement via the analogue nominal valuespecification. Voltage value and position have the followingproportion to each other:

Voltage Description

0 V......10 V

Smallest position value......Largest position value

Connecting analogue sensors

WarningIncorrect installation can lead to faulty operation andcause e.g. undesired movements of the actuators. Observe at all costs the following installation instructions.

· Use a screened cable twisted in pairs for the analoguenominal value specification.

· Do not place the signal cables near or parallel to cableswith high levels of interference. If necessary, use separatewiring channels, separate cable bundles or cables.

· Always connect the cable screening for the analoguesignal cables on one side to the earth connection (pin 9).

If possible use short signal cables. The maximum cablelength should not exceed 4 m.

3. Installation


Circuitry for connecting a differential signal

1 Screening/shield


3 Signal (−)

4 Signal (+)

12

3

4 A1− [A2−]

A1+ [A2+]

SPC200−2AI−U

Fig.�3/18: Connecting a differential signal

Circuitry for connecting a potentiometer

1 Potentiometer

2 Screening/shield


A1− [A2−]

A1+ [A2+]

SPC200−2AI−U

REF

GND

1

23

Fig.�3/19: Connecting a potentiometer

3. Installation


3.5.6 Connections of the sub−controller module type SPC200−SCU−AIF

In its basic design, the SPC200 can take control of the posi�tioning of two pneumatic axes. With the sub−controller mod�ule maximum four pneumatic axes can be operated with oneSPC200. The sub−controller module provides a connection fora second axis interface string and controls the positioning ofthe connected axes. Maximum two pneumatic axes per axisinterface string are permitted.

CautionUse the special cables from Festo (type KSPC−AIF−...) for connecting the axis interface. Note the maximumpermitted cable lengths on the axis interface string (see section 3.6).

You can then avoid functional faults on the SPC200 and onthe modules connected to the axis interface string.

The bus signals, the operating voltage and the load voltagefor the connected field devices are provided via the 5−pinplug of the power supply module. Connecting cable typeKSPC−AIF−... is supplied already fitted with a 5−pin screwterminal.

CautionThe axis interface connection is not protected against in�correct polarity. Make sure that the assignment is correct,e.g. when you fit the screw terminal yourself after shorten�ing the cable.

3. Installation



2 Pin assignment:1: CAN−LOW

(brown)2: CAN−HIGH

(white)3: 24 V (yellow)4: 0 V (green)5: 24 V load

voltage (grey)

3 Groove withinserted codingpin

1

2

3

4

5

1 2

3

Fig.�3/20: Pin assignment of the plug for the second axis interface string (X10)

Follow the installation instructions supplied with the cablewhen connecting the cable screening.

Depending on the cable used, connect the cable screeningeither to the earth connection 1 or to a large surface, com�plying with EMC requirements as follows:

� to a screening plate intended for this purpose

� through the cable opening into the control cabinet.

Please noteIn order to avoid confusing the connections X10 and X1,assign different codes to each connection. In order to dothis, push the coding pins supplied into different groovesin the contact strips. Remove the relevant material on theplug.

3. Installation


3.6 Installing the modules on the axis interface string

WarningCables with high levels of interference can cause electro�magnetic interference. Do not place the following cables inthe vicinity of cables with high levels of interference:

� CP cable

� Measuring system cable

� proportional directional control valve cable

Please noteConnect the earth connection of the modules with lowimpedance (short cable with large cross−sectional area) tothe earth potential.

In this way, you will avoid interference caused by electromag�netic influences.

3. Installation


Basic rules When the modules are installed on the axis interface stringthe following basic rules must also be observed.

1. Maximum string length per string

� The string length is the sum of all cable sectionsbetween the SPC200 and all direct string devices,see�section 1.3.

� The maximum permitted string length is 30 m.

2. External load voltage supply

� If the following modules are used, the external loadvoltage supply type SPC−AIF−SUP−24V must be in�stalled directly in front of the relevant module: � I/O function module (type SPC−FIO−2E/2A)� with two−axis systems: CP valve terminal

(type CPV...)

� A load−dependent drop in voltage occurs on the axisinterface string. If the installation is faulty, this cancause the load voltage to drop below the permittedtolerance.

3. Configuration on the axis interface string

� At first maximum two axis interfaces are connected tothe SPC200. If required, the I/O function module or atfirst a CP module with outputs, and then a CP modulewith inputs, is connected to the last axis interface.

4. Terminating resistor

� If there is a CP I/O module, a CP valve terminal or anaxis interface at the end of the axis interface string,the plug with integrated terminating resistor typeKABS−M9−R100 must be installed in the outgoing CPcable of this module (e.g. connection OUT).

3. Installation


Special accessories are available here for CP input modules.A terminating resistor is already incorporated in the I/O func�tion module.

5. Maximum permitted cable lengths

If the following cable lengths are exceeded, the externalload voltage supply must be installed in front of the rel�evant module. Instead of a CP valve terminal, a CP outputmodule type CP−A08−M12 can also be installed.

SPC−AIF−SUP−24V

SPC200

SPC−AIF−...

SPC−FIO−2E/2A

CPV−...−VI−FB−... ³)

SPC200

SPC−AIF−...

CP−E16−M...

max. 8 m 1)

max. 8 m max. 2 m 1)

max. 8 m 1)

max. 8 m

1) Without external load voltage supply2) Without external load voltage supply only type CPV10−VI−FB−6 or

type CPV14−VI−FB−6 is permitted

Fig.�3/21: Maximum permitted cable lengths on the axisinterface string (one axis)

3. Installation


SPC200

SPC−AIF−...

SPC200

SPC−AIF−...

CP−E16−M−...

max. 8 m 1)

max. 8 m

max. 5 m 1)

max. 8 m 1)

max. 8 m

1) Without external load voltage supply


SPC−AIF−...

SPC−FIO−2E/2A

SPC−AIF−...


CPV−...−VI−FB−...

max. 8 m 1)

max. 8 m

SPC200

SPC−AIF−...

CP−E16−M−...

max. 8 m 1)

max. 5 m 1)

max. 8 m

SPC−AIF−...


CPV−...−VI−FB−...

max. 8 m

Fig.�3/22: Maximum permitted cable lengths on the axis interface string (two axes)

3. Installation


3.6.1 Installing the axis interface SPC−AIF−...

WarningFaults due to electromagnetic influences can cause fastcompensating movements of the axis. Observe the follow�ing installation instructions in order to avoid faults due toelectromagnetic influences.

· Connect the earth connection of the axis interface withlow impedance (short cable with large cross−sectionalarea) to the earth potential.

· Only with measuring system type MLO−POT−...−LWG: In order to earth the device, connect the earth strap (sup�plied with the measuring system) to the flat plug of themeasuring system and to the earth connection of the axisinterface (see Fig.�A/9).

· Only with rotary module type DSMI−...: In order to earth the device, connect the earth connectionof the DSMI−... and the earth connection of the axis inter�face with an earth strap or an earth cable (cross−sectionalarea min. 2.5 mm2, length max. 0.5 m; see Fig.�A/16).

· Do not place the axis interface cable, CP cable, measuringsystem cable or proportional directional control valvecable near or parallel to cables with high levels of inter�ference.

· Use only the original cables. Fasten the plugs with the aidof the union nut in order to prevent unintentional loosen�ing, e.g. due to shock.

· Seal unused connections with the protective caps sup�plied. Only in this way can you comply with protectionclass IP65.

Please noteMaximum two axis interfaces may be connected to an axisinterface string. Types for different measuring systemsmay be mixed.

3. Installation


The axis interface provides the connection between the com�ponents on the axis and the SPC200. It reads the values sup�plied by the measuring system and passes them onto theSPC200. It also passes the received positioning values inanalogue form to the proportional directional control valve.

The diagram below shows the connecting elements on theaxis interface.

ERROROUT

VALVEIN

POWER

1

2 3

4

5

6

7

1 Earth/ground connection

2 Connection, axis interface string, incoming (IN)

3 POWER LED (green)

4 Connection, axis interface string, continuing (OUT), for further field devices or teminating resistortype�KABS−M9−R100

5 ERROR LED (red)

6 Connection for valvetype MPYE−5−...−010−B

7 Measuring systemconnection (heretype SPC−AIF−POT)

Fig.�3/23: Connecting elements of the axis interface

3. Installation


Connecting the axis interface to the SPC200

WarningNote the maximum permitted cable lengths between theindividual modules on the axis interface string and theSPC200 (see section 3.6). Use only the following originalcables for connecting the axis interface.

Cable type Description

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

KVI−CP−2−...*) Connecting cable for the second axis or forI/O modules

KVI−CP−1−...I/O modules

*) Suitable for use as drag chain

· Connect the axis interface for the first axis with the plugmarked IN to the 5−pin screw terminal of the powersupply module.

· If necessary, connect the axis interface for the second axisor modules with inputs/outputs to the OUT socket.

· If the axis interface is at the end of an axis interfacestring, install the terminating resistor typeKABS−M9−R100 on the OUT connection.

· Fasten the plugs/sockets with the aid of the union nut inorder to prevent unintentional loosening, e.g. due toshock.

3. Installation


Connecting the measuring system

The axis interface has been designed for one of the followingmeasuring systems:

Axis interface Measuring system type

SPC−AIF−POT Analogue systemLinear potentiometer type MLO−POT−...−TLF orintegrated systems (e.g. type DNCM−...)

SPC−AIF−POT−LWG Analogue systemLinear potentiometer type MLO−POT−...−LWG orintegrated systems (e.g. type DSMI−...)

SPC−AIF−MTS Digital systemTemposonic type MME−MTS−...−TLF−AIF or inte�grated system (e.g. type DGPI(L)−...−...−...−AIF)

SPC−AIF−INC Incremental systemIntegrated measuring system (e.g. type DNCI−...)

In the axis interface types SPC−AIF−POT and SPC−AIF−MTS, themeasuring system cable is permanently connected with theaxis interface. It has a fixed length of approx. 0.30 m.

The axis interface type SPC−AIF−INC has an 8−pin M12 plug forthe sensor connection.

Please noteUse only the original cable. Do not extend the cable. Inter�ference due to electromagnetic influences can be avoidedif a short cable is used.

New feature

from BS 4.82

3. Installation


Connecting the proportional directional controlvalve

The valve connection provides the power supply for the valveand the control voltage for positioning the valve slide.

Please noteUse only the original cable type KMPYE−...�.

POWER

ERROROUTIN

VALVE

1

2

3

45

6

7

Pin assignment and core colours of cable KMPYE−... Socket for valve (MPYE) oncable KMPYE−...

2: 0 V3: 0 V4: Nominal value U(s)5: GND6: n.c. (not connected)7: 24 V supply for valves1: 24 V supply for valvesn.c. (not connected)

browngreenyellowgreypinkwhitebluered

234n.c.

1n.c.

2

1

3

4

Fig.�3/24: Valve connection

3. Installation


3.6.2 Installation I/O function module type SPC−FIO−2E/2A−M8

WarningFaults due to electromagnetic influences can cause fastcompensating movements of the axis. Observe the follow�ing installation instructions in order to avoid faults due toelectromagnetic influences.

� Connect the earth connection of the modules with lowimpedance (short cable with large cross−sectional area)to the earth potential.

� Use only the original cable type KVI−CP−2−... for connect�ing the module. �Fasten the plugs with the aid of theunion nut in order to prevent unintentional loosening, e.g. due to shock.

Please noteFor connecting the I/O function module you will requirethe external load voltage supply module typeSPC−AIF−SUP−24V. Note the maximum permitted cablelengths on the axis interface string (see section 3.6).

Use cable type KM8−M8−GSGD−... and plug with union nutwith M8x1 thread for connecting sensors and actuators. Sealunused connections with the protective caps supplied. Onlyin this way can you comply with protection class IP65.

3. Installation


The I/O function module can be connected as the last moduleon the axis interface string. The necessary terminating resis�tor is incorporated in this module.

It provides 2 inputs and 2 outputs for connecting sensors andactuators directly on the axis. Additional functions, such ase.g. gripping, lifting, lowering and turning can be implem�ented with these sensors and actuators.

The following diagram shows the display and connecting el�ements of the I/O function module.

POWER

DIAGOUTPUT

PNP

0 1

INPUT/OUTPUT

INPUT0 1

1

2 3 4 5 6

789aJ

aA

1 Identification for PNP inputs

2 Groove for identification labels (IBS6x10)

3 Actuator connections (outputs)

4 Status LED per output (yellow)

5 Protective cap

6 Earth/ground connection

7 Type plate

8 Status LED per input (green)

9 Sensor connections (inputs)

aJ Connection for axis interface string

aA Status LED (green)

Fig.�3/25: Connecting elements of the I/O function module type SPC−FIO−2E/2A−M8

3. Installation


Pin assignment

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

1 Pin assignment:1: Output Q...3: 0 V 4: n.c.

(not connected)

POWER

DIAG OUTPUT

PNP

0 1

INPUT/OUTPUT

INPUT0 1

3

4

3

4

1) Module on AIF string 1: x = 1; module on AIF string 2: x = 3

11: Qx.0 1)

1: Qx.1 1)

Fig.�3/26: Pin assignment of the outputs

1 Example 1

2 Example 2

3 Not permitted

1 2 3

Fig.�3/27: Example of circuitry of outputs (PNP)

3. Installation


1 Pin assignment:1: 24 V3: 0 V4: Input I

POWER

DIAGOUTPUT

PNP

0 1

INPUT/OUTPUT

INPUT0 1

3 13 1

4: Ix.0 1) 4: Ix.1 1)

1) Module on AIF string 1: x = 1; module on AIF string 2: x = 3

Fig.�3/28: Pin assignment of the inputs

1 Three−wiresensor (positive−switching)

2 Two−wire sensor(positive−switching)

3 Contact

1 2 3

Fig.�3/29: Example of circuitry of inputs (PNP)

3. Installation


3.6.3 Installing control panel SPC200−MMI−1F

Connect the power supply as shown in the following diagram.

Pin 2: RxDPin 3: TxDPin 5: SGND

ACDC

PE

0V

24V

RS23224V

FE 0V

12

3

4

1 Control panel SPC200−MMI−1F

2 Power supply (Phoenix Combiconterminal 3x3.81)

3 RS232 interface (see Technical Specifications)

4 Functional earth (FE)

Fig.�3/30: Connecting the power supply on the control panel

Connect the RS232 interface of the control panel with socketX4 of the diagnostic module SPC200−MMI−DIAG. The maxi�mum cable length is 10 m.

Use diagnostic cable (programming cable) type KDI−PPA−3−BU09 for connecting to the SPC200.

3. Installation


Commissioning


Chapter 4

4. Commissioning


Contents

4.1 Procedure for commissioning 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Connecting a single−axis system for the first commissioning 4−8 . . . . . . . . . . . .

4.3 Overview of the parameters of a positioning axis 4−17 . . . . . . . . . . . . . . . . . . . . .

4.3.1 Pneumatic axis data 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Application data for pneumatic axes 4−19 . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Axis data of an electric stepping motor axis 4−20 . . . . . . . . . . . . . . . . . .

4.3.4 Application data of an electric stepping motor axis 4−21 . . . . . . . . . . . .

4.3.5 Controller data 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Commissioning with the control panel 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Saving the hardware configuration 4−24 . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Commissioning pneumatic axes 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 Notes on commissioning multi−axis systems 4−42 . . . . . . . . . . . . . . . . . .

4. Commissioning


Contents of this chapter This chapter describes the commissioning of a pneumaticaxis with the SPC200.

Commissioning is explained using the example of a single−

axis system controlled by an I/O module. The basic pro�cedure as well as the description of the I/O control signals is

also relevant for systems with an installed field bus module.

Further information Before carrying out the commissioning with the controlpanel, you should be familiar with the functions of thecontrol panel. Detailed information on this can be found inchapter 6.

Information on commissioning with WinPISA can be found in

the WinPISA manual. Information on commissioning on the

field bus or on commissioning electric axes can be found inthe manual for the relevant extension module.

4. Commissioning




2. Load and operating voltage supplies on the SPC200 and,if applicable, load voltage supply on the axis interfacestring.





CautionThe SPC200 is set at the factory to certain axis and ap�plication data. Before applying compressed air, you mustadapt these settings to your application and to the axeswhich you are using.


� uncontrolled movements of the connected actuators.

Please noteFrom operating system 4.31 onwards it is recommended tocarry out configuration and commissioning of the SPC200with the latest version of WinPISA.

Only the latest version of WinPISA provides you withsimple and comprehensive support and the use of allfeatures of the SPC200.

4. Commissioning


4.1 Procedure for commissioning

Fit the components as described in chapter 2. Observe theinstallation instructions in chapter 3 when fitting and instal�ling the pneumatic components. Provide a pneumatic emerg�ency stop circuit which will put your system into a safe statein the event of a fault.

If you are using an external measuring system: Check the

mounting position of the measuring system (see also sec�tion�3.2.7).

Before switching on the compressed air or the stepping

motor controller for electric axes, you must first make knownto the SPC200 the conditions of use in your positioning sys�

tem and the type of components used. You can undertake the

necessary settings:

� with the control panel

� with the WinPISA software package.

If you use the control panel for commissioning, you should

first be familiar with the functions of the control panel.

Detailed information on this can be found in chapter 6.

4. Commissioning


Steps for commissioning

In order to commission axes, you must first create and save

the desired hardware configuration. The individual axes andthen the complete system can be commissioned.

The following steps are necessary for commissioning with the

control panel:

1. Create the desired hardware configuration

2. Save the hardware configuration (actual configuration) as

the nominal configuration (see section 4.4.1)

3. Commission the connected axes (see section 4.4.2)

4. Commissioning the system

When the hardware configuration has been saved, the indi�

vidual axes can be configured and commissioned.

Commissioning pneumatic axes

The following list provides an overview of the activities which

are necessary for commissioning pneumatic axes when thehardware configuration has been saved.

1. Setting project−specific parameters

Set all axis, application and configuration data (see section 4.4.2, step 1).

2. Check the pneumatic tubing

Carry out a movement test with the control panel or with

WinPISA (see section 4.4.2, step 2).

3. Only for DNCI:

Carry out a reference run; only possible with WinPISA

from version 4.41. Not supported by the MMI.

New feature

as from OS 4.82

4. Commissioning


4. System identification � carry out static and, if necessary,

dynamic identification run. During the identificationtravel, characteristic system values, such as friction, hys�

teresis, acceleration and delay abilities are ascertained

and saved (see section 4.4.2, step 3).

5. If necessary, calibrate the measuring system (only forpotentiometers with WinPISA). Calibration compensates

for system−specific tolerances between the ascertainedposition and the actual position (see section 4.4.2,

step�4).

6. Move the axis manually (optional). The basic functioning

ability of the controller as well as the effectiveness of theset software limit positions can therefore be checked

(see�section 4.4.2, step 5).

7. Enter a test program (see section 4.4.2, step 6).

8. Set the operating mode and the starting programs(see�section 4.4.2, step 7).

9. Test the program in single−step mode or in continuous

mode. Observe here the positioning behaviour of the axis(see section 4.4.2, step 7).

When all the axes are ready for operation, you can start com�

missioning the complete positioning system. The necessarysteps depend on the equipment fitted on the system.

4. Commissioning


4.2 Connecting a single−axis system for the first commissioning

Caution· Leave the compressed air supply switched off.

· The SPC200 is set at the factory to certain axis andapplication data. Before applying compressed air, youmust adapt these settings to your application and to theaxes which you are using.


� unexpected movements of the connected actuators.

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

If a field bus module is installed

WinPISA provides a test mode. In the test mode you can

manipulate the inputs and outputs as desired, without thesebeing connected to the circuitry.

The status of the READY output and the ACK outputs used by

the system (ACK_A, ACK_B, only in the Record Select mode)are permanently updated by the operating system and can�

not therefore be influenced.

4. Commissioning


Please noteWhen a field bus module is used, all control signals arecontrolled via the field bus module.

If the communication to the field bus master is faulty:

� the field bus module of the SPC200 no longer exchangesany data,

� all control signals are set to a 0−signal,

� all outputs on the SPC200 remain in the last valid stateuntil they are reset by the SPC200 itself or by Poweroff/on.

� the connected MPYE valves move to their mid−position,the axes stop without closed−loop control. If the axes arein a vertical position, they can move downward due tothe leakage in the system.

If a field bus module is not installed:

The control signals are triggered via the first installed I/O

module. The following connection diagram shows the

circuitry which is required in this case.

4. Commissioning


1 Designation onplug X5

2 Input address

3 Function

4 Load voltage (can be switchedoff separately)

0�V24�V

1) RESET (Program Reset) in conjunction with 0−signal at the STOP input

9 8 7 24�V

I0.9 I0.8 I0.7 −

ENABLE STOPSTART/RESET 1)

24�V

1

23

4

Fig.�4/1: Connection diagram for the first commissioning via an I/O module

4. Commissioning


Wire the components as shown in Fig. 4.1. For reasons of

clarity not all the earthing measures have been shown.

Please noteIncorrect or missing earthing can cause interference.Therefore always carry out the earthing measuresdescribed in section 3.5.2.

Explanation of the control signals

Input ENABLE Via the ENABLE input you can enable the controller. If there isa 0−signal �at this input, the controller is switched off. Nofurther positioning tasks will then be accepted. When thesupply pressure is switched off , the axes can be shiftedmanually.

A 0−signal at the ENABLE input causes the following:

� With an active controller:

The controller is switched off and the valve control

voltage is set to an electrical medium value (offset). No further positioning tasks will then be accepted.

� With the movement test:

The movement test will be discontinued. The valvecontrol voltage will be set to an electrical medium value

(offset).

� The READY output on the SPC200 will be reset(see�Fig.�4/2).

4. Commissioning


1

0

1

0

1

2

3 4

1 = 1−signal = 24 V0 = 0−signal = 0 V

1 ENABLE input on the SPC200

2 READY output on the SPC200

3 Reaction time max. 10 ms

4 Reaction time of the SPC200:� without stepping motor module:

max. 100 ms� with stepping motor module:

max. 2 s

Fig.�4/2: Time diagram of enable signal

The controller is enabled with a 1−signal, providing there areno system faults.

A 1−signal at the ENABLE input causes the following:

� The current position of the axis becomes the nominalposition i.e. the axis stops in this position under closed−loop control (controlled stop).

� The READY output is automatically set again, see thefollowing pages.

� If the READY output supplies a 1−signal, the programsequence can be started or continued.

4. Commissioning


Instructions on controller enable

Note that in the following cases a rising signal edge isrequired at the ENABLE input for controller enable:

� during the first commissioning after the project−specificparameters have been set

� after a Data Reset and resetting of the project−specificparameters

� when the movement test has been carried out.

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

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

WarningIf the tubing of the axis system is incorrectly connectedand you enable the controller, the drive will move, depend�ing on the level of the supply pressure, at high speed andwith high acceleration into one of the end positions (con�trol direction reversed).This can lead to serious injury to human beings anddamage to components.


Please noteThe valve slide of the MPYE−... proportional directionalcontrol valve assumes the mechanical mid−position if theload voltage is not applied (Emergency stop). Due to theasymmetrical voltage−pressure curve of the proportionaldirectional control valve, the slide can move slowly intoone of the end positions when the supply pressure isswitched on.

4. Commissioning


STOP input You can stop the processing of the current NC record via the

STOP input. If a positioning task is running at that moment, itwill be interrupted. The current positions become the nom�

inal positions (closed−loop controlled stop).

The stop status is cancelled by:

1. a 1−signal at the STOP input.

2. renewed start of the sequence, e.g. by a rising edge at

the START input.

START input Using the start input, you can start the selected starting pro�gram, or resume the current program after a stop, or set the

current program back to the initial state, or acknowledge a

fault message; for details see chapter 5.

The START input is edge−triggered, and responds exclusively

to the level change from 0−signal to 1−signal.

READY output This output supplies a 1−signal if the system is ready to oper�ate. A 0−signal at this output indicates that the SPC200 is not

yet ready to operate, because:

� there is a system fault or positioning fault

� the enable signal is missing or

� the rising signal edge required at the ENABLE input forthe first commissioning, after a Data Reset or after themovement test, is missing (e.g. the ENABLE input is incor�rectly connected to the supply voltage).

4. Commissioning


Switch on the power supply

WarningLeave the compressed air supply switched off. If com�pressed air is applied, the connected actuators may carryout sudden compensating movements as soon as thepower supply is switched on.

Make sure that nobody can place his/her hand in the posi�tioning range of the moveable mass and that there are noobjects in its path.

Please noteIf you are using control panel type SPC200−MMI−1F:

When the MMI−1F is switched on, it tries to communicatewith the SPC200. The SPC200 must therefore be ready forcommunication.

Switch on the power supplies for the SPC200 and theMMI−1F therefore either simultaneously or in the followingsequence:

1. first the power supply for the SPC200

2. then the power supply for the MMI−1F.

· Switch on the operating voltage and the load voltage forthe SPC200 and, if necessary, the operating voltage for

the control panel type SPC200−MMI−1F.

When the power supply is applied, the SPC200 automaticallyperforms an internal test. If the control panel is inserted, it

will display the current fault number in the event of a fault

(see section 8.2). When the device is switched on the firsttime, the following fault code will be displayed.

ERRORno. 00004001

4. Commissioning


In this case the actual configuration of the SPC200, as well as

the configuration on the axis interface string, is not the sameas the saved nominal configuration. Proceed as described in

section 4.3.1 under �Save hardware configuration".

If there are no faults, the POWER LED will light up and the

control panel will show the basic setting, see section 6.1,Fig.�6/2.

The SPC200 is then ready for commissioning which you can

carry out with the control panel or with the WinPISA softwarepackage.

4. Commissioning


4.3 Overview of the parameters of a positioning axis

A positioning axis is described using various parameterswhich are saved in the positioning controller. These include,the mass being moved, the drive type, the drive length, themounting position, and much more. The SPC200 positioning controller requires these data inorder to define the optimal servo setting for the positioningapplication concerned. A distinction is made between the axis data, the application−specific data, and the controller data.The data sets are configured and loaded into the SPC200 bymeans of either the control panel � see section 4.4 andchapter 6 � or with the WinPISA configuration and program�ming software.

Detailed explanations of the parameters can be found inchapter 6 of this manual, in the manual for WinPISA, and inthe online help for WinPISA.

Please noteEach configurable parameter is assigned a default value inthe SPC200. This can be overwritten if required via thecontrol panel or with WinPISA.

Please noteFrom operating system version 4.63 onwards, it is recom�mended to carry out commissioning and programmingonly with WinPISA version 4.31 or later.

4. Commissioning


4.3.1 Pneumatic axis data

The axis data describe all characteristics of the selecteddrive, including the measurement system and the selectedvalve.

Axis data Unit Default values Example

Cylinder

Designation 1) � � DGPIL−50−1000

Design � Without piston rod Without piston rod

Length mm 100 1000

Diameter mm 25 50

Measuring system

Design 1) � Potentiometer Temposonic

Length mm 100 1000

Valve

Type � MPYE−5−1/8−HF−010B MPYE−5−1/4−010B

Flow factor 1) � 1 2) 1 2)

1) Not available via control panel2) Value=1 means: optimal flow characteristics, no reduction due to angled connectors,

very thin hoses.

4. Commissioning


4.3.2 Application data for pneumatic axes

The application data describe the general conditions underwhich the positioning axis is operated:

Application data Unit Default values Example

Moveable mass without workpiece Kg 7.0 25

Max. mass of the workpiece Kg 1.0 10

Workpiece mass in initial state 1) (Kg, %) 100 % 2) 0 kg 2)

Supply pressure bar 6 6

Mounting position ° 0 −90

Mounting offset mm 0.00 0.00

Project zero point mm 0.00 0.00

Lower software end position mm 10.00 30.00

Upper software end position mm 90.00 970.00

Positioning tolerance mm 1.00 0.30

Positioning quality class � 5 3

Maximum speed m/s 2.0 3.0

Maximum acceleration m/s2 10.0 5.0

Reference speed 1) mm/s 50 50

Reference run mode 1) � 5 5

1) Not available via control panel2) This value is saved in the SPC200 as a % value of the �Max. mass of the workpiece", and depicted

in WinPISA as a Kg value. This % value cannot be altered using the control panel.

4. Commissioning


4.3.3 Axis data of an electric stepping motor axis

The axis data describe all characteristics of the selecteddrive, including the selected stepping motor:

Axis data Unit Default values Example

Cylinder

Designation 1) � � DGE−40−ZR

Length mm 100 500

Flow factor 1) mm 25 40

Motor / gear unit 1)

Motor � � MTR−ST87−48S−GB

Steps per revolution � 200 800

Gear unit � 1 4:1

1) Not available via control panel

4. Commissioning


4.3.4 Application data of an electric stepping motor axis

The application data describe the general conditions underwhich the positioning axis is operated:

Application data Unit Default values Example

Resolution for a full step [1/1] 1) mm−1 5.00000 8.00000

Step mode 2) � 1/2 1/1

Resolution 3) mm−1 10.00000 8.00000

Start−stop frequency Hz 400 400

Project zero point mm 0.00 0.00

Lower software end position mm 10.00 10.00

Upper software end position mm 90.00 490.00

Reference position mm 10.00 10.00

Reference speed factor � 0.5 1.0

Maximum speed m/s 0.10 1.0

Maximum acceleration m/s2 0.50 2.0

Reference run mode 1) � 1 1

1) Corresponds to �Resolution" on the control panel2) Only limited availability via control panel3) Operand = resolution for full step divided by the step mode

4. Commissioning


4.3.5 Controller data

The controller data are optional parameters, and are validonly for a pneumatic axis, see appendix B. It is advisable to alter these parameters only in small steps(0.1 ... 0.3), and to depict the changes in the movement se�quence graphically using the function �Represent measuredvalues" (WinPISA).

Exception: the Positioning timeout parameterThe Positioning timeout is used to monitor the time durationof a positioning task. If the configured time after the begin�ning of a positioning task elapses without an MC signal beingset, the SPC200 generates a fault. The parameter value 0switches off the function.

Controller data Unit Default values Example

Gain factor � 1 1

Damping factor � 1 1

Signal filter factor � 1 1

Positioning timeout s 2 0

Stop behaviour

Stop behaviour can be configured starting with firmware ver�sion 4.93 in combination with WinPISA as from 4.51:

� The position at the time of the stop signal becomes thesetpoint position (default). After standstill, the axis runsback to this position.

� The current position at standstill becomes the setpointposition.This function is only available as from firmware version4.93 and can be configured with WinPISA as from version4.51.

New feature

as from OS 4.93

4. Commissioning


4.4 Commissioning with the control panel

If you wish to use the control panel for commissioning, you

should first be familiar with the functions of the control

panel. Leave the compressed air supply switched off. An over�view of the menu system on the control panel can be found in

section 6.1.1.

The functionality of the MMI (control panel) has been frozento that of operating system version 3.8. This means that all

new functions of operating system versions 4.63 and 4.82

can no longer be displayed or edited using the MMI.

Please noteFrom operating system 4.63 onwards it is recommended tocarry out configuration and commissioning of the SPC200with the latest version of WinPISA. Only the latest versionof WinPISA provides you with simple and comprehensivesupport and the use of all features of the SPC200.

For commissioning with the control panel, proceed asdescribed in sections 4.4.1 and 4.4.2.

WarningIf the tubing of the axis system is incorrectly connectedand you enable the controller, the drive will move, depend�ing on the level of the supply pressure, at high speed andwith high acceleration into one of the end positions (con�trol direction reversed). This can lead to serious injury to human beings anddamage to components.


Non−compatible

as from OS 4.63

4. Commissioning


4.4.1 Saving the hardware configuration

In the switch−on phase the SPC200 assigns the axis ident�

ifiers to the connected axes one after the other. If modifica�

tions are made to the axis configuration at a later stage, theaxis identifiers will be re−assigned. All user data already en�

tered, such as parameters, programs and the position list for

the new axis configuration cannot therefore be used.

CautionIn this case all data already entered will be reset to thestatus as at delivery or deleted when the hardware con�figuration is saved (function �Reset data"). Always set thecorrect hardware configuration first. Save the hardwareconfiguration before entering data and programs.

With WinPISA you can read programs and configuration dataout of the SPC200 and archive them.

4. Commissioning


In the switch−on phase, the SPC200 checks whether the cur�

rent hardware configuration is the same as the saved nominalconfiguration. The installed modules as well as the string

assignment are checked here.

Each I/O module on the axis interface string is assigned with

a fixed I/O address range. An axis identifier is assigned toeach axis interface and each stepping motor indexer module

or the axis connected thereto.

Save the configuration As a preparation for commissioning the desired hardwareconfiguration must be created and saved.

The SPC200 is prepared at the factory to save the currenthardware configuration in the first switch−on phase automati�cally as the nominal configuration. If you create the desiredhardware configuration correctly before the first switch−onphase, it will not be necessary to save the hardware configur�ation manually.

If the actual configuration differs from the saved nominal

configuration, proceed as follows:

1. Check that all components are installed, that all modules

on the axis interface string are correctly connected, and

that the CP cable is correctly fastened with the union nut.Make sure that the power unit provides sufficient output.

2. Now switch on the operating voltage.The status LEDs on the modules will now light up. If thecurrent axis configuration and the I/O assignment (hard�ware configuration) are not the same as the saved con�figuration, an appropriate fault message will be displayed(fault code 0000 4001).

3. Check whether all the status LEDs light up. The moduleshave then been recognised correctly.

4. Commissioning


If necessary, you can ascertain the actual configuration re�cognised in the switch−on phase with the command ACTUALCONFIG. in the menu CONFIG. SYSTEM (see section 6.2).

4. If the recognised actual configuration does not comply

with your wishes: switch off the power supply and createthe desired configuration.

5. If the recognised actual configuration fulfills your wishes,

press any button in order to quit the fault message. Thebasic setting will then be displayed again.

6. Select the command OPERATING MODE in the menu

CONFIG. and press the Enter button.

SET CONFIGUR.SAVE CONFIGUR. ?

7. Press the Enter button in order to save the actual con�

figuration as the nominal configuration.

8. If modifications have been made to the axis configur�ation, you will receive the following message:

RESTORE FACTORYSETTINGS ?

Please noteThis message indicates that all data are reset to the statusas at delivery. All data and programs entered will be lost.

9. Press the ESC button in order to interrupt. Or press theEnter button in order to delete all the data in the SPC200

and to save the hardware configuration.

When the current hardware configuration is saved, the actual

configuration becomes the nominal configuration. The con�trol panel then shows the basic setting again.

4. Commissioning


4.4.2 Commissioning pneumatic axes

If you have created and saved the desired hardware configur�

ation, you can commission pneumatic axes as follows:

Step 1: Setting project−specific parameters

Set all project−specific parameters. These include:

Project−specific parameters Menus on the control panel

Axis data AXIS PARAM.

Application data APPLIC. PARAM.

System configuration CONFIG. SYSTEM

Leave the supply pressure switched off and proceed here asdescribed in section 6.2 �Setting project−specific parameters".

Step 2: Check the tubing of the axes

Check the tubing of the axes at all costs. In addition to the

visual check of the tubing (see appendix A) or the check withWinPISA, you can also use the control panel. The command

MOVEMENT TEST in the menu TEST/DIAG. is available here.

Recommendation: Check the tubing with the aid of WinPISA,version 4.3 or higher.

During the movement test you can modify the control voltageof the valve. With the supply pressure switched off, the reac�

tion of the valve slide can be observed in the viewing windowof the valve and its ability to function can be checked.

During the movement test the controller is switched off for all

axes. The software end positions set with the application

parameters therefore have no effect.

4. Commissioning


WarningThe controller is switched off with this function. The pneu�matic axes can therefore perform sudden unexpectedmovements if the supply pressure is switched on. The setsoftware end positions have no effect.

If you wish to carry out the movement test with the supplypressure switched on:

· Make sure that the complete positioning range of thepneumatic axes remains free.

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

· Keep the acceleration forces low. In order to do this, seta low supply pressure of maximum 3�bar and reduce themass load to a minimum: no workpiece, if possible noheavy gripper systems, etc..

Necessary control signals before accessing the movementtest: 0−signal at the ENABLE input

Please note that from operating system version 4.63 onwardsthe ENABLE signal must be switched on and off in a defined

sequence during the movement test. This is solely for your

safety. Failure to comply with this causes the movement testto be aborted immediately!

When the movement test is carried out, the ENABLE signal

must be controlled as described in the following: The move�ment test always ends with a 0−signal at ENABLE.

Non−compatible

as from OS 4.63

4. Commissioning


In order to carry out the movement test with the supply

pressure switched on, proceed as follows:

1. Keep the acceleration forces low. In order to do this, set alow supply pressure of maximum 3�bar and reduce the

mass load to a minimum: no workpiece, if possible no

heavy gripper systems, etc.

2. Switch on the power supply for the SPC200. Make sure

here that there is a 0−signal at the ENABLE input (no fixed

wiring of the ENABLE input with the supply voltage).

3. Switch on the supply pressure.

4. Select the submenu AXIS in the menu TEST/DIAG. and

press the Enter button.

TEST/DIAG. AXISX:

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

desired axis with the buttons�vV (here X) and press theEnter button. The first command in the submenu AXIS will

then be displayed.

TEST/DIAG. AXISJOG AXIS >

6. Select the command MOVEMENT TEST with the buttons�{ }.

TEST/DIAG. AXISMOVEMENT TEST >

7. Then press the Enter button. The movement test will thenbe switched on. The valve voltage will thereby be set to

5�V. The current valve voltage will be shown directly after

the axis identifier.

MOVEMENT TESTX:05.00 +0.01

4. Commissioning


8. Now apply a 1−signal to the ENABLE input in order that

the valve voltage can be modified.

During the active movement test the controller is switched offfor all axes.

9. Now specify whether you wish to raise or lower thecontrol voltage. Set the appropriate sign here with the

buttons vV.

Control voltage Direction of movement with correcttubing

> 5 V Negative (towards measuring system zeropoint or towards the electrical connection ofthe measuring system)

< 5 V Positive

The valve voltage can be influenced with the followingbuttons:

Button functions Description

· Press the Enter button once. The valve voltage is increased orreduced once by 0.01 V.

· Press and hold down theEnter button.

The valve voltage is increased orreduced continuously in steps of0.01 V.

· Press the ESC button. The control voltage is reset to5.0�V.

In order to overcome static friction, the control voltage mustbe increased or reduced accordingly.

4. Commissioning


The movement test can be interrupted by a 0−signal at theENABLE input. The valve voltages will then be set to an elec�trical medium value (offset). An appropriate fault messagewill then appear on the control panel.

10. Modify the control voltage until the drive starts to move

slowly.

11. Make sure that the drive moves in the correct direction(see under 9.). Adjust the tubing if the drive moves in thewrong direction (see also appendix A).

12. In order to conclude the movement test and to reset the

control voltage to 5 V again, press the ESC button. Thecontrol panel then shows the following again.

TEST/DIAG. AXISMOVEMENT TEST >

13. In order to conclude this procedure, apply a 0−signal onceagain to the ENABLE input.

14. If you wish to carry out the movement test with the same

axis again, proceed now as described as from point 7.

15. If you wish to carry out the movement test with a differentaxis, press the ESC button. Then proceed as described as

from point 5.

In order to return to the basic setting, press the ESCbutton several times.

4. Commissioning


Step 3: Carry out identification travel

Please noteIf system identification is not carried out, the positioningbehaviour will probably be bad. In the case of modifica�tions to the axis data and the mounting position, as wellas modifications to the supply pressure of more than1�bar, the data ascertained during system identificationwill be deleted. In these cases, therefore, new identifica�tion travel is necessary.

During identification travel the characteristic system valuesare ascertained and saved. Before identification travel can be

carried out, the positioning system must be ready for oper�

ation.

A distinction is made between two types of system identifica�

tion.

Types Description

Static identification With the static identification, variables are ascertained which have aneffect on the behaviour of the system at the beginning and end of themovement. This includes static friction of the drive and the valve characte�ristics in the range of the mid−position (valve hysteresis).

Dynamic identification� with workpiece� without workpiece

With the dynamic identification, the maximum attainable speed as well asthe acceleration ability and delay ability of the drive system are ascertai�ned. This identification must be carried out in the case of axes whichshould move at maximum speed (NC command G00). If considerable modi�fications to the mass occur during operation, identification �should becarried out both with and without the workpiece.

4. Commissioning


In order to obtain good positioning behaviour, be sure tocarry out the system identification � a static identificationand at least one dynamic identification run. The NC command�G00" cannot be used without dynamic identification.

If your compressed air supply does not reliably fulfil the

necessary requirements (tolerance of ± 1 bar in operation),please observe the instructions in section B.3.1.

It is necessary to carry out the static and dynamic identifica�

tion run during the first commissioning, when componentsare replaced, as well as when the drive configuration is modi�

fied (mounting position, tubing or supply pressure).

Only for pneumatic drives with incremental measuring sys�tem (e.g. type DNCI−...):

A reference run must be carried out before the identification

run (WinPISA from version 4.4x).

Necessary control signals:1−signal at ENABLE, STOP and READY.

CautionIncorrect axis and application data can lead to collisionsduring identification travel. This applies especially to axislength, the mounting offset and the software end posi�tions.

WarningWith a dynamic identification run, an axis is set in motionat the highest acceleration and speed. Make sure that:

� the complete positioning range of the axis is free

� the correct axis and application data are set.

4. Commissioning


Carry out identification travel as follows:

1. Make sure that the tubing of the positioning system is

correctly connected (see step 2, movement test).

2. Set the compressed air supply to the pressure desired

during operation. Standard setting = 6 bar.

3. Select the submenu AXIS in the menu TEST/DIAG. andpress the Enter button.

TEST/DIAG. AXISX:

4. The cursor is positioned on the axis identifier. Select thedesired axis with the buttons�vV (here X) and press the

Enter button. The first command in the submenu AXIS will

then be displayed.


5. Select the command IDENTIFICATION with the buttons

�{ }.

TEST/DIAG. AXISIDENTIFICATION >

6. Press the Enter button in order to select the command.

IDENTIFICATIONX: STATIC?

7. Select the identification travel which you wish to carry outwith vV. Meaning:

4. Commissioning


Identification Meaning

STATIC Static identification

DYNAMIC1 Dynamic identification with workpiece *)

DYNAMIC2 Dynamic identification without workpiece *)

*) Workpiece must be removed or added

8. Press the Enter button in order to save the identification

travel.

The identification travel takes a certain amount of time.During identification progress is indicated as a per cent

value. After successful identification travel the message OK isshown, e.g.:

IDENTIFICATIONX: DYNAMIC1 OK

You can return to the basic setting by pressing the ESC

button several times.

If system identification is not successful:

· Check the layout, the installation as well as the axis and

application data of the relevant axis. Then carry outidentification again.

Step 4: Calibrate the measuring system (optional,�only with WinPISA)

From operating system version 4.82 onwards, the calibrationfunction requires WinPISA version 4.41 or higher.

Calibration compensates for system−specific tolerances

which may occur when the actual position is ascertained. In this way the electrically ascertained position values are

adapted to the actual values.

Carry out calibration if you wish to save or improve theabsolute positioning accuracy.

Non−compatible

as from OS 4.82

4. Commissioning


Step 5: Move the axis by means of the control panel (optional)

Necessary control signals:1−signal at ENABLE, STOP and READY.

With the command JOG AXIS in the menu �TEST/DIAG. you

can move the axis manually. Proceed as follows:

1. Select the submenu AXIS in the menu TEST/DIAG. and

press the Enter button.

TEST/DIAG. AXISX:

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

desired axis with the buttons �vV (here X) and pressthe Enter button. The command JOG AXIS in the submenu

AXIS will then be displayed.



The previously selected axis and the current positioning

mode will then be displayed.

JOG AXISX: CONT

4. Select the desired positioning mode with�vV.

Meaning:

Positioning mode Meaning

CONT Position continuously

STEP Position in steps twice the setpositioning tolerance

4. Commissioning


JOG AXISX: STEP

5. Press the Enter button in order to activate the positioning

mode, e.g.:

JOG AXIS STEPX:+0100.00 +

6. Set the desired positioning direction with the buttons

�vV.

7. With positioning mode STEP:

Press the Enter button in order to move one step.

With positioning mode CONT: Hold the Enter button pressed down for as long as

positioning is carried out.

You can return to the basic setting by pressing the ESCbutton several times.

4. Commissioning


Possible problems Cause Remedy Remarks

The slide moves intoan end position.

The control direction isnot the same as thedirection of positioningof the slide.

Swap the connectingtubing on theproportional directionalcontrol valve.

See also appendix A

Measuring system ormeasuring system cableis defective.

Replace measuringsystem or measuringsystem cable *)

Check first withMOVEMENT TEST

The slide moves oneposition.

The axis or applicationdata are not correct.

Correct the data See section 6.2

The control panelshows a fault number

See section 8.2 Eliminate fault See section 8.2

The slide does notmove

The valve cable isdefective

Check the cable *) See also appendix A

No supply pressure Switch on thecompressed air supplyor check the tubing.

See also section 3.2

The controller isswitched off becausethere is no ENABLEsignal.

Apply a 1−signal to theENABLE input.

See also Fig. 4.2

System has stopped. Apply a 1−signal to theSTOP input.

See also Fig. 4.2

Proportional directionalcontrol valve is defective

Replace theproportional directionalcontrol valve. *)

Check first withMOVEMENT TEST

*) Check and if necessary replace

4. Commissioning


Step 6: Enter test program

In order to avoid unnecessary fault messages during theswitch−on phase, programs 0 and 1 have already beencreated at the factory. They each contain the NC record N000with the command M30 (Program end).

N000 M30

Select therefore the command MODIFY PROGRAM, if you

wish to use program number 0 or 1 for your test program.

Enter a short test program, e.g.:

N000 G02... X+100 FX50N001 G02... X+150 FX90N002 M30

Adapt the position specifications (X+100, X+150) to yourrequirements.

Notes on the procedure for programming with the control

panel can be found in section 6.3.

Step 7: Test the program

With the command SINGLE STEP in the menu TEST/DIAG.,

you can test saved programs in single steps in the operating

mode START/STOP (see section 6.8).

This operating mode is set at the factory.

Set the operating mode START/STOP as follows:

1. Select the command OPERATING MODE in the menu

CONFIG. SYSTEM.

CONFIG. SYSTEMOPERATING MODE >

4. Commissioning



The current operating mode will then be displayed, e.g.:

OPERATING MODERECORD SELECT

3. Select the operating mode START/STOP and press the

Enter button. The operating mode then becomes

effective.

OPERATING MODESTART/STOP



You can test the program in single steps as follows:

Necessary control signals: 1−signal at ENABLE, STOP and READY.

1. Select the submenu SYSTEM in the menu TEST/DIAG. and

press the Enter button. The command SINGLE STEP in thesubmenu SYSTEM (SYS.) will then be displayed.

TEST/DIAG. SYS.SINGLE STEP >


SINGLE STEPP00

4. Commissioning


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

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

SINGLE STEPP00 N000

4. Press the Enter button in order to start the NC record.

The NC record will then be processed. The current recordnumber will then be displayed in the bottom line.

5. Repeat point 4 when the activated NC record has been

processed and you would now like to start the displayedNC record.



Defining the starting program

In order to test a program in �normal" operation, you must

define the program as the starting program. (see MENU

CONFIG. SYSTEM, command DEFINE TASKS). You can start aprogram defined as the starting program with the START

input or with the command START SYSTEM in the menu

SYSTEM CONTROL.

Program 0 is defined as the starting program at the factory.

Please noteWhen defining starting programs note the instructions insection 7.1.

In order to improve the positioning characteristics, you can

optimize the controller parameters after the commissioning

(see appendix B).

4. Commissioning


4.4.3 Notes on commissioning multi−axis systems

Commission at first each axis individually, as described in this

chapter.

Note when using two starting programs that both parallelrunning programs have the READY output and the ENABLE,

STOP and START/RESET inputs.

Notes on coordinated and autonomous operation can befound in section 7.1.1.

Controlling the SPC200


Chapter 5

5. Controlling the SPC200


Contents

5.1 General notes on operation 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Start/Stop mode 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Explanation of all I/O signals in Start/Stop mode 5−11 . . . . . . . . . . . . . .

5.3 Record Select mode 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Explanation of all I/O signals in Record Select mode 5−22 . . . . . . . . . . .



Contents of this chapter The SPC200 offers the following two operating modes forprocessing the saved NC programs:

� Start/Stop mode

� Record Select mode

The functions of the digital inputs and outputs and of the

permitted NC commands depend on the operating mode set.

This chapter describes how to control the SPC200 in the op�erating modes named. Examples of the I/O circuitry are

shown for controlling the SPC200 via an I/O module. All I/O

control signals as well as their time behaviour are described.

Further information Information on the coordinated and autonomous operationof axes with an SPC200 can be found in chapter 7.1.1.

Special instructions on operation on the field bus or on oper�

ating electric axes can be found in the manual for the relevant

extension module.

Sequence plans for programmers can be found in appendix C.



5.1 General notes on operation

Operating modes of the SPC200

Start/Stop In the operating mode Start/Stop the SPC200 can controlpositioning tasks independently. Any necessary synchroniz�ation with externally controlled processes is supported bythe �Programmed Stop" (command M00).

Record Select The Record Select operating mode supports the closecoupling of the SPC200 with a higher−order PLC/IPC. If con�trolled by an I/O module, 32 NC records of the fixed startingprograms can be accessed via 5 digital inputs. In this oper�ating mode, only positioning commands, positioning condi�tions and commands for setting the positioning quality classare supported (see chapter 5.3).

In both operating modes the SPC200 can process two paral�

lel−running programs. Coordinated and autonomous oper�

ation of two work stations can therefore be achieved with oneSPC200.

Setting the operatingmode

Set the desired operating mode as well as the desired start�ing program in the menu CONFIG SYSTEM on the controlpanel.

Controller enable Note that in the following cases a rising signal edge is re�quired at the ENABLE input for controller enable.

� during the first commissioning after the project−specificparameters have been set

� after a Data Reset and resetting of the project−specificparameters

� when the movement test has been carried out.



Switch−on behaviour of the SPC200

1 Depends on fault(see chapterDiagnosis)

Fault?

Switch on the power LEDSwitch on the error LEDInitialization and self test(max. 10 s)

No

Yes

Make starting programavailable. Error LED goes out

Error LED remainsalight or flashes

Switching on

Controllerenable?(Enable= 1?)

No

Ready output is set.Controller is switched on.Actual position = nominalposition (closed−loopcontrolled stop)

SPC200 is ready foroperation

Yes

1

Fig.�5/1: Switch−on behaviour of the SPC200



When the power supply is switched on, the SPC200 carries

out an initialization and a self−test. If there are no faults, theset operating mode will be activated and the starting pro�

grams will be made available.

This procedure can take a certain amount of time(max.�10�seconds), depending on the equipment fitted on the

system.

If there is then a 1−signal at the ENABLE input:

� the controller will be enabled. The current positionbecomes the nominal position (controlled stop).

� the READY output will be set.

If there is a 1−signal at the ENABLE input, the lack of the loadvoltage supply will trigger a fault message. Switch on theload voltage before setting ENABLE to a 1−signal.

If there is a 1−signal at the STOP input and the READY outputsupplies a 1−signal, the program sequence or positioning

procedure can be started, see appendix C.1.



0�V

24�V

0

1

0

1

0

1

0

1

ENABLE

READY

STOP

START/CLK

1

2

3 3

Loadvoltage

1 The load voltage should now be available (type > 1 s)

2 Reaction time of the SPC200: � without stepping motor module:�max.�100�ms� with stepping motor module: max. 2 s

3 Debounce time t ≥ 10 ms

Fig.�5/2: Time behaviour of the I/O signals at start of sequence

Operating mode Starting the programsequence or positioning task

Starting the programsequence or positioning task

Start/Stop mode START signal on the control panel orvia START input

START signal on the control panel orvia START input

Record Select mode CLK input �

If there is a 0−signal at the STOP input, a Reset can be trig�gered by a rising edge at the START input (see description ofthe I/O signals in chapter 5.2.1 and 5.3.1).



Quitting a fault

If a fault occurs during the program processing, the READY

output will be reset automatically. When the fault has beeneliminated, the fault message can be acknowledged with a

START signal. If several faults occur simultaneously, quittingmust be undertaken several times.

Faultmessage 0

1

0

1

0

1

0

1

0

1

ENABLE

READY

STOP

START/CLK

1

2

3 43

0

1Fault

1 Time requirement depends on equipment fitted on the system and whetherthere are faults (max. 10 s)


3 Quitt. faults; if there are several faults, quitt. must be undertaken several times

4 Start program or NC record

Fig.�5/3: Time behaviour when quitting a fault

If there are no faults, the READY output will supply a 1−signal

again. Then program sequence can then be continued or thenext NC record can be started.



5.2 Start/Stop mode

Start/Stop mode In Start/Stop mode the SPC200 can control positioningtasks independently. The following are available in thisoperating mode if an I/O module is used:

� five freely programmable inputs

� three freely programmable outputs

� all NC commands.

With each further I/O module, a further ten freely program�mable inputs and eight freely programmable outputs are

available. For special I/O functions directly on the axis, I/Os

can be made available via modules on the axis interfacestring.

The sequence of programs can be controlled in Start/Stop

mode via digital I/Os. The command Programmed Stop (M00)

is available for loose coupling with a higher−order PLC/IPC.With this command you can synchronize the program se�

quence of the SPC200, e.g. with externally controlled pro�cesses.

The following diagram shows the I/O circuitry in case you

wish to trigger the operating functions Start, Stop and Enable

via an external control panel. Instead of a control panel youcan also use a higher−order PLC/IPC for controlling.



9 8 7 24�V

I0.9 I0.8 I0.7

ENABLE STOPSTART/RESET 1)

24�V

123

−

3 7 24�V 0�V

Q0.4 Q0.7 −

MC_A 24�VREADY 0�V

−

4

567

24�V0�V

1) RESET (Program Reset) in conjunction with 0−signal at the STOP input

8

1 Designation on plug X5

2 Input address (I = input)

3 Function

4 Load voltage (can be switched offseparately)


6 Output address (Q = output)

7 Function

8 Power supply for outputs (can beswitched off separately as an option)

Fig.�5/4: Example of an I/O circuit for the operating mode Start/Stop with operation via

a control panel



5.2.1 Explanation of all I/O signals in Start/Stop mode

The connection assignment and I/O addresses of the I/Omodules can be found in chapter 3.5.3, field bus addresses inthe manual for the field bus module.

Inputs

Function Description

SYNC_IB Synchronization input for program B(like SYNC_IA, but for program B)

SYNC_IA Synchronization input for program AThis input supports synchronization of the SPC200 with external devices (e.g.PLC/IPC). With a Programmed Stop (command M00) the SPC200 waits for a fal�ling edge at this input before it processes the next NC record (see Fig.�5/6).

STOP Stop program sequenceA falling edge at this input causes:� the program sequence and the axes to be stopped.� Depending on the parameterisation, the axis is stopped (controlled stop):

� The position at the time of the stop signal becomes the setpoint position(d f lt) Aft t d till th i b k t thi iti

New feature

as from

OS 4.93

(default). After standstill, the axis runs back to this position.� The current position at standstill becomes the setpoint position.

This function is only available as from firmware version 4.93 in combinationwith WinPISA as from version 4.51.

If there is a 0−signal, a Program Reset can be triggered by a rising edge at theSTART input (see under START input).The program sequence is continued by:1. a 1−signal at this input2. a new start signal (Start on the control panel or a rising edge at the START

input).




START/RESET

Start/continue programs or quit faultsThe sequence of created programs will be started or continued or a fault will beacknowledged with a rising edge at this input. Prerequisites:� there must be a 1−signal at the STOP input� there must be a 1−signal at the ENABLE input� in order to start/continue: there must be a 1−signal at the READY output.Reset programIf there is a 0 signal at the STOP input and a 1 signal at the ENABLE input, a RESET(Program Reset) can be triggered by a rising edge at the START input. This will havethe following effects:� the NC record pointer is reset to 0� the pre−settings G90 and G02 (speed and acceleration values and workpiece mass

in initial state), as well as the positioning quality class set in the application databecome valid

� the nominal value input is switched off (M12)� all settings undertaken with M10, M11, M13 or M14 are reset to the defined stan�

dard values (parameter set for the axis, �Nominal value specification" tab)� pre−switch off values defined with G25 are reset again� direct control of the valve voltage (M39) is deactivated� all settings undertaken with M40 and M41 are reset to the standard values� all freely programmable outputs and the SYNC outputs are reset� the set starting programs are made available� any active faults are acknowledged.All flags (F), registers (R) and position registers (@) remain unchanged.

ENABLE Controller enableAn 0−signal at this input causes:� the controllers of all axes will be switched off. The valve control voltage will be set

to an electrical medium value (offset).� the READY output will be reset� if you use a stepping motor, the ENABLE signal for the stepping motor controller

will be reset and the reference position will be deleted.No further positioning tasks will then be accepted.If there is a 1−signal again at this input:� the READY output will be set� the valve control voltages and the controllers of all axes will be switched on� the current position will become the nominal position (closed−loop controlled

stop).� If you are using a stepping motor, reference travel must be carried out again.At the next START signal, the program sequence will be continued.In the following cases a rising signal edge is required at the ENABLE input forcontroller enable.� during the first commissioning after the project−specific parameters have been set� after a Data Reset and resetting of the project−specific parameters� when the movement test has been carried out.



Outputs


MC_B(motion complete)

MC output for program B(like MC_A, but for program B)

MC_A(motion complete)

MC output for program A (see also chapter 7.4, NC command G61)1−signal at this output indicates that a positioning task from program A hasbeen concluded. When the positioning task has been completed, an MC signalwill also be sent if the axis is no longer at the programmed nominal position(e.g. because of failure of the compressed air supply, unstable control, etc.).0−signal indicates that a positioning task is being processed.If there is to be evaluation of the MC signal by the PLC: In the case of position�ing tasks which follow directly one after the other, the MC signal may be toobrief to be evaluated by the PLC. The signal can be lengthened between thepositioning commands with the aid of NC command G04.The MC output is not reset when a positioning task is carried out within thepositioning tolerance (stroke�< positioning tolerance)A separate MC signal is generated internally in the SPC200 for each axisaddressed. These MC signals are AND−linked internally (see Fig.�5/5).

SYNC_OB Synchronization input for program B(like SYNC_OA, but for program B)

SYNC_OA Synchronization output for program AIf there is a 1−signal at the SYNC_IA input during a Programmed Stop (com�mand M00), a 1−signal at this output will indicate the readiness to process thenext NC record.If there is a negative edge at the SYNC_IA input, output SYNC_OA will be resetand the next NC record will be processed (see Fig.�5/6).

READY System ready to operateThis output supplies a 1−signal if the system is ready to operate.A 0−signal at this output indicates that there is a system fault or positioningfault or that there is no ENABLE signal.



Working method of the MC signals (MC_A and MC_B)

For each program (A or B), a separate MC signal is generatedinternally in the SPC200 for each axis addressed. The MCoutput for the relevant program supplies a 1−signal if all rel�evant internal MC signals supply a 1−signal (AND linking).

1 Internal MCsignalsdepending on theaxis addressedand on eachprogram MC_AXor MC_BX etc.(here 4 axes)

2 Depending on theprogram MC_A orMC_B

&

MC_...X

MC_...Y

MC_...Z

MC_...U

MC_...

1 2

Fig.�5/5: AND linking of the internal MC signals (example: 4 axes)

Please noteIf an NC record is processed with the following NC com�mands, the status of the MC signal will be undefined:

� M10, nominal value mode 1 (Activate nominal value input)

� M39 (Start valve variable output)

� M12 (Stop axis)

When nominal value mode 1 is started or after direct out�put of a valve variable, the MC signal of the relevant axis isconstantly 1.

Axis status flags F72...75 can be used to poll the MC signalsof each axis, and to use them in programs, see chapter 7.2.



Programmed Stop

Synchronization of the SPC200 with externally controlled

processes is supported by the Programmed Stop (commandM00). For this purpose, the SPC200 provides separate control

I/Os for programs A and B.

The relevant program will be stopped with the ProgrammedStop (command M00). If there is a 1−signal at the relevant

SYNC input (SYNC_IA or SYNC_IB), the SPC200 will indicates

the stop status of the program by setting the appropriateSYNC output (SYNC_OA or SYNC_OB). Externally controlled

processes can then run.

10

10

10

SYNC_IA/IB

SYNC_OA/OB

MC_A/B

M00 M00G00/G01/G02 G00/G01/G02

1 1

22 33

1 Externally controlled process

2 Programmed Stop

3 Program sequence

Fig.�5/6: Time behaviour with a Programmed Stop

If there is a negative edge at the SYNC input, the SYNC output

will be reset and the program will be processed further. The

continuation of the program sequence is represented inFig.�5/5 with the aid of the MC signal.



The MC signal (MC_A/B) is not affected by Programmed StopM00, but rather only by the starting and completion of a posi�tioning command.

Summary of the Start/Stop mode

In operating mode Start/Stop the SPC200 provides freelyprogrammable inputs and outputs. With the Programmed

Stop (command M00), two parallel running programs can be

synchronized with other processes independently of eachother e.g. by a PLC/IPC.

Start/Stop mode Description

Prerequisites � The program must already be saved in the program memory� The axis, application and system data must be set correctly� The Start/Stop operating mode must be set� There must be a 1−signal at the ENABLE and STOP inputs

Operation with the controlpanel

Operating functions� Start, Stop, Reset via menu SYSTEM CONTROL on the control panel

Operation via I/O Operating functions� Start with rising edge at START input� Stop with 0−signal at the STOP input� Continue program with 1−signal at the STOP input and rising edge

at the START input� Program reset with 0−signal at the STOP input and rising edge at

the START input� Fault acknowledgement with 1−signal at the STOP input and rising

edge at the START input



5.3 Record Select mode

Record Select mode In the Record Select mode the SPC200 is controlled by ahigher−order PLC/IPC. The controlling PLC/IPC sends posi�tioning tasks in the form of binary−coded record numbersvia digital I/Os to the SPC200. The SPC200 then processesthe desired NC record and waits for the next positioningtask. If controlled by an I/O module, NC records 0...31 of thestarting programs can be accessed via 5 digital inputs. Withcontrol via a field bus, the NC records 0...999 are available.

As the sequence of the NC programs is controlled by a higher−

order PLC/IPC, NC commands, which serve for sequence con�

trol, are not permitted in this operating mode. Only the following NC commands are supported:

NCcommand

Description

G00 Positioning at the highest possible speed

G01 Position at a defined speed

G02 Position with jerk−free accelerationPosition with Start/Stop frequency

G08 Acceleration for approach ramp

G09 Acceleration for braking ramp

G60 Exact stop

G61 Set positioning quality class

G62 Fast stop

G74 Start reference travel

G90 Absolute dimension specification (pre−setting at program start)

G91 Relative dimension specification



The following diagram shows an example of an I/O circuit for

Record Select mode.

0�V

24�V

9 8 7 24�V 0/4 5/6

I0.9 I0.8 I0.7 I0.0/I0.4 I0.5/I0.6

ENABLE RESET 1) STOP RECBIT... CLK_B/A24�V

123

Outputs

Inputs

PLC/IPC

24�V

24�V

0�V

0�V

3/4 5/6 7

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

RC_B/A ACK_B/A READY

4

567

4

_

_


2 Input address (I = input)

3 Function

4 Load voltage (can be switched offseparately)


6 Output address (Q = output)

7 Function

1) RESET (program reset) in conjunction

with a 0−signal at the STOP input

Fig.�5/7: Example of an I/O circuit for the operating mode Record Select with two

starting programs



In the operating mode Record Select positioning tasks are

sent in the form of binary−coded NC record numbers to theSPC200 via the inputs RECBIT...�. With a rising edge at the

CLK input, the record numbers are accepted for the relevant

program and acknowledged with the ACK signal.

The following diagram shows the signal curve of the I/O sig�nals relevant for communication when a positioning task is

delegated.

0

1

0

1

0

1

0

1

RECBIT...

CLK_A/B

ACK_A/B

RC_A/B

1 2

3

4


2 The status of the individual input signals depends on the desired recordnumber

3 Positioning procedure

4 As from this moment the PLC/IPC waits for the 1−signal at the RC_A/B output

Fig.�5/8: Time behaviour of the I/O signals in Record Select mode



NC record numbers

The desired NC record number, in which the positioning task

is stored, is specified binary−coded via inputs. The followingNC records can therefore be accessed:

Type of control AccessibleNC record numbers

I/O module (5 inputs; 25 = 32) 0...31

Field bus module (10 inputs) 0 ... 999 1)

1) Maximum permitted number of NC records

The NC records are always stored in the SPC200 beginningwith NC record 0 and a step size of 1. If possible, use thesame numbering in WinPISA, e.g. with the aid of the number�ing function.



The inputs RECBIT... have the following meaning:

RECBIT5 RECBIT4 RECBIT3 RECBIT2 RECBIT1 Designation

2 4 2 3 2 2 2 1 2 0 Value

Input signals NC record number

0 0 0 0 0 0

0 0 0 0 1 1

0 0 0 1 0 2

1 1 3

...

1 1 1 1 0 30

1 1 1 1 1 31

With control via a field bus module RECBIT... as 2−byte value from 0 to 999, see manual on the fieldbus module.



5.3.1 Explanation of all I/O signals in Record Select mode

The connection assignment and I/O addresses of the I/O

modules can be found in chapter 3.5.4, field bus addresses in

the manual for the field bus module.

FunctionInputs

Description

RECBIT1...RECBIT5

Bit 1 for record number (20)...Bit 5 for record number (24) 1)

CLK_B �Start NC record from program B or quit fault(like CLK_A, but for program B)

CLK_A Start NC record from program A or quit faultWith a rising edge at this input:� the NC record number at the RECBIT... inputs will be accepted by the SPC200

for program A and processed. This will be indicated with the signal ACK_A (see Fig.�5/8).

� an active fault is acknowledged if at the same time a 1−signal is active at theSTOP input.

STOP Stop positioning taskAn 0−signal at this input causes:� the axes to be stopped (controlled stop).� Depending on the parameterisation:

� The position at the time of the stop signal becomes the setpoint position(default). After standstill, the axis runs back to this position.

New feature as

from OS 4.93

(default). After standstill, the axis runs back to this position.� The current position at standstill becomes the setpoint position.

This function is only available as from firmware version 4.93 in combina�tion with WinPISA as from version 4.51.

The positioning task can be started again by:� a 1−signal at this input� renewed starting of the positioning task via the relevant CLK input

(CLK_A/CLK_B).Continuation of a positioning task after a Stop signal is not supported in thisoperating mode. If you use NC command G91, movement must be made to anabsolute position (G90) after each stop.

1) With control via a field bus module RECBIT... as 2−byte value from 0 to 999, see manual on the field bus module.



FunctionInputs

Description

RESET Reset programIf there is a 0−signal at the STOP input and a 1−signal at the ENABLE input, a RESET(Program Reset) can be triggered by a rising edge at the RESET input. This will havethe following effects:� the NC record pointer is reset to 0� the pre−settings G90 and G02 (speed and acceleration values and workpiece mass

in initial state), as well as the positioning quality class set in the application databecome valid

� the ACK outputs will be reset� the set starting programs are made available� any faults are acknowledged.

ENABLE Controller enableAn 0−signal at this input causes:� the controllers of all axes will be switched off. The valve control voltage will be set

to an electrical medium value (offset).� the READY output will be reset� if you use a stepping motor, the ENABLE signal for the stepping motor controller

will be reset and the reference position will be deleted.No further positioning tasks will then be accepted. If there is a 1−signal again at thisinput:� the READY output will be set again� the valve control voltages and the controllers of all axes will be switched on� the current position will become the nominal position (closed−loop controlled

stop)� If you are using a stepping motor, reference travel must be carried out again.With the next CLK signal, the positioning task at the RECBIT... inputs will beprocessed.In the following cases a rising signal edge is required at the ENABLE input for con�troller enable.� during the first commissioning after the project−specific parameters have been set� after a Data Reset and resetting of the project−specific parameters� when the movement test has been carried out.



FunctionOutputs

Description

RC_B(record complete)

NC record of program B concluded(like RC_A, but for program B)

RC_A(record complete)

NC record of program A concluded(see also chapter 7.4, NC command G61)1−signal at this output indicates that a positioning task from program A hasbeen concluded. When the NC record has been processed, an RC signal willalso be sent if the axis is no longer at the programmed nominal position(e.g. because of failure of the compressed air supply, unstable control, etc.).An 0−signal indicates that an NC record is being processed.

ACK_B(acknowledge)

Task accepted (acknowledge) for program B(like ACK_A, but for program B)

ACK_A(acknowledge)

Task accepted (acknowledge) for program AAcceptance of the task from program A is acknowledged via this output (see Fig.�5/8).

READY System ready to operateThis output supplies a 1−signal if the system is ready to operate. An 0−signal atthis output indicates that there is a system fault or positioning fault or thatthere is no Enable System signal.

Please noteContinuation of a positioning task after a Stop signal is notsupported in this operating mode. If you use NC commandG91, movement must be made to an absolute position(G90) after each stop.



Summary of Record Select mode

The Record Select operating mode supports the close

coupling of the SPC200 with a higher−order PLC/IPC.

Record Select mode Description

Prerequisites � The program must already be saved in the program memory� The system data must be entered in the configuration� The Record Select mode must be set� There must be a 1−signal at the ENABLE and STOP inputs

Operation with the controlpanel

Operating functions� Stop, Reset via menu SYSTEM CONTROL on the control panel

Operation via I/O Operating functionsSelect NC record via the RECBIT... inputs.� Start the selected NC record via the CLK input� Stop via the STOP input� Program reset with 0−signal at the STOP input and rising edge

at the CLK input� Fault acknowledgement with 1−signal at the STOP input and

rising edge at the CLK input



Example of program in Record Select mode

InputsI0.4 ... I0.0 1)

I11.9 ... I11.0 2)��

��NC records of the starting program

00000 N000 G00 X100.00 Y100.00

00001 N001 G00 X130.00 Y100.00

00010 N002 G01 X50.00 FX50

... ...

01000 N008 G90 X100.00 Y110.00

01001 N009 G91 X10.00 Y20.00

... ...

10000 N016 G00 X200.00 Y200.00

... ...

11111 N031 G02 X150.00 Y150.00

1) With control via an I/O module2) With control via a field bus module

Sequence control takes place exclusively via a higher−order

PLC/IPC. With a rising edge at the CLK input, the signals at

the RECBIT... inputs will be accepted as NC record numbers,acknowledged by the ACK signal and the NC record will be

processed.

Only the positioning commands (G00, G01, G02 and G74),positioning conditions (G08, G09, G90 and G91) and com�

mands for setting the positioning quality class (G60, G61,

G62) will be supported.

Operating the SPC200 with the control panel


Chapter 6

6. Operating the SPC200 with the control panel


Contents

6.1 Structure and functions of the control panel 6−4 . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Moving in the menu system 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Setting project−specific parameters 6−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Edit program 6−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Create new program 6−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Instructions on editing 6−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.3 Store of commands on the control panel 6−35 . . . . . . . . . . . . . . . . . . . . .

6.3.4 Edit existing program 6−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.5 Delete program 6−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Edit position register 6−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Controlling the program sequence 6−46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Displaying operands and system states 6−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 Set controller factors 6−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8 Test and diagnostic functions of the control panel 6−52 . . . . . . . . . . . . . . . . . . . . .



Contents of this chapter This chapter describes the menu and operating functions ofthe control panel type SPC200−MMI−...�.

All parameters and operating functions of pneumatic axes are

explained in detail and general system operating functionsare described.

Control panel functions of special extension modules such as

stepping motor indexer modules and field bus modules aresimply listed without a description.

Further information Control panel functions of stepping motor indexer modulesand of field bus modules can be found in the manual for therelevant module.

WinPISA offers mainly the same operating functions and

parameters as the control panel. Information on this can befound in the WinPISA manual.

CautionThe functionality of the MMI (control panel) has beenfrozen to that of operating system version 3.8. This meansthat all new functions and new or expanded NC commands(see chapter 7.1.4) from operating system version 4.63onwards are no longer supported by the MMI.

When commissioning with the MMI, from operating system

version 4.63 onwards, the exact switching cycle of the

ENABLE signal must be observed during the movement test,see chapter 4.4.2.

The sole purpose of this change is to increase safety for

persons and the machinery during commissioning.

Please noteFrom operating system version 4.63 onwards, it is recom�mended to carry out commissioning and programmingonly with WinPISA version 4.31 or later.

Non−compatible

as from OS 4.63



6.1 Structure and functions of the control panel

Control panel type SPC200−MMI−1... enables you to carry out

commissioning, programming and diagnosis directly on the

SPC200. It offers a simple menu structure and a uniform key�board assignment.

WarningFaults may occur if control and operating functions areaccessed at the same time by WinPISA and the controlpanel.

Make sure that WinPISA and the control panel are notused at the same time.

The following diagram shows the elements on the control

panel.

1 Two−line LCDdisplays

2 Buttons

EnterEsc

1

2

Fig.�6/1: Elements of the control panel

The two−line LCD display shows all texts in English. Up to16�characters can be represented on each line. The touch−

sensitive keyboard has six buttons. With these buttons you

can carry out all operating functions and settings as indicatedin the menu.



Button Description

Esc � Switches back to the next−higher menu level� Rejects the current entry (entry aborted)� Deletes the current NC record if the cursor in the

Editor is positioned at the code identifier for NCrecord number (N).

Enter � Confirms the current menu selection� Transfers the setting or operating function under�

taken into the SPC200� Inserts a copy of the current NC record if the cursor

in the Editor is positioned at the code identifier forNC record number (N).

{ } � Select next menu command or parameter� Position the cursor to the left/right

vV Modify the setting at the current cursor position� Increase/reduce number value� Select axis (set axis identifier code)� Select NC command or diagnostic function

Switch−on reaction

When the power supply is applied, the SPC200 automaticallyperforms an internal test. During the brief test phase, the

control panel shows the software version number of the con�

trol panel (here Vn.n).

MMI SPC200 Vn.nINITIAL TEST

The SPC200 is then ready to process user commands entered

on the control panel. If a fault is ascertained, the controlpanel will show the current fault number (see chapter 8.2).

If there is no fault, the basic setting will be shown.



In the basic setting the control panel shows the following

message:

EnterEsc

SPC200 Vnnn XSELECT WITH <>

1 2

3

1 Operating system version of the SPC200 (nnn = versionnumber); the dot after the main version identifier is notshown due to lack of space; nnn corresponds to n.nn

2 Currently configured axes (here X−axis)

3 Reference line: With�{ }�you can select your menu

Fig.�6/2: Basic setting on the control panel

By pressing the Esc button several times you can access thebasic setting. A special procedure is only required for exitingthe Program Editor (see chapter 6.3.1).�

In the basic setting the control panel offers eight menus for

selection. The following diagram gives an overview of themenu structure and menu commands on the control panel:



6.1.1 Moving in the menu system

SPC200 Vnnn XSELECT WITH <>

SYSTEMCONTROL

START SYSTEMSTOP SYSTEMRESET SYSTEMRESET PROGRAMSRESET ERRORRESET DATA

DISPLAY EDITPROGRAM

CONFIG.SYSTEM

TASK STATEREFERENCE POS.CURRENT POS.POS.DIFFERENCEDIGITAL INPUTFIELDBUS INPUTDIGITAL OUTPUTFIELDBUS OUTPUTMEMORY FLAGREGISTERERRORSTEPMOTOR INPUT

NEW PROGRAMMODIFY PROGRAMDELETE PROGRAMMODIFY POSREG.TEACH

ACTUAL CONFIG.SET CONFIGUR.OPERATING MODEDEFINE TASKSFIELD BUS

1

2

34

Enter

Esc

1 Basic setting

2 Moving in the menu system

3 See next page AXIS PARAM

4 See next page TEST/DIAG.

Fig.�6/3: Menu structure on the control panel (continued on next page)



AXISPARAM.

CYL.TYPE2)

CYL.LENGTHCYL.DIAMETER2)

SENSORMEASUREM.2)

APPLIC.PARAM.

CONTROLPARAM.

TEST/DIAG.

TOOL LOADWORK LOADPRESSUREFITTING POS.FITTING OFFS.POS. BASEPOINTLOWER END POS.UPPER END POS.POS. TOLERANCEQUALITY CLASSMAX. SPEEDMAX. ACCELER.

GAINFACTOR2)

DAMPINGFACTOR2)FILTER FACTOR2)

POS. TIMEOUT2)

SINGLE STEPINPUT TESTFB. INPUT TESTOUTPUT TESTFB. OUTPUT TESTFLAG TESTREGISTER TEST

31

X,Y,Z,U1) X,Y,Z,U1) X,Y,Z,U1)

RESOLUTIONSTART/STOP FREQPOS. BASEPOINTLOWER END POS.UPPER END POS.REF. POSITIONREF. SPEED FAC.MAX. SPEEDMAX. ACCELER.MODE OF REFER.MICRO/HALFSTEP

Pneum.axis 2)

Electricaxis 3)

SYSTEM

AXIS

JOG AXISMOVEMENT TEST2)IDENTIFICATION2)

EXIT FROM LIMIT3)

REFER. TRAVEL3)

X,Y,Z,U1)

1) Select axis identifier X, Y, Z or U2) Parameter or function is only available with pneumatic axis3) Parameter or function is only available with electric axis

2Enter

Esc

1 Previous page CONFIG. SYSTEM

2 Moving in the menu system

3 See previous page SYSTEM CONTROL

Fig.�6/4: Menu structure on the control panel (continued)



The menus on the control panel

Menu Description

SPC200 READYSYSTEM CONTROL >

System control:Control functions Start, Stop, Reset

SPC200 READYDISPLAY >

Displays:Operands, system states

SPC200 READYEDIT PROGRAM >

Edit program: 1)

Displaying and processing programs andposition registers, Teaching

SPC200 READYCONFIG. SYSTEM >

Configure system:Determine operating mode and startingprograms, display and accept hardwareconfiguration

SPC200 READYAXIS PARAM. >

Axis data:Display and set (e.g. cylinder length)

SPC200 READYAPPLIC. PARAM. >

Application data:Display and set (e.g. project zero point)

SPC200 READYCONTROL PARAM.>

Control parameters:Display and set

SPC200 READYTEST/DIAG. >

Test and diagnosis:Program test, movement test, etc.

1) The editing of programs with the MMI is recommended only forsmall test programs.

Please note that from operating system version 4.63 onwards

there are new NC commands and expansions that are nolonger supported by the MMI.

Please use WinPISA, version 4.3 or higher.

New feature

as from OS 4.63



By pressing the button�{ or }�you can access the individ�

ual menus from the basic setting one after the other. Themenu name is displayed in the bottom line. The top line still

shows the text from the basic setting (SPC200...). This will

remind you that you are in the first level.

The top line is an orientation aid for your selection. It shows,e.g. the menu which you have accessed. The bottom line

offers the selection possibilities of the current menu. Theselection possibility is represented by the character >�.

If you have made a selection by pressing the Enter button,

the text in the display will roll upwards.

1 Display from thebasic setting(first level)

2 The menu AXISPARAM. can beopened with theEnter button

3 Menu AXISPARAM. is open

4 Axis identifier,selection with�vV

5 First parameter ofthe selected axis


Enter

1

2

3

4

5

Enter

AXIS PARAM.X:

AXIS PARAM.CYL. TYPE >

3

Fig.�6/5: Functions of the display lines



The top line then shows the selection made as an orientation

aid. The bottom line shows again the current selection possi�bility or in the lowest level entry fields.

In the case of menus which contain axis−specific parameters

or operating functions, the axis identifier of the first axis (N)

will be shown when the menu is opened. In the case of multi−axis systems, you can select the desired axis with vV and

by pressing the Enter button. All the following parametersand operating functions refer to the selected axis.

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

operating functions for electric axes are then displayed.

Summary: Moving in the menu system

Purpose Press ...

Confirm the current selection and, if necessary,change to the next lower level.

Enter

Make another selection in the same menu level. { }

Select axis identifier. Vv

Abort selection and change to the next higher level. Esc



Proceed as follows when selecting a menu command or

parameter:

1. Press the Esc button as often as necessary until the basicsetting is shown. The first line of the display will then

show the text SPC200 followed by the version number of

the operating system.

2. Press the button�{ or �}�as often as necessary until

the desired menu appears in the bottom line.

3. Press the Enter button. The menu will then be openedand the first parameter or the first operating function of

the menu will be shown.

4. If an axis identifier is offered for selection, select it withthe buttons vV and then press the Enter button.

5. If a parameter or an operating function is shown, you can

scroll through the menu with the buttons�{ or �} untilthe desired parameter or the desired command is shown

in the bottom line.

6. Press the Enter button in order to select the command orparameter.

The following sections show you how to make the settings,

how to carry out the programming or how to trigger operating

functions.



6.2 Setting project−specific parameters

WarningIncorrectly set parameters can lead to uncontrolled reac�tions of the connected axes during operation.

The SPC200 must know the conditions of use in your projectand the type of components used in your positioning system.

Undertake the necessary settings in the following menus:

Menu Description


Axis dataSpecifications on the axes used

SPC200 READYAPPLIC. PARAM. >

Application dataSpecifications on the conditions of use

SPC200 READYCONFIG. SYSTEM>

System configurationOperating mode, starting programs,hardware configuration

From operating system version 4.63 onwards, the DSMI rotary

drive is supported by the SPC200. It cannot be configured orparametrized using the MMI. Please use WinPISA, version

4.31 or higher.

From operating system version 4.82 onwards, the piston roddrive of the DNCI family with integrated incremental measur�

ing system is supported by the SPC200. It cannot be confi�

gured or parametrized using the MMI. Please use WinPISA,version 4.41 or higher.

Proceed as follows:

If you have selected a parameter in a menu by pressing the

Enter button (see chapter 6.1.1), the text in the display willroll upwards.

New feature

as from OS 4.63

New feature

from BS 4.82



AXIS PARAM.X:

Enter

1

2

3

4

5

Enter

AXIS PARAM.CYL. TYPE >

CYL. TYPEX: 1

1 Menu AXIS PARAM. is open

2 Axis identifier can be selected, selection with�vV

3 Parameter Cylinder type can be selected

4 Current setting of the X−axis (here cylinder type 1)

5 Axis identifier display (here for X−axis)

Fig.�6/6: Functions of the display lines

The top line then shows the selection made (here AXIS

PARAM.) as an orientation aid. When entering axis−specificparameters you can then select the desired axis. In this case

the cursor is positioned on the axis identifier.

For this purpose, the relevant axis must be connected to theSPC200 and the current hardware configuration must be

saved.



With the buttons vV you can now select the axis, the para�

meters of which you wish to modify. When the axis has beenselected, the bottom line will show the current parameter

setting.

In order to modify a parameter, position the cursor on the

desired figure of the displayed parameter with the buttons{ }. With the buttons vV you can now modify the figure.

If you modify a parameter value, the character ? will beshown in the bottom line.

CYL. TYPEX: 1

1

2

3

5

Enter

CYL. TYPEX: 2 ?

CYL. TYPEX: 2

1 Character flashes (here underlined) = current cursorposition

2 Identifier for value modification

3 New value accepted (? No longer visible)

Fig.�6/7: Set parameter values



The character ? indicates that the setting is not transferred

into the SPC200 until the Enter button is pressed. When theEnter button is pressed, the ? is deleted. This indicates that

the setting has been accepted.

The following sections explain the meaning of the individual

parameters which you must adapt to your project.

Axis data

Menu AXIS PARAM The axis data are configuration data which describe the com�

position, the properties and the components of the axisused. The axis data form the basis for parameter ranges of

the application data (e.g. possible positioning speed of the

axis).

Axis data for pneumatic axes

Please noteModified axis data do not become effective until after aprogram reset. In some cases new identification travel(system identification) is necessary.



Menu AXIS PARAM (axis data)

Pneumatic axis

CYL. TYPEX:0

Cylinder type (design)0 ... 2Specifies the design of the drive used.0 = with piston rod1 = without piston rod2 = rotary

CYL. LENGTHX:+0050.00

Cylinder length or max. swivel angle50 ... 10000 [mm] or [°]Length or max. swivel range of the drive (see type plate).

CYL. DIAMETERX:+0012.00

Cylinder diameter12 ... 0.320 [mm]Diameter of the drive (see type plate)

SENSOR LENGTHX:+0050.00

Measuring system length (sensor length) or max. swivel angle50 ... 10000 [mm] or [°]Length or max. swivel range of the measuring system used (see type plate)

VALVE TYPEX:0

Valve type (see type plate)0 ... 40 = MPYE−5−M5−010B1 = MPYE−5−1/8−LF−010B2 = MPYE−5−1/8−HF−010B3 = MPYE−5−1/4−010B4 = MPYE−5−3/8−010B

Axis data for electric axes:

Menu AXIS PARAM (axis data)

Electric axis

CYL. LENGTHY:+0050.00

Cylinder length 1)

50 ... 10000 [mm]

1) Explanations see manual for stepper motor indexer module type P.BE−SMX−1−...



Application data

Menu APPLIC. PARAM The application data are configuration data which describe

the conditions of use specified by the application.

Application data for pneumatic axes

The application data are an important basis for the internallyascertained control data.

Please noteModified application data do not become effective untilafter a program reset. If the mounting position is modifiedor if the supply pressure is increased/decreased by morethan 1�bar, new identification travel (system identification)may be necessary.

From operating system version 4.82 onwards, a �Workpiece

mass in initial state" can be specified independently of the

configured maximum workpiece mass <TOOL LOAD>. Thisgives you the capability of adapting to your process the effec�

tive mass load when the system is switched on. This new

function is not supported by the MMI. Please use WinPISA,version 4.41 or higher.

New feature

as from OS 4.82



Menu APPLIC. PARAM (application data)

Pneumatic axis

TOOL LOADX:+0000.00

Total mass to be moved by the positioning axis, or mass moment ofinertia, in each case without the workpiece.0.1 ... 2000 [kg] or [kgm2 * 10−4]In the case of the pneumatic axis describes the total weight or the massmoment of inertia of the following components:� slide and piston� fastening plate� ToolThe maximum permissible total load and the maximum permissibletotal mass moment of inertia depends on the drive type used, seechapter 3.2.9.

WORK LOADX:+0001.00

Maximum mass or mass moment of inertia of the workpiece0 ... 2000 [kg] or [kgm2 * 10−4]You can modify this value via the control panel, if at the same time the�Workpiece mass in initial state" is also modified, see chapter 3.2.9.Recommendation: Use NC command M37 if you wish to position withdifferent loads.

PRESSUREX:+0000.00

Supply pressure3 ... 10 barSpecifies the prepared supply pressure. For good positioningbehaviour:� fluctuations in pressure of max. 1 bar in front of the proportional

directional control valve during positioning� minimum supply pressure 4 bar.Please note the permitted pressure range of the components used (e.g. DGP...−... max. 8 bar).

FITTING POS.X:+00

Mounting positionIn the case of linear drives and drives with piston rod: −90 ... +90 [°]In the case of the rotary module: Parameter is not evaluated.In the case of linear drives and drives with piston rod specifies themounting position and the direction in which the drive and the measur�ing system should preferably be fitted.− 0° horizontally+ 90° vertically upwards (zero of measuring system at bottom)− 90° vertically downwards (zero of measuring system at top)In the case of the rotary module the parameter is not evaluated(permitted mounting positions see Appendix A.4).



Reference points With the following four parameters you can specify thereference points of your positioning system.

Note that the software end positions and the project zero

point refer to the cylinder zero point. If you modify themounting offset, the SPC200 will check to see if the resulting

new reference points still lie within the range of the measur�

ing system. If this is not the case, an appropriate fault mess�age will be displayed.

1 2 3 4 5 6

1 Measuring system zero point

2 Mounting offset

3 Cylinder zero point

4 Lower software end position

5 Project zero point

6 Upper software end position

Fig.�6/8: Reference points (see also chapter 3.4)




Pneumatic axis

FITTING OFFS.X:+0000.00

Mounting offset−10000 ... +10000 [mm] or [°]Offset between measurement system zero point and cylinder zero point.The mounting offset is positive if the cylinder zero point lies within themeasuring system range. Set the mounting offset so that approximately0 is shown as the actual position on the cylinder zero point.The mounting offset is negative if the cylinder zero point lies outside themeasuring system range.

POS. BASEPOINTX:+0000.00

Project zero point−10000 ... +10000 [mm] or [°]Specifies the point of the axis to which the positions contained in theposition registers and programs refer. The project zero point refers tothe cylinder zero point.

LOWER END POS.X:+0000.00

Lower software end position0.0 ... 10000 [mm] or [°]End position on the side of the measuring system zero point monitoredby the operating system (software) of the SPC200 and which must notbe overrun. If both software end positions are set to 0, their functionwill have no effect. The lower software end position refers to the cylin�der zero point and represents the lower limit of the positioning range.

UPPER END POS.X:+0000.00

Upper software end position0.0 ... 10000 [mm] or [°]End position on the side opposite the measuring system zero pointmonitored by the operating system (software) of the SPC200 and whichmust not be overrun. If both software end positions are set to 0, theirfunction will have no effect.The upper software end position refers to the cylinder zero point andrepresents the upper limit of the positioning range.

POS. TOLERANCEX:+0000.00

Positioning tolerance0.1 ... 10.00 �[mm] or [°]This parameter specifies the repetition accuracy with which a position�ing procedure is to be carried out.




Pneumatic axis

QUALITY CLASSX:0

Positioning quality class1 ... 6Describes the conditions under which a positioning task is to beregarded as concluded or when the signal MC (Motion Complete) is tobe output. Meaning:1 = fast stop without damping time2 = fast stop with damping time3 = exact stop without damping time4 = exact stop with damping time5 = exact stop with final speed check6 = exact stop �with damping time and final speed checkThe fixed setting here is valid as the standard setting at program start. It can be switched in the program with the commands G61 and G60.

MAX. SPEEDX:+0000.00

Maximum speed0.1 ... 10.0 �[m/s] or [103 °/s]Maximum speed for positioning with the commands G01 and G02. The speed factor specified with commands G01 and G02 refers to themaximum speed defined here.

MAX. ACCELER.X:+0000.00

Maximum acceleration0.1 ... 100.0 �[m/s2] or [103 °/s2]Maximum acceleration for positioning with the commands G01 and G02.In the positioning program you can use the commands G08 and G09 tospecify reduced acceleration related to the maximum accelerationdefined here.



Application data for electric axes


Electric axis

RESOLUTIONY:+0010.000

Resolution 1)

0.100 ... 9999.999 [1/mm]

START/STOP FR.Y:+0500.00

Start−stop frequency 1)

1 ... 9999 [Hz]

POS. BASEPOINTY:+0000.00

Project zero point 1)

0.0 ... 10000 [mm]

LOWER END POS.Y:+0010.00

Lower software end position 1)

0.0 ... 10000 [mm]

UPPER END POS.Y:+0090.00

Upper software end position 1)

0.0 ... 10000 [mm]

REF. POSITIONY:+0010.00

Reference position 1)

0.0 ... 10000 [mm]

REF. SPEEDY:+0001.00

Reference speed factor 1)

0.01 ... 1.00

MAX. SPEEDY:+0000.10

Maximum speed 1)

0.1 ... 10.0 [m/s]

MAX. ACCELER.Y:+0000.50

Maximum acceleration 1)

0,1 ... 100.0 [m/s2]

MODE OF REFER.Y:0

Reference travel mode 1)

1 ... 4

MICRO/HALF STEPY:0

Micro/half step 1)

0 or 1

1) Explanations see manual for stepping motor indexer module



System configuration

Menu CONFIG. SYSTEM In the menu CONFIG. SYSTEM you can specify the desired

�operating mode as well as the starting programs for yoursystem.

Description of the individual parameters

Menu CONFIG. SYSTEM (Configure system)

ACTUAL CONFIGUR.1. AIF

Display current configurationDisplays the hardware configuration ascertained during the start−upphase.n. AIF ; 1...2 axis interface string (n = 1...2)n. SM ; 1...3 stepping motor (n = 1...3)If stepping motor indexer modules are installed, the selection �n. SM"will show which axis identifier of the first, second or third steppingmotor indexer module has been assigned.The selection �n. AIF" shows which axis identifiers have been assignedduring the start−up phase and which modules have been recognized onthe relevant string. The recognized module types (CP modules) arelisted one after the other as follows:I = input moduleO = module with outputs or valvesI/O = function I/O moduleThe entry �−" means that an appropriate module has not beenrecognized.Example: 1. AIF �AXIS: XY

CP−MOD: −, �−, �I/O,Explanation: Two axis interfaces were recognized on the first axis inter�face string during the start−up phase. These were assigned with the axisidentifiers X and Y. A function I/O module has also been recognized onthe axis interface string.

SET CONFIGUR.SAVE CONFIGUR.

Save the actual configuration as the nominal configurationNote the instructions on how to proceed in chapter 4.3.1.When the system is started, the SPC200 checks whether the currenthardware configuration is the same as the nominal configuration. Theinstalled modules as well as the string assignment are checked here.The current hardware configuration (installed modules) and the currentstring assignment can be saved as the nominal configuration with thiscommand. If the axis configuration has been modified, all data alreadyentered will become invalid and will be reset to the status as at deliveryor deleted.



Menu CONFIG. SYSTEM (Configure system)

OPERATING MODESTART/STOP

Operating modeSTART/STOP ; Start/Stop modeRECORD SELECT ; Record select modeThe operating mode defines how the sequence control of the SPC200should function. Explanations of the operating modes can be found inchapter 5.

DEFINE TASKSTA:P00

Define starting programsTn ; Task number TA, TBPn ; Program number − −/0...99P− − �for "no starting program defined"If the cursor is positioned at P, you can switch between P00 and P− − fortask B.An SPC200 can control two work stations. It thereby supports thecoordinated and the autonomous operation of the two axes. In coordi�nated mode the possibility of parallel program processing is not used.Only one starting program is defined (an active task). This controls bothwork stations. In autonomous mode two starting programs (two activetasks) are defined. Each starting program controls a different work sta�tion. Further information on the coordinated and autonomous modescan be found in chapter 7.1.1.

Summary: Set parameters

Purpose Press ...

� Confirm current parameter selection� Accept setting made

Enter

� Position cursor on axis identifier orparameter value or figure

{ }

� Modify the setting at the current cursorposition (increase/decrease figure value)

v V

� Abort entries� Switch back to next higher menu level

Esc



Proceed as follows:

1. Select the parameter which you wish to modify

(see�chapter 6.1.1).

2. Press the Enter button in order to confirm the selection.

The current parameter value for the selected axis will

then be displayed in the bottom line.

3. With multi−figure values:

Position the cursor with the buttons�{ or �} on the

figure of the parameter value which you wish to modify.

4. Set the figure value with the buttons�vV.

5. Repeat points 3 and 4 if you wish to modify further

figures.

6. Press the Enter button. The value will then be transferredto the SPC200.



6.3 Edit program

The control panel provides you with an Editor with which you

can edit both position registers as well as NC programs. If

your positioning system is set up completely, you can teachposition registers with the aid of the Teach functions.

All menu commands for editing NC programs and position

registers as well as the Teach function can be found in themenu EDIT PROGRAM.

Please notePrograms which use the new NC commands and theextended NC syntax of operating system version 4.6 orhigher cannot be displayed and cannot be edited withcontrol panel type SPC200−MMI−1... .

Menu EDIT PROGRAM (Edit program)

EDIT PROGRAMNEW PROGRAM >

Create new program

EDIT PROGRAMMODIFY PROGRAM >

Modify program

EDIT PROGRAMDELETE PROGRAM >

Delete program

EDIT PROGRAMMODIFY POSREG. >

Modify position register

EDIT PROGRAMTEACH >

Teach mode(teach position register)

These commands are explained in the following sections.



6.3.1 Create new program

1. Press the button { or }�as often as required in the

basic setting until the menu EDIT PROGRAM is displayed.

SPC200 READY EDIT PROGRAM >

2. Press the Enter button in order to open the menu EDIT

PROGRAM. The first command (New program) will then be

displayed in the bottom line.

EDIT PROGRAM NEW PROGRAM >


NEW PROGRAM PROGRAM NO.: 00?

4. Programs 0 and 1 are already created at the factory. Usethe cursor buttons to set the desired program number of

a non−existent program, e.g.:


5. Press the Enter button in order to create the program.

When the program has been created, you can edit the

first NC record.

For displaying an NC record both lines of the display areused. This is to be regarded as one line with 32 characters.

When programming multi−axis systems, note that for reasonsof space only the parameters for the currently selected axisare displayed.



The procedure for editing an NC record is explained using as

an example the command G00 (Position at highest possiblespeed). This is followed by an overview of all available NC

commands. A detailed description of the NC commands with

program examples can be found in chapter 7.4.

Example: NC record with G00

When a program has been created, the number of the created

program will be displayed in the first three columns (here P03).

After this the NC record number N000 is shown.

P03:N000 * *X*

The cursor is positioned on identifier N.

1. Press button } in order to position the cursor on the firstNC word of the current NC record (here * for positioning

with saved values).

With the buttons vV you can now select the desired NC

command.

2. Press button�v�in order to switch to G00.

P03:N000 G00 *X+0000.00

3. Press button } when you have selected the desiredcommand.

P03:N000 G00 *X+0000.00

4. With the buttons vV you can now select further NCwords or parameters for the NC command. Press button

�} when you have undertaken the setting.

P03:N000 G00 *X+0000.00



5. The cursor is positioned on the axis identifier. If several

axes are configured, select the desired axis with the but�tons�vVand then press button �}.

P03:N000 G00 *X+0000.00

6. If the cursor is positioned next to the axis identifier, you

can switch between the following with the buttons�vV:

� position value (X+0000.00 or X−0000.00)

� register value (X@00)

� axis not relevant (X*)Meaning: The positioning command has no effect forthe relevant axis.

7. If you have made your choice, you can set the position

value or register value with the cursor buttons. Proceedas usual figure−by−figure:

· position the cursor on the figure with �{and�}

· increase/decrease the figure value with�vV.

P03:N000 G00 *X+0123.45

8. If you also wish to specify a position in the current NCrecord for the second axis, then position the cursor again

on the axis identifier with the button �{. Then switch to

the desired axis and set the position or register value forthis axis with the cursor buttons, e.g.:

P03:N000 G00 *Y+0100.00

The NC record entered in this example would appear asfollows in WinPISA:

N0000 G00 X+123.45 Y100.00



In order to display the NC record on the control panel, youmust position the cursor on the axis identifier and switchbetween the configured axes.

P03:N000 G00 *X+0123.45

P03:N000 G00 *Y+0100.00

9. In order to conclude the entry of the NC record, make surethat the cursor is positioned on an NC command, para�

meter or operand. Then press the Enter button. The cur�

sor is then positioned on identifier N and the NC record isintermediately saved in the SPC200.

If the Enter button is pressed when the cursor is positionedon the identifier for NC record number (N), a copy of the cur�rent NC record will be inserted.

10. Select the next NC record (here N001) with �vV.Proceed with editing the NC record as described.

Always conclude programs with NC command M30(program end with repeat) or M02 sub−program end) e.g.

P03:N005 M30



Exit program editor

1. First make sure that the cursor is positioned on an NC

command, parameter or operand. Then press the Enterbutton in order to conclude the entry of the current NC

record. The cursor is then positioned on identifier N and

the NC record is intermediately saved in the SPC200.

P03:N005 M30

2. Press button } in order to position the cursor on the NC

command again.

P03:N005 M30

3. Now press the Esc button. The NC editor will then be

exited.

When the NC editor is exited, the program is transferred fromthe �intermediate buffer (RAM memory) into the programmemory (flash memory). Failure of the operating voltage be�fore the NC editor is exited will therefore lead to loss of themodifications undertaken.



6.3.2 Instructions on editing

Failure of the operating voltage before the NC editor is exitedwill therefore lead to loss of the modifications undertaken.When entering extensive programs exit the Editor now andthen in order to save intermediately.

When programming pay attention to correct syntax and use

only existing operands. Both lines of the display can be usedfor showing an NC record. Note when programming multi−axis

systems that, for reasons of space, only the parameter for the

currently selected axis can be displayed.

When the cursor is moved, the lines are to be regarded asone line with 32 characters. With the buttons�{ and�} the

individual NC words or parameters are selected one after the

other. The cursor wanders accordingly to the left or to theright.

Insert, delete line If the NC program already contains several lines, NC recordscan be inserted and deleted and you can page through theprogram. For this purpose the cursor must be positioned onidentifier N (NC record number) (e.g. N001). You can then:

� page through the program with the buttons vV

� insert a copy of the current NC record by pressing the

Enter button

� delete the current NC record by pressing the Esc button.The delete procedure is quitted with Enter or rejected

with Esc.

Editing lines With the buttons�{ and�} the character or NC word to bemodified will be selected. With the buttons vV the char�acter or the NC word will be modified.



· If the cursor is positioned on an NC word, an NC word will

be selected with vV.

· If the cursor is positioned on a figure, the figure value willbe increased or decreased with vV.

· If the cursor is positioned on the axis identifier, one of the

existing axes will be selected with vV.

· With positioning commands, one of the following char�

acters can be selected on the right next to the axis ident�

ifier:

Sign Meaning

+ Positive position value (e.g. X+0100.00)

− Negative position value (e.g. X−0100.00)

@ Number of the position register (e.g. X@10)

* Axis not relevant (e.g. Y*; Y−axis not relevant)

If the character * is selected, the command programmed in

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

P03:N001 G00 G90Y*

Conclude entry In order to conclude the entry of an NC record or program,the cursor must be positioned on an NC command, para�meter or operand. The NC record is concluded with the Enterbutton. Program entry is concluded with the Esc button.



6.3.3 Store of commands on the control panel

The operating system of the SPC200 offers as from version4.6, in conjunction with WinPISA as from version 4.3, anextended scope of functions due to the support of new NCcommands and extended NC syntax. As from operatingsystem version 4.6, position registers (@n) can also be usedfor saving speed and acceleration values.


An overview of the new NC commands as well as a detaileddescription of all NC commands with programming examplescan be found in chapter 7.4.



First NC word

NCcommand

Description Supportedoperating mode

Start/Stop RecordSelect

* Positioning with saved valuesThe last programmed positioning command (G00, G01 orG02) remains effective.

√ √

G00 Positioning at the highest possible speed √ √

G01 *) Positioning at a defined speed √ √

G02 *) Positioning with jerk−free accelerationPositioning with Start/Stop frequency

√ √

G04 Dwell time in 100th. of a second √ �

G08 *) Acceleration in % of maximum acceleration� Pneumatic axis: for acceleration ramp� Electric axis: for acceleration and braking ramps

√ √

G09 *) Acceleration in % of maximum acceleration� Pneumatic axis: for braking ramp

√ √

G25 *) Position−dependent further record switching √ �

G28 Load position value into position register √ �

G29 Add position value and position register √ �

√ = Command is supported� = Command is not supported in record selection mode

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



First NC word (continued)

NCcommand



G60 Exact stop √ √

G61 Set positioning quality class √ √

G62 Fast stop √ √

G74 Start reference travel √ √

M00 Programmed stop √ �

M02 Sub−program end √ �

M10 *) Activate nominal value input √ �

M11 Offset for analogue nominal value specification √ �

M12 *) Deactivate nominal value input /end positioning procedure immediately

√ �

M13 Set nominal value mode √ �

M14 *) Assign nominal value input √ �

M30 Program end with repeat √ �

M37 *) Set mass assessment √ �

M38 Load actual value to register @n √ �

M39 *) Output valve variable √ �

M40 *) Set stroke limit value with M39 √ �

M41 *) Set speed limit value with M39 √ �

L Access sub−program √ �

E05 Unconditional jump √ �

*) The new NC syntax is not supported by the control panel. It can only be used in conjunction withWinPISA from version 4.3 onwards (see also chapter 7.1.4).

√ = Command is supported� = Command not supported in this mode



First NC word (continued)

NCcommand



#S Set single−bit operand √ �

#R Reset single−bit operand √ �

#T Test single−bit operand for 1−signal √ �

#TN Test single−bit operand for 0−signal √ �

#LR Load register √ �

#AR Add to register √ �

#TR Test register √ �

√ = Command is supported� = Command not supported in this mode

Second NC word

NCcommand



* Using the last positioning mode (G90, G91)The last programmed positioning mode (relative orabsolute move) remains effective.

√ √

G90 Absolute dimension specification(pre−setting at program start)

√ √

G91 Relative dimension specification √ √

√ = Command is supported



6.3.4 Edit existing program

1. Press the button �{ or }�as often as required in the


SPC200 READY EDIT PROGRAM >>




EDIT PROGRAM NEW PROGRAM >>

3. Select the command MODIFY PROGRAM with the buttons

�{ or }.

EDIT PROGRAM MODIFY PROGRAM>>

4. Press the Enter button in order to select the menu

MODIFY PROGRAM.

MODIFY PROGRAMPROGRAM NO.: 00?

5. Use the cursor buttons to set the desired program

number, e.g. program no. 03:


6. Press the Enter button in order to edit the program.



When a program has been selected, the program number will

be displayed in the first three columns (here P03). The firstNC record of the program is shown after this, e.g.

P03:N000 G00 *X+0100.00

The cursor is positioned on the identifier for the NC record

number (here N000). With the buttons�vV�you can pagethrough all the NC records of the program.

Note when programming multi−axis systems that, for reasonsof space, only the parameter for the currently selected axiscan be displayed.

Instructions on editing can be found in chapter 6.3.2.



6.3.5 Delete program



SPC200 READY EDIT PROGRAM >>




EDIT PROGRAM NEW PROGRAM >>

3. Select the command DELETE PROGRAM with the buttons

�{ or }, �and press the Enter button.

DELETE PROGRAMPROGRAM NO.: 00?

4. Use the cursor buttons to set the desired program

number, e.g. program no. 03:

DELETE PROGRAM PROGRAM NO.: 03?

5. Press the Enter button in order to delete the program.

The program will then be deleted.



6.4 Edit position register

As an alternative to the direct entry of position values (e.g.

X100) when programming, you can also specify positions by

means of the position register. You simply need to enter thenumber of the position register (e.g. the program).

In the case of programming with WinPISA, the position regis�ters will be pre−assigned with the values of the position list(see WinPISA manual).

With the following commands in the menu EDIT PROGRAM

you can fill the position registers with the desired positionvalues.

Menu EDIT PROGRAM

EDIT PROGRAMMODIFY POSREG. >

Modify position register(edit position register)

EDIT PROGRAMTEACH >

Teach mode(teach position register)

Modify position register



2. Press the Enter button in order to open the menu EDITPROGRAM. The first command (NEW PROGRAM) will then

be displayed in the bottom line.

3. Select the command MODIFY POSRG with the buttons{�or } and press the Enter button.

MODIFY POSREG.X:@00



4. Use the cursor buttons to set the desired axis identifier

and the register number, e.g. X:@03, and press the Enterbutton. The current value of the register will then be dis�

played.

MODIFY POSREG.X:@03 +0123.00

The value −9999.99 is reserved as identifier for unusedposition registers.

5. You can now modify the value with the cursor buttons.Press the Enter button in order to save the modification.

6. If you wish to modify a further position register, press the

Esc button and repeat points 4. and 5..

Teach position register

WarningWith this function one or more axes of the system will beset in motion. Make sure that nobody can place his/herhand in the positioning range of the moveable mass whilstthe compressed air supply is still switched on.

The following conditions must be fulfilled for the Teach

mode:

� the positioning system must be set up completely, wired

and supplied with power and compressed air

� the axis and application data must be set correctly

� the inputs ENABLE and STOP must supply a 1−signal.

1. Press the button { or }�as often as required in the





PROGRAM. The first command (NEW PROGRAM) will thenbe displayed in the bottom line.

3. Select the command TEACH with the buttons { or }and press the Enter button.

TEACH SELECTX:@00 CONT

4. Use the cursor buttons to set the desired axis identifier,

the register number and the positioning mode.

The following positioning modes are possible:

Positioningmode

Description

CONT Position continuously

STEP Position in steps twice the set positioningtolerance

5. Press the Enter button in order to confirm the selected

positioning mode. The current position will then bedisplayed in the bottom line.

TEACH:@03 CONTX:+0123.00 +



6. With the buttons�vV you can now set the positioning

direction (+�=�in positive direction; � = in negative direc�tion; SAVE = save). In order to position the slide and to

set the desired direction, proceed as follows:

Positioningmode

Description

CONT Hold the Enter button pressed down untilthe slide is to stop.

STEP Press the Enter button in order to movethe appropriate step.

7. In order to save the current position, select the commandSAVE with the buttons�vV and press the Enter button.



6.5 Controlling the program sequence

WarningMake sure that nobody can place his/her hand in the posi�tioning range of the moveable mass and that no objects liein its path.

Prerequisite In order to be able to control the sequence of programs with

the control panel, the following conditions must be fulfilled:

� the positioning system must be set up completely, wired


� the parameters in the menus AXIS PARAM, APLIC.PARAMand CONFIG. SYSTEM must be set correctly

� the inputs ENABLE and STOP must supply a 1−signal

� there must be at least one program in the memory.

You can start and stop or reset the system with the followingcommands in the menu SYSTEM CONTROL�:

Menu SYSTEM CONTROL

SYSTEM CONTROLSTART SYSTEM ?

Start system (only supported in Start/Stop mode)With this command the sequence of created programs will then bestarted or continued. Prerequisite:� there must be a 1−signal at the STOP input� there must be a 1−signal at the ENABLE inputWhen the system has been started the display will show the commandSTOP SYSTEM, so that unintentional starting can be rejected immedi�ately.

SYSTEM CONTROLSTOP SYSTEM ?

Stop systemWith this command the program sequence and the axes will be stopped.The current position becomes the nominal position (controlled stop).



Menu SYSTEM CONTROL

SYSTEM CONTROLRESET SYSTEM ?

Reset systemThe SPC200 is reset to the status it was in when it was switched on. A program reset and a hardware recognition are carried out here andthe axis interface string is re−initialized. This procedure can take acertain amount of time, depending on the system configuration used.

SYSTEM CONTROLRESET PROGRAMS ?

Reset programPrerequisites:� there must be a 1−signal at the ENABLE inputThis will have the following effects:� the NC record pointer is reset to 0� the pre−settings G90 and G02 (speed and acceleration values and

workpiece mass in initial state), as well as the positioning qualityclass set in the application data become valid

� the nominal value input is switched off (M12)� all settings undertaken with M10, M11, M13 or M14 are reset to the

defined standard values (parameter set for the axis, �Nominal valuespecification" tab)

� pre−switch off values defined with G25 are reset again� direct control of the valve voltage (M39) is deactivated� all settings undertaken with M40 and M41 are reset to the standard

values� all freely programmable outputs and the SYNC outputs are reset� the set starting programs are made available� any faults are acknowledged.

SYSTEM CONTROLRESET ERROR ?

Reset faultPrerequisites:� there must be a 1−signal at the ENABLE inputWith this command the fault code is reset to 0.

SYSTEM CONTROLRESET DATA ?

Reset all data to the status as at deliveryWith this command all data are reset to the status as at delivery.All user data will be lost.



6.6 Displaying operands and system states

In order to check the program sequence you can permanently

represent operands and system states in the display. The

commands for this can be found in the menu Display. Thefollowing operands and system states can be displayed pro�

viding the appropriate modules are installed:

Menu DISPLAY

TASK STATETA:P00 N000 S00

Task StatusTn = task (A or B) A ... BPn = current program no. 0 ... 99Nn = NC record no. 0 ... 999Snm = program/record status 00 ... 11 *)

n = record status m = program status

*) 0 = inactive; 1 = active

REFERENCE POS.X:+0000.00

Current position nominal valueX, Y, Z, U = axis identifiers

CURRENT POS.X:+0000.00

Current position actual valueX, Y, Z, U = axis identifiers

POS. DIFFERENCEX:+0000.00

Control deviationX, Y, Z, U = axis identifiers

DIGITAL INPUTI0.00:0

Status display for digital inputsI = inputI0.0 ... I5.15

FIELDBUS INPUTI10.00:0

Status display for field bus inputsI = inputI10.0 ... I13.15

DIGITAL OUTPUTQ0.00:0

Status display for digital outputsQ = outputQ0.0 ... Q5.15

FIELDBUS OUTPUTQ10.00:0

Status display for field bus outputsQ = outputQ10.0 ... Q13.15



Menu DISPLAY

MEMORY FLAGF00:0

Status display for flagsF = flagF00 ... F63

REGISTERR00:+0000

Status display for registersR = registerR00 ... R99

ERRORno. 00000000

Fault number(see chapter 8.2)

STEP MOTORINPUTY: LIM+ = 1

Status display for sensors of the electricaxisIf the cursor is positioned on LIM+ , youcan switch between:� LIM+ (positive limit switch)� LIM− (negative limit switch)� REF (reference switch)� SRDY (ready signal of the stepping

motor controller)The status of the relevant input is shownby �0" or �1". If a stepping motor indexermodule is not installed, the message �NOSTEP MOTOR" will appear.

When checking the sensors note their different designs:

� LIM+, LIM−:

Limit switches: N.C. (normally closed)

� REF:

Reference switches: N.O. (normally open)



6.7 Set controller factors

Menu REGUL. PARAM The controller parameters for pneumatic axes are ascertained

by the SPC200 from various basis parameters. The controller

factors are standardized at 1.0. By means of these factorsyou can manually influence the ascertained controller para�

meters.

A detailed description of the controller factors as well asinstructions on optimizing the positioning behaviour can befound in appendix B.



Controller factors for pneumatic axes:

Menu CONTROL. PARAM.

Pneumatic axis

GAIN FACTORX:+0001.00

Gain factor0.1 ... 10.0With the gain factor you can influence the sensitivity with which thepositioning control circuit reacts to modifications of the �variables"(position, speed, acceleration).

DAMPING FACTORX:+0001.00

Damping factor0.1 ... 10.0Damping is a measure for the transition behaviour of the system fromthe actual to the nominal status, especially when there are fast modifi�cations to the nominal value. As a rule the system should guaranteelow−oscillation behaviour with nominal value specifications and move�ment into the target position without overswing.

FILTER FACTORX:+0001.00

Signal filter factor0.1 ... 10.0Speed and acceleration are derived from the positioning signal andfiltered to improve the signal quality. If in practice there is bad signalquality, e.g. due to electrical interference, filtering of the signal can beinfluenced by the signal filter factor. If filtering is too strong it maydestabilize control.

POS. TIMEOUTX:01.00

Positioning timeout0.0 ... 99.99 sMonitors whether the positioning procedures are performed quicklyenough. The SPC200 outputs an MC fault if:� the drive is not put into motion within the specified positioning time�

out after receiving a positioning task� the drive has exceeded the maximum permitted positioning time

(sum of the internally calculated positioning time and positioningtimeout).

If there is an MC fault the drive will be stopped. The current position�becomes the nominal position. The fault can be quitted with a newpositioning task.Select the positioning timeout so that the positioning movements canbe completed reliably within the time selected (e.g. 0.5 to 1.0 seconds).With the value �0.0" the monitoring of the positioning time can beswitched off.



6.8 Test and diagnostic functions of the control panel

A ready−to−operate system is required for some of the

commands in this menu. The following conditions must be

fulfilled:

· the positioning system must be set up completely, wired


· the axis and application data must be set correctly

· the inputs ENABLE and STOP must supply a 1−signal.

After opening the menu you can select whether you wish to

test the:

� system functions (SYSTEM) or

� the axis functions (AXIS).



Menu TEST/DIAG. (test and diagnosis)

Sub−menu SYSTEM

SINGLE STEPP00

Program test in single stepsP00 ... P99(only supported in Start/Stop mode)With this function you can test an existing program in single−step mode.Proceed as follows:1. Set the program number.2. Press the Enter button to confirm the selection.3. Press the Enter button to start the NC record.4. Repeat point 3 in order to start the next NC record.

INPUT TESTI0.00:0

Input test 1)

I = inputI0.00 ... I5.15.With this command you can test the inputs of the system to make surethat they function. The input signal entered fades out the real signaland is taken into account for sequence control (e.g. Start/Stop) as wellas for the program sequence. Thereafter the actual input signal is validonce again.

FB INPUT TESTI10.00:0

Test field bus inputs 1)

I = inputI10.00 ... I13.15.

OUTPUT TESTQ0.00:0

Output test 1)

Q = outputQ0.00 ... Q5.15The READY output and the ACK outputs used by the system arepermanently updated by the operating system and cannot therefore beinfluenced.

FB OUTPUT TESTQ10.00:0

Test field bus outputs 1)

Q = outputQ10.00 ... Q13.15

FLAG TESTF00:0

Test flags 1)

F = flagF00 ... F63

REGISTER TESTR00:0

Test register 1)

R = registerR00 ... R99

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




Sub−menu AXIS: Pneumatic axis

JOG AXISX: CONT

Position axisCONT ; position continuouslySTEP ; position in steps twice the set positioning toleranceProceed as follows:1. Select the desired axis (X or Y).2. Positioning mode (CONT, STEP).3. Press the Enter button to confirm the selection.4. Select positioning direction (+ or −).5. With positioning mode STEP:

� Press the Enter button in order to move one step.With positioning mode CONT:� Hold the Enter button pressed down for as long as positioning is

carried out.

MOVEMENT TESTX:05.00 V

Movement test00.00 ... 10.00 VObserve the note on compatibility in chapter 4.4.2.With this command you can check whether the proportional directionalcontrol valve is connected correctly with its axis.Instructions on this procedure can be found in chapter 4.4.2.

IDENTIFICATIONX:STATIC

System identificationSTATIC ; static identificationDYNAMIC1 ; dynamic identification with workpieceDYNAMIC2 ; dynamic identification without workpieceThe max. workpiece mass set with the application data is valid.Instructions on this procedure can be found in chapter 4.4.2.


Sub−menu AXIS: Electric axis

JOG AXISX: +0000.00 +

Position axis 1)

EXIT FROM LIMITX:+0000.00 ?

Emergency travel 1)

REFER. TRAVELX:+0000.00 ?

Reference travel 1)

1) Explanations as well as instructions on carrying out these activities can be found in the manual for the stepping motor indexer module type P.BE−SPC200−SMX−1−...�.

Description of the commands


Chapter 7

7. Description of the commands


Contents

7.1 General instructions on programming 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Parallel program processing 7−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Program organisation 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3 Presetting for positioning 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4 New NC syntax and new NC commands 7−12 . . . . . . . . . . . . . . . . . . . . . .

7.2 Addressing, registers and axis status flags 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Addressing 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Addressing the control signals 7−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Position register X [Y Z U] @n 7−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4 Register Rn 7−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5 Flag Fn 7−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6 Axis status flag Fn 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Command syntax 7−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Explanation of the NC commands 7−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Contents of this chapter This chapter contains basic information on programming theSPC200 with the control panel. Both the coordinated and theautonomous mode of operation are explained and all the NCcommands are described.

Further information Before programming with the control panel, you should befamiliar with the functions of the control panel. Chapter 6describes how to create, start and edit NC programs withthe control panel.

WinPISA offers user−friendly editing functions. Information onthis can be found in the WinPISA manual.



7.1 General instructions on programming

You must take the following into account when creating NCprograms:

� the operating mode in which you intend to use theSPC200.In Start/Stop mode all NC commands are supported. InRecord Select mode only positioning commands, posi�tioning conditions and commands for setting the posi�tioning quality class are supported.

� the number of fixed starting programs.If a single or multi−axis system is controlled by anSPC200, only one starting program is usually defined. Iftwo independent work stations are controlled, a separatestarting program must be defined for each work station(autonomous operation of two work stations).



7.1.1 Parallel program processing

The SPC200 possesses amultitasking−capable operating sys�tem. This can process two tasks parallel. For parallel proces�sing two programs must be defined as starting programs.These will then be processed parallel as task A and task B.Accessed sub−programs are processed instead of the relevantstarting program, until the sub−program processing is com�pleted and the starting program is continued.

The parallel program processing supports the low−cost imple�mentation of two independent work stations with oneSPC200. Therefore certain I/O control signals (e.g. MC_A andMC_B) and settings for positioning are managed task−specifi�cally.

However, task A and task B provide together:

� the control signals STOP, START/RESET, ENABLE andREADY

� the freely programmable I/Os (only in Start/Stop mode)

� the flags, registers and position registers

� the positioning axes. They are each assigned during theprocessing of a positioning command of the accessingtask.



Operands: F0 ... F63 (flag), R0 ... R99 (register), @0 ... @99 (position register)Control signals STOP, START/RESET, ENABLE, READY, freely programmable I/OsAxes: X, Y, Z, U

Control signals:SYNC_IA / CLK_AMC_A / RC_ASYNC_OA / ACK_ASettings for positioning:Positioning quality class, positioningmode, stroke limit value, etc.

N000 G62 XN001 G00 X100N002 #TNI0.0 30N003 G01 X100 FX10N004 X300N005 G00 X500N006 G00 X400...

Task A

1

2

3

4 Control signals:SYNC_IB / CLK_BMC_B / RC_BSYNC_OB / ACK_BSettings for positioning:Positioning quality class, positioningmode, stroke limit value, etc.

N000 G62 YN001 G00 Y100N002 #TNI0.1 30N003 G01 Y100 FY10N004 Y300N005 G00 Y500N006 G00 Y400...

Task B

1 Commonly managed operands, control signals and axes

2 Starting program (here of task A)

3 Sub−programs (here of task A)

4 Task−specifically managed controlsignals and settings for positioning(see also chapter 7.1.3)

Fig.�7/1: Common and task−specific control signals and data



Please notePlease observe the following instructions when using theparallel program processing:

� The control signals STOP, START/RESET, ENABLE andREADY as well as the freely programmable I/Os serveboth tasks together.

� Flags, registers and position registers are managed com�monly by both tasks.

� The control signals SYNC_.../CLK_..., MC_.../RC_... andwhere applicable ACK_... are managed separately by therelevant task (A or B).

� Settings for positioning are managed separately by eachtask (task−specific). All the presettings for positioningnamed in chapter 7.1.3 belong here.

� If a task accesses an axis, this axis will remain assigneduntil the relevant NC command has been processed oruntil the nominal position is reached. The axis will thenbe made available again.

� If a program wishes to access an assigned axis, it willremain in the waiting status until the axis is made avail�able again. Exception 1: If the assigned axis processes an M10 or M39 commandand another task tries to access the axis, an appropriatefault message will be triggered. Exception 2: The M12 command (Stop axes) will immediately stop alladdressed axes, irrespective of the task which has as�siged them. In such cases both tasks must be program−technically synchronized, e.g. by the setting and interro�gating of flags.



Multi−axis operation

Coordinated operation� In coordinated operation of several axes, the possibility ofparallel program processing is not usually used. Only oneprogram is defined as the starting program. The positioningtasks for all axes are programmed in this program.

If a positioning task refers to all axes, it is not completed untilall the axes have reached the target position. The movementsequence of all axes is thereby coordinated. The secondstarting program can be used for monitoring functions.

N000 G62 X YN001 G00 X100 Y150N002 #TNI0.0 30N003 G01 X100 FX10N004 X300 Y100N005 G00 X500 Y200N006 G01 Y400 FY20...

X

Y

1

2

3

4 5

6

1 Task A

2 Starting program of task A

3 Sub−programs

4 Positioning command for the X−axis

5 Positioning command for the Y−axis

6 Work station A (two coordinated axes)

Fig.�7/2: Coordinated operation (example two−axis system)



Autonomous operation In autonomous operation two independent work stations arecontrolled by one SPC200. For this special case, you mustdefine two different programs as starting programs which areprocessed independently of each other (parallel).

The two parallel−running programs both have the outputREADY and the inputs ENABLE, STOP and START/RESET.

N000 G62 XN001 G00 X100N002 #TNI0.0 30N003 G01 X100 FX10N004 X300N005 G00 X500N006 G00 X400...

N000 G62 YN001 G00 Y150N002 G01 Y300 FY10N003 #TNI0.1 40N004 G00 Y100N005 G04 500...

X

Y

7 8

aJ

9

1 2 3 4 5 6

1 Task A

2 Starting program of task A

3 Positioning task for the X−axis

4 Sub−program of task A

5 Task B

6 Starting program of task B

7 Positioning task for the Y−axis

8 Sub−program of task B

9 Work station A (X−axis)

aJ Work station B (Y−axis)

Fig.�7/3: Autonomous operation of two work stations (example)



In autonomous operation the program is processed indepen�dently for each work station. Each work station can be con�trolled independently of the other by means of the freely pro�grammable I/Os (Start/Stop operation) or by the commandI/Os (Record Select operation).

Please observe the following when using parallel programprocessing in autonomous operation:

� Starting programs must not be accessed assub−programs.

� Sub−programs, which contain positioning commands,may only be used by one starting program.

7.1.2 Program organisation

When programming for the SPC200 you can:

� create up to 100 NC programs in the SPC200 with a maxi�mum total of 2000 NC records

� enter up to 1000 NC records (i.e. 1000 program lines) inone single program

� access each NC program as a sub−program. Four nestedsub−program calls are therefore possible.



7.1.3 Presetting for positioning

The following settings are effective when the SPC200 isswitched on or after a program reset and are managed foreach task (task A and task B) independently of each other:

Presettings for positioning

G02 ... F...0 � With pneumatic drives: Move smoothly to position at defined speed (G02);speed factor = 100 %.

� With stepping motor axes: Move to position at Start/Stop frequency

G08, G09 Acceleration for approach ramp and braking ramp = 100 %

G61 The positioning quality class (1...6) set in the application data is valid

G90 Absolute positioning

M10 For first commissioning with the control panel the following factory settings apply:Channel no for all axes: channel 1

M11� Channel no. for all axes: channel 1� Acaling factor: 10.00 mm/V

Offset 0 00 mmM13

� Offset: 0.00 mm� Nominal value mode: 0With i i i i Wi PISA th tti d fi d f th l t i i

M14With commissioning in WinPISA, the presettings are defined for the relevant axis inthe register card �Nominal value specification".

M37 1) Work item mass in basic status, see chapter 3.2.9.

M40 2) Stroke limit value: = ± 10.00 mm or ± 10.00 °

M41 2) Speed limit value = 0.1 m/s or 100 °/s

1) This function is supported as from operating system version 4.82 only in conjunction withWinPISA as from version 4.41.

2) These commands are supported as from operating system version 4.6 only in conjunction withWinPISA as from version 4.3 (see also chapter 7.1.4).



7.1.4 New NC syntax and new NC commands

The operating system version 4.6 of the SPC200 offers, inconjunction with WinPISA as from version 4.3, an extendedscope of functions due to the support of new NC commandsand extended NC syntax. Furthermore, as from operatingsystem version 4.6, position registers (@n) can also be usedfor saving speed and acceleration values.


New as from operating system version 4.6

...Rn

...@nThe positioning speed (F...) can also be saved with the NC commands G01 and G02:� as percent value in a register (Rn)� as absolute value in a position register (@n).The acceleration can also be saved with the NC commands G08 and G09:� as percent value in a register (Rn)� as absolute value in a position register (@n).The preselect value can also be saved with the NC command G25:� as percent value in a register (Rn)� as absolute value in a position register (@n).

M10 The NC command M10 is now also permitted without a scaling factor.

M12 A preselect value defined with G25 can now be deleted with M12.

M39 New NC command: Output valve positioning value

M40 New NC command: Set stroke limit value for M39

M41 New NC command: Set speed limit value for M39

F64 ... F127 The axis status flags F64 ... F127 are reserved for internal status information, see chapter 7.2.6.

New feature

as from OS 4.63



The operating system version 4.82 of the SPC200 offers, inconjunction with WinPISA as from version 4.41, an extendedscope of functions for considering the mass load, the nominalvalue specification as well as the support of the DNCI drive.

New as from operating system version 4.82

...Rn

...@nThe mass value can also be saved with the NC command M37:� as percent value in a register (Rn)� as absolute value in a position register (X [Y Z U] @n).The parameters Scaling Factor and Offset can also be saved with the NC commandsM10 and M11:� as absolute value in a position register (X [Y Z U] @n).

M14 Channel 5 has been introduced for the digital nominal value specification via the field bus

G74 Reference travel is required for the DNCI pneummatic drive. For this purpose, modes 0, 5, 6 and 7 have been introduced.

Detailed information can be found in the manual for the rel�evant NC commands in chapter 7.4.

New feature

as from OS 4.82



7.2 Addressing, registers and axis status flags

The SPC200 knows different operators, variables and flagswhich can be used in the program for controlling a position�ing sequence.

A distinction is made between 1−bit, integer and real vari�ables; between remanent and non−remanent variables. All the inputs and outputs of the SPC200 are treated like 1−bitvariables.

7.2.1 Addressing

The following operands are supported:

Operand Description Address range Value range

I Input I0.0 ... I13.15 1) 0/1

Q Output Q0.0 ... Q13.15 1) 0/1

F Flag 2) F0 ... F63 0/1

F Axis status flag F64 ... F127 0/1

R Register 2) R0 ... R99 −32768...+32767

@ 100 position register per axis 2) @0...@99 3) −9999.98...+9999.99 4)

1) Available address range see following table2) These operands are saved and protected against power failure (remanent)3) In the case of programming with WinPISA, symbolic names for positions can also be used

(e.g. X@ABLAGE_POS). These are replaced by the position register numbers during Download.4) The control panel the value −9999.99 (smallest permitted position value) with unused position

registers.



I/O address range The assignment of the I/O address range depends on theconfiguration of the SPC200. If a field bus module is fitted,the address range will remain 0.0 ... 0.9 unassigned. Theassignment of the I/O addresses for configuration with andwithout field bus module is shown in the following table:

Configurationwithout field busmodule


Max. address range

First I/O module � 1) I0.0 ... I0.9 1) 2) Q0.0 ... Q0.7 1) 2)

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

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

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

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

Fouth I/O module Third I/O module I5.0 ... I5.9 Q5.0 ... Q5.7

� 3) Field bus module I10.0 ... I13.15 2) 3) Q10.0 ... Q13.15 2) 3)

1) Address range is not available if a field bus module is used2) Control inputs and outputs are reserved by pre−assigned functions3) Address range is not available without a field bus module



7.2.2 Addressing the control signals

Record Select mode

Control sig�nal

I/O moduleaddresses

Address withfieldbus

Description

ENABLE I0.9 I10.0 Controller enable (1 = controller enabled)

RESET I0.8 I10.1 Reset programs (in conjunction withSTOP=0)

STOP I0.7 I10.2 Stop positioning task (0 = stopped)

CLK_A/B I0.6 / I0.5 I10.3 / I10.4 Start NC record from program A/B

RECBIT1...5 I0.0 ... I0.4 � Bits for NC record number: RECBIT1 for2^0etc. (record bit)

RECBIT... � I11.0 ... I11.15 RECBIT... with control via a field bus moduleas 2−byte value from 0 to 999, see manualon the field bus module.

READY Q0.7 Q10.0 System ready to operate

ACK_A/B Q0.6 / Q0.5 Q10.1 / Q10.2 Task accepted for program A/B (acknowl�edge)

RC_A/B Q0.4 / Q0.3 Q10.3 / Q10.4 NC record concluded by program A/B (re�cord complete)



Start−stop mode

Control sig�nal

I/O moduleaddresses

Address withfieldbus

Description

ENABLE I0.9 I10.0 Controller enable (1 = controller enabled)

START/RESET I0.8 I10.1 Start/continue or reset programs (RESET inconjunction with STOP=0)

STOP I0.7 I10.2 Stop program sequence (0 = stopped)

SYNC_IA/IB I0.6 / I0.5 I10.3 / I10.4 Synchronization input for M00

READY Q0.7 Q10.0 System ready to operate

SYNC_OA/OB Q0.6 / Q0.5 Q10.1 / Q10.2 Synchronization output for M00

MC_A/B Q0.4 / Q0.3 Q10.3 / Q10.4 MC output for program A/B (motion com�plete)



7.2.3 Position register X [Y Z U] @n

The SPC200 provides 100 position registers per axis. They have the identifier X [Y Z U] @n {n=0...99}, are decimalvalues with 2 decimal positions between −9999.98 and+9999.99. Position registers are saved remanently, i.e. they are saved inthe event of Power−off and loaded back into the work mem�ory with Power−on.

The registers can be parametrized with the MMI and WinPISA(with the position list), whereby the notes regarding limita�tion on page XVI should be observed.

The registers can be modified within a program or via thefield bus 1), i.e. they can be read and overwritten.

1) For PROFIBUS this applies only as from operating systemversion 4.63 together with the PROFIBUS software version2.0. For DeviceNet as from operating system 4.90 togetherwith the software version as from 2.01 (DN2). Interbusdoes not permit this feature.

The position registers are used in conjunction with the fol�lowing NC commands for influencing the movement featuresof a positioning axis.

NCcommand

Function The registercontents may be

Unit 1) Ss from operatingsystem

G00 Positioning command Position mm 3.8

G01Positio i comma d

Position mm 3.8G01G02

Positioning commandSpeed m/s 4.63

G08 Positioning parameter Acceleration m/s2 4.63

G09 Positioning parameter Acceleration m/s2 4.63

G90 Positioning parameter 2) Position mm 3.8

G91 Positioning parameter 2) Position mm 3.8

1) With rotary drives correspondingly °, 103 °/s, 103 °/s22) With position specification functions as positioning command

New feature

as from OS 4.63



NCcommand


Unit 1) As from operatingsystem version

G25 Switch to next record Position mm 4.63

G28mm 3.8

G28G29M38

Register operation After defining m/s 4.63

M38g p g

m/s2 4.63

M40 Positioning parameter Limit value mm 4.63

M41 Positioning parameter Limit value m/s 4.63

M37 Positioning parameter Tool load or mass moment ofinertia

Kg Kgm2 * 10−4

4.82

M10 Positioning command Scaling factor mm/V 4.82

M11 Positioning parameter Offset value mm 4.82

1) With rotary drives correspondingly °, °/s, °/s2

7.2.4 Register Rn

In the SPC200 100 R−registers can be used within the pro�grams. They have the identifier Rn {n=0...99}, are integervariables and can accept values from −32768 ... +32767. R−registers are saved remanently, i.e. they are saved in theevent of Power−off and loaded back into the work memorywith Power−on.The registers can be parametrized with the MMI andWinPISA, whereby the limiting instructions on page XVI mustbe observed.



These registers can be modified within a program or via thefield bus 1), i.e. they can be read and overwritten.

R−registers must be initialized within a program or via thefield bus (assign starting value).

1) For PROFIBUS this applies only as from operating systemversion 4.63 together with the PROFIBUS software ver�sion�2.0. For DeviceNet as from operating system 4.90 to�gether with the software version as from 2.01 (DN2). Inter�bus does not permit this feature.

The R−registers are used in conjunction with the following NCcommands for influencing the movement features of a posi�tioning axis or the control of the program sequence.

NCcommand


Unit As from operatingsystem version

G01 Positioning command Speed % value 3.8

G02 Positioning command Speed % value 3.8

G08 Positioning parameter Acceleration % value 3.8

G09 Positioning parameter Acceleration % value 3.8

G25 Switch to next record Position % value 3.8

M39 Positioning command 1) Valve setting value % value 4.63

M37 Positioning parameter Tool load % value 4.82

L Sub−program Program number � 3.8

E05 Jump address Record number � 3.8

#LR Register operation Integer value � 3.8

#TR Register operation Integer value � 3.8

#AR Register operation Integer value � 3.8

1) By direct influence of the valve setting value functions as a positioning command

New feature

as from OS 4.63



7.2.5 Flag Fn

In the SPC200 64 flags can be used for controlling theprogram sequence. They have the identifier Rn {n=0...63},are 1−bit variables and can accept the values 0 or 1.Flags are saved remanently, i.e. they are saved in the event ofPower−off and loaded back into the work memory withPower−on. The flags can be read and overwritten with the MMI andWinPISA.

The flags can be modified within a program or via the fieldbus 1), i.e. they can be read and overwritten.

1) For PROFIBUS this applies only as from operating systemversion 4.63 together with the PROFIBUS software ver�sion�2.0. For DeviceNet as from operating system 4.90 to�gether with the software version as from 2.01 (DN2). Inter�bus does not permit this feature.

The flags are used in conjunction with the following NC com�mands for influencing the program sequence.

NCcommand

Function Registercontents

As from operatingsystem version

#S Set flag 1 3.8

#R Reset flag 0 3.8

#T Test flag 1 or 0 3.8

#TN Test flag 1 or 0 3.8

New feature

as from OS 4.63



7.2.6 Axis status flag Fn

The SPC200 generates various status flags for its internalmonitoring. These are dynamic variables which are modifieddynamically depending on the positioning procedure andrepresent a certain status of the axes.They have the identifier Fn {n=64...127}. They are 1−bit vari�ables and can accept the values 0 or 1.

Status flags are not saved remanently like flags.

The status flags can be used like 1−bit variables by a runningprogram in the SPC200, i.e. they can be read. They are usedin conjunction with the following NC commands for influenc�ing the program sequence.

NC com�mand

Function Register con�tents

as from oper�ating systemversion

#T Test flag 1 or 0 4.63

#TN Test flag 1 or 0 4.63

Axis status flags (flags 64 ... 87)

Name Meaning Flag number of the axis

X Y Z U

REF Reference set 64 65 66 67

MC Motion Complete 72 73 74 75

TOL Axis in the tolerancewindow

80 81 82 83

MOV Axis moves 84 85 86 87

New feature

as from OS 4.63



Description of the axis status flag

REF � Reference set The flag indicates that reference travel has been carried outsuccessfully. Details on reference travel are described incommand G74. The flags have the numbers F64 ... F67, ac�cording to the table above.

MC � Motion Complete The flag shows the status of a positioning task of an axis. Ifthe bit is set, the last positioning task is completed. Detailscan be found in chapter 5.2.1. The flags have the numbersF72 ... F75, according to the table above.

TOL � Axis is in the tolerance window

The flag is set when the axis moves into the specified toler�ance window or is in this window. When it leaves the toler�ance window it will be reset. The tolerance window corre�sponds to the positioning tolerance and is defined in theapplication data when an axis is planned, see chapter 4.3. The flags have the numbers F80 ... F83, according to thetable above.

MOV � Axis moves The flag is set as soon as the axis moves and is reset assoon as the axis stops. The switching threshold betweenstanding still and moving lies at 4 mm/s. The flags have thenumbers F84 ... F87, according to the table above.

System status flags (flags 88 ... 95)

The system status flags show non axis−dependant states ofthe SPC200.

Flag number Meaning

88 Status task A:0 = Program in sub−system A is not running1 = Program in sub−system A is running

89 Status task B:0 = Program in sub−system B is not running1 = Program in sub−system B is running

90 ... 95 reserved

New feature

as from OS 4.90



7.3 Command syntax

The programs for the SPC200 are based on the syntax as perDIN�66025.

An NC record consists of a record number as well as an NCcommand with the relevant parameters.

Example:

N010 G01 G90 X100.00 FX10 Y100.00 FY80

1 2 3 4 5 4 5

1 Record number

2 NC command

3 Type of positioning (optional)

4 Positioning

5 Parameters

Fig.�7/4: Example NC record

Record numbers Each NC record is marked with a record number. Recordnumbers begin with the letter N (for NC record number).

In the SPC200 the record numbers are numbered beginningwith N000 and a step size of 1 (therefore N000, N001, N002, ...).

The record numbers can be numbered as desired inascending order in WinPISA.Fixed jump targets are adapted accordingly when theprograms are translated and loaded into the SPC200. Takethis into account when specifying jump targets by register(commands E05, #T, #TN, #TR).



Identifiers The following identifiers are used during the NC programmingof the SPC200:

Identifier Description

N Identifier for record numbers

G Path conditions

M Help functions

E Jump functions

L Sub−program call

# Single−bit and multibit operations

X, Y, Z, U Axis conditions: X−axis, Y−axis, etc.

F Positioning speed

; Start of comment, valid until end of line *)

. Decimal divider (point)

*) Only for programming with WinPISA

In NC programs the point is used as decimal divider(e.g.�X300.50).



Overview of commands

The following characters are used in the overview tables forexplaining the syntax:

Identifier Description

[..] Parameters listed in brackets can be specified as an alternative oradditionally 1)

..|.. Parameters separated by vertical lines can be specified as analternative

n Wildcard for numerical values

<WILDCARD> Wildcard e.g. for:� operands (e.g. Q0.0)� positions� speeds� acceleration� etc.

1) In order to facilitate reading, axis identifiers are shown in simple form ( [Y.., Z.., U..] ). Additional parameters have been left out intentionally.

The following table contains an overview of the NC com�mands arranged according to theme.



Com�mand

Description and syntax

Positioning commands (permitted in Start/Stop and Record Select modes)

G00 Move to position at highest possible speed

G00 [G90|G91] X<Position> [Y.., Z.., U..]

G01 Move to position at defined speed

G01 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..]

G02 Pneumatic axis: Move smoothly to position at defined speedStepping motor axis: Move to position at Start/Stop frequency

G02 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..]

� Move to position in lastpositioning mode

X<Position> [Y.., Z.., U..]

G74 Start reference travel G74 X<Mode> [Y.., Z.., U..]

Positioning commands (permitted in Start/Stop and Record Select modes)

G08 Pneumatic axis: Acceleration for approach rampStepping motor axis: Acceleration for approach ramp and braking ramp

G08 X<Acceleration> [Y.., Z.., U..]

G09 Pneumatic axis: Acceleration for braking ramp

G09 X<Acceleration> [Y.., Z.., U..]

G90 Absolute dimensionspecification

G90 X<Position> [Y.., Z.., U..]

G91 Relative dimensionspecification

G91 X<Position> [Y.., Z.., U..]

Position register (permitted in Start/Stop mode)

G28 Load position value intothe position register

G28 @<Target> X<Source> [Y.., Z.., U..]

G29 Add position value andposition register

G29 @<Target> X<Source> [Y.., Z.., U..]

M38 Load actual value intothe position register

M38 @<Register> X [Y, Z, U]



Com�mand


Sequence control (permitted in Start/Stop mode)

G04 Dwell time G04 <Dwell time>

G25 Position−dependentswitch to next record

G25 X<Preselect> [Y.., Z.., U..]

E05 Unconditional jump E05 <Record number>

L Call sub−program L<Program number>

M00 Programmed stop M00

M02 Sub−program end M02

M30 Program end with repeat M30

M12 Deactivate axis stop /nominal value input

M12 X [Y, Z, U]

Positioning quality (permitted in Start/Stop and Record Select modes)

G60 Pneumatic axis: Exact stop withoutdamping time

G60 X [Y, Z, U]

G61 Pneumatic axis: Set positioning qualityclass

G61 X<Quality class> [Y.., Z.., U..]

G62 Pneumatic axis: Fast stop withoutdamping time

G62 X [Y, Z, U]

Analogue and digital nominal value specification (permitted in Start/Stop mode)

M10 Activate nominal valueinput

M10 X<Factor> [Y.., Z.., U..]

M11 Offset for analoguenominal valuespecification

M11 X<Offset> [Y.., Z.., U..]

M13 Set nominal value mode M13 X<Mode> [Y.., Z.., U..]

M14 Assign nominal valueinputs

M14 X<Input> [Y.., Z.., U..]



Com�mand


Valve positioning value (permitted in Start/Stop mode)

M39 Pneumatic axis:Output valve positioningvalue

M39 X<Positioning value> [Y.., Z.., U..]

M40 Pneumatic axis:Set stroke limit value

M40 X<Limit value> [Y.., Z.., U..]

M41 Pneumatic axis:Set speed limit value

M41 X<Limit value> [Y.., Z.., U..]

Bit operations (permitted in Start/Stop mode)

#S Set single−bit operand #S<Operand>

#R Reset single−bit operand #R<Operand>

#T Test single−bit operandfor 1−signal

#T<Operand> <Record number>

#TN Test single−bit operandfor 0−signal

#TN<Operand> <Record number>

Register operations (permitted in Start/Stop mode)

#LR Load register #LR<Register> = <Value>

#AR Add to register #AR<Register> = <Value>

#TR Test register #TR<Register> = <Value> <Record number>

Special commands (permitted in Start/Stop mode)

M37 Pneumatic axis:Set mass assessment

M37 X<Mass> [Y.., Z.., U..]



7.4 Explanation of the NC commands

Identifying supported NC commands

Operating mode In Start/Stop mode all NC commands are supported. NCcommands, which are supported in the Record Select mode,are marked as follows:

� permitted in operating mode: Start/Stop, Record Select

Axis type If the description refers to a particular axis type, this is alsomarked.This means:

Axis type Description

� Pneumatic axis The description of the NC commandrefers to the pneumatic drives

� Stepping motor axis The description of the NC commandrefers to the stepping motor axes

If no identification is given for a particular axis type, the com�mand description for both axis types is valid.



G00 Move to position at highest possible speed (point to point)

� pneumatic axis; � permitted in operating mode: Start/Stop, Record Select

Nn G00 [G90|G91] X<Position> [Y.., Z.., U..]

<Position> n Position in [mm] or [°] n = ±9999.99

@n Position in [mm] or [°] saved in the position register @n n = 0 ... 99

Effect The pneumatic drive moves as fast as possible from the current position to thedefined position (absolute or relative, see under G90/G91).The automatically generated nominal values for speed and acceleration are limitedto the maximum values ascertained during the system identification, in order e.g.�to avoid overswing due to stressing (see Fig.�7/5).

Example N000 G00 G91 X100N001 G00 G90 X@2

N003 G00 X100 Y–100N004 G00 X@5 Y@1

;Move 100 mm in a positive direction;Move to position from position register 2;of the X−axis;Move to X100 and Y−100;Move to position from position register 5 (X);and position register 1 (Y)

Remark Absolute positioning (G90) is preset when the system starts.Command G00 has a saving effect. It remains effective until it is cancelled bycommand G01 or G02. Example:N000 G00 X100N001 X200N002 G01 X300 FX10With WinPISA programming, positions can also be specified symbolically. For thispurpose, the position values and position names are entered in the position list.Example:N006 G00 X@ABHOL_POSN007 X@ABLAGE_POS

Command G00 can only be used after successful systemidentification, i.e. after static and dynamic identification tra�vel. Nominal value sequences for path, speed and acceler�ation, which enable reproducible, as fast as possible andoverswing−free approach to the nominal position, are speci�fied by the SPC200. The maximum speed and accelerationconfigured in the application data have no effect with com�mand G00.



Fig.�7/5 shows as an example the time sequence of thenominal value specification.

t [s]

v�[m/s]

t [s]

s�[m]

t [s]

a�[m/s 2]

1

4

2

3

5

1 Nominal speed value

2 Identified maximum speed

3 Nominal position value

4 Nominal acceleration value

5 Identified maximum acceleration

Fig.�7/5: Nominal value specification with command G00 (pneumatic axis)

Speed and acceleration can only be specified directly withthe positioning commands G01 and G02. If no dynamicidentification travel can be carried out due to application−specific reasons, only the positioning commands G01, G02 orM10 are permitted.



G00 Move to position at highest possible speed (point to point)

� stepping motor axis; � permitted in operating modes: Start/Stop, Record Select

Nn G00 [G90|G91] X<Position> [Y.., Z.., U..]

<Position> n Position in [mm] n = ±9999.99

@n Position in [mm] saved in the position register @n n = 0 ... 99

Effect The stepping motor axis moves at the maximum speed and maximum accelerationspecified in the application data from the current position to the defined position(absolute or relative, see under G90/G91).

Example As with the pneumatic axes (see under G00 for pneumatic axis)

Remark As with the pneumatic axes (see under G00 for pneumatic axis)

With the stepping motor axis, the nominal speed value riseswith command G00 at first in ramp form, until the maximumspeed specified in the application data is reached. Before thenominal position is reached, the nominal speed value dropsin ramp form again. The steepness of the approach and brak�ing ramps is preset by the maximum acceleration defined inthe application data.



t [s]

v�[m/s]

t [s]

s�[m]

t [s]

a�[m/s 2]

31

2

4

5


2 Configured maximum speed



5 Configured maximum acceleration

Fig.�7/6: Nominal value specification with command G00 (stepping motor axis)



G01 Move to position at defined speed (nominal value ramp)

� permitted in operating modes: Start/Stop, Record Select

Nn G01 [G90|G91] X<Position> FX<Speed> [Y.., Z.., U..]



<Speed> n Positioning speed in % of the configured maximumspeed; 0 = 100 %, 1 = 1 % ... 99 = 99 %

n = 0 ... 99

Rn 1) Positioning speed in % of the configured maximum speedsaved in register Rn

n = 0 ... 99

@n 1) Absolute value of the positioning speed in [m/s] or [103 °/s] saved in position register @n; permitted: 0.01 � Speed � Configured maximum speed

n = 0 ... 99

Effect The drive moves at the defined speed and acceleration from the current position tothe defined position (absolute or relative), see Fig.�7/7.Notes for pneumatic drives:The following applies with pneumatic drives: The programmed nominal values forspeed and acceleraion are limited, if necessary, automatically to the maximumvalues ascertained during the dynamic identification travel. This is to prevent theaxis from overswinging due to high nominal values.If dynamic identification is not carried out, the maximum permitted values foracceleration must be ascertained by the user.

Example N000 G01 X100 FX10

N001 G01 X@2 FX@3

;Move to position 100 at 10 % of the;configured maximum speed;Move to position 2 from register @2 at the;speed from register @3

Remark The following are preset when the system starts:

� positioning mode = absolute positioning (G90)� approach ramp = 100 % of the maximum acceleration (G08)� braking ramp = 100 % of the maximum acceleration (G09).Command G01 has a saving effect. It remains effective until it is cancelled bycommand G00 or G02.With WinPISA programming, positions can also be specified symbolically. For thispurpose, the position values and position names are entered in the position list.Example see G00.

1) This syntax is only available as from operating system version 4.6. Programs which contain thissyntax cannot be edited with control panel type SPC200−MMI−1... .



With command G01 the nominal speed value rises at first inramp form until the maximum positioning speed programmedwith FX or FY, FU or FZ is reached. Before the nominal positionis reached, the nominal speed value drops in ramp form again.The steepness of the approach and braking ramps is preset bythe maximum acceleration configured in the application data.With the commands G08 ad G09 you can specify the steep�ness of the ramps by program independently of each other.

t [s]

v�[m/s]

t [s]

s�[m]

t [s]

a�[m/s 2]

3

1

2

4

5

6

7

8



3 Programmed speed



6 Configured maximum acceleration

7 Prog. acceleration for approach ramp(G08)

8 Prog. acceleration for braking ramp(G09)

Fig.�7/7: Nominal value specification with command G01



G02 Move smoothly to position at defined speed





<Speed> n Positioning speed in % of the configured maximumspeed; 0 = 100 %, 1 = 1 % ... 99 = 99 %

n = 0 ... 99

Rn 1) Positioning speed in % of the configured maximum speedsaved in register Rn

n = 0 ... 99

@n 1) Absolute value of the positioning speed in [m/s] or [103 °/s] saved in position register @n; permitted:0.01 � Speed � Defined maximum speed

n = 0 ... 99

Effect The drive moves smoothly at the defined speed and acceleration from the currentposition to the defined position (absolute or relative). The programmed nominalacceleration values are to be understood as medium values (see Fig.�7/8).With regard to the programmed nominal values and acceleration, you must observethe instructions for pneumatic drives with command G01.


N011 G02 X@2 FX30

;Move to position X90 at 100 % of the

;defined maximum speed;Move to position 2 from register @2 at 30 % of;the defined maximum speed

Remark With this command sudden movements of the slide when arriving and braking canbe reduced. The following are preset when the system starts:� Absolute positioning (G90)� Approach ramp = 100 % of the maximum acceleration (G08)� Braking ramp = 100 % of the maximum acceleration (G09).Command G02 has a saving effect. It remains effective until it is cancelled by com�mand G00 or G01.With WinPISA programming, positions can also be specified symbolically. For thispurpose, the position values and position names are entered in the position list.Example:N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30




With command G02 the nominal acceleration value has asin2−shaped curve. In this way, sudden modifications of thepositioning signal and thereby sudden movements of theslide when arriving and braking can be reduced.

As with command G01, the nominal speed value rises atmaximum to the programmed speed. The programmed nom�inal acceleration values of the approach and braking phasesare however to be understood as medium values. The peakvalues lie by the factor 2 higher in order to achieve the samenominal positioning times as with G01.

t [s]

v�[m/s]

t [s]

s�[m]

t [s]

a�[m/s 2]

1 42

3

5

6

7

8



3 Programmed speed



6 Effective nominal acceleration value

7 Prog. acceler. for approach ramp (G08)

8 Prog. acceler. for braking ramp (G09)

Fig.�7/8: Nominal value specification with command G02 (pneumatic axis)



G02 Move to position at Start/Stop frequency



<Position> n Position in [mm] n = ±9999.99

@n Position in [mm] saved in the position register @n n = 0 ... 99

<Speed> nRn 1) @n 1)

Reserved; the parameter must be specified, but it isignored

n = 0 ... 99

Effect The stepping motor axis moves at the configured Start/Stop frequency from thecurrent position to the defined position (absolute or relative).


N011 G02 X@2 FX0

N012 X100

;Move to position X90 at the Start/Stop;frequency;Move to position from register 2;at Start/Stop frequency;Move to position 100 at the Start/Stop;frequency

Remark A parameter F... must be specified in order to avoid syntax faults. The parametervalue is however ignored, as positioning is made at Start/Stop frequency.Also ignored is the approach and braking ramp defined with G08 and G09.The following are preset when the system starts:� absolute positioning (G90).Command G02 has a saving effect. It remains effective until it is cancelled bycommand G00 or G01.With WinPISA programming, positions can also be specified symbolically. For thispurpose, the position values and position names are entered in the position list.Example:N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30




G04 Dwell time

� permitted in operating modes: Start/Stop

Nn G04 <Dwell time>

<Dwelltime>

n Dwell time in 10 ms n = 1 ... 9999

Effect Switching to the next NC record is not made until the dwell time has expired.

Example N010 G00 X100N011 G04 250N012 G00 X200

;Move to position X100;Wait 2.5 seconds;Move to position X200



G08 Acceleration for approach ramp


Nn G08 X<Acceleration> [Y.., Z.., U..]

<Accelera-tion>

n Acceleration in %−steps of the configured maximumacceleration; 0 = 100 %, 1 = 1 % ... 99 = 99 %

n = 0 ... 99

Rn 1) Acceleration in %−steps of the configured maximumacceleration saved in register Rn;0 = 100 %, 1 = 1 % ... 99 = 99 %

n = 0 ... 99

@n 1) Absolute value of the acceleration in [m/s2] or [103�°/s2]saved in position register @n; permitted:0.01 � @n � defined maximum acceleration

n = 0 ... 99

Effect With the following commands positioning is carried out at maximum with theacceleration specified here:� G01 and G02

Example N020 G08 X50 Y50N021 G01 X80 FX50N022 G08 X0

;Approach ramp = 50 %;Move to position X80;Approach ramp with maximum acceleration

The X−axis is accelerated when approaching position X80 by only 50 % of theconfigured maximum acceleration. The acceleration for the X−axis is then switchedto maximum acceleration.

Remark This command has a saving effect. It remains effective until a new approach ramp isdefined.




G08 Acceleration for approach ramp and braking ramp



<Accelera-tion>


n = 0 ... 99


n = 0 ... 99

@n 1) Absolute value of the acceleration in [m/s2] or [103�°/s2]saved in position register @n; permitted:0.01 � @n � defined maximum acceleration

n = 0 ... 99

Effect With the following command the stepping motor is moved and braked at maximumwith the acceleration specified here:� G01

Example N020 G08 X50 Y50N021 G01 X80 FX50N022 G08 X0

;Approach ramp and braking ramp = 50 %;Move to position X80;Approach ramp and braking ramp with ;maximum acceleration

The X−axis is accelerated and braked when approaching position X80 by only 50 %of the configured maximum acceleration. The acceleration for the X−axis is thenswitched to maximum acceleration.

Remark This command has a saving effect. It remains effective until a new approach rampand braking ramp is defined.




G09 Acceleration for braking ramp



<Accelera-tion>


n = 0 ... 99


n = 0 ... 99

@n 1) Absolute value of the acceleration in [m/s2] or [103�°/s2]saved in position register @n; permitted: 0.01 � @n � defined maximum acceleration

n = 0 ... 99

Effect With the following commands positioning is carried out at maximum with theacceleration specified here:

� G01 and G02

Example N000 G09 X50N001 G01 X100 FX50N002 G01 X150 FX50N003 G09 X0

;Braking ramp = 50 %

;Move to position X100;Move to position X150;Approach ramp with maximum acceleration

Remark This command has a saving effect. It remains effective until a new braking ramp isdefined.




G25 Position−dependent switch to next record


Nn G25 X<Preselect> [Y.., Z.., U..]

<Prese-lect>

n Preselect value in % of the path to be traversed; 0 = 0 %(switch further immediately), 1 = 1 % ... 99 = 99 %

n = 0 ... 99

Rn 1) Preselect value in % of the path to be traversed saved inregister Rnpermitted: 0 ... 100; 0 = 0 %; 100 = 100 %

n = 0 ... 99

@n 1) Absolute position specification of the preselect value in[mm] or [°] saved in the position register @n;permitted: current nominal position � @n � new nominalposition or current nominal position � @n � newnominal position

n = 0 ... 99

Effect If an axis is positioned, for which a position−dependent switch to the next recordhas been programmed, a switch will be made to the next NC record when the posi�tion defined in the preselect is reached. The SPC200 is then in the position to pro�cess further NC records, while the axis traverses the remaining path to the targetposition.The G25 command remains active until:� the preselect value is reached with a positioning command G00, G01, G02 or

M10 with mode 2 ... 4� the G25 command is deactivated with command M12� a fault occurs in executing G25.As subsequent commands after further switching to the next record, all NCcommands are permitted, with the exception of the following NC commands for thesame axis: M39 and G00.If after switching to next record (set mass evaluation) a M37 command occurs thatconcerns the moving axis, this becomes active only for the next traversing task.Positioning commands must not however demand a change of direction of therunning positioning procedure.With stepping motor axes: If the G25 command refers to a stepping motor axis, thesubsequent commands must not refer to the same stepping motor axis, except for:the M12 command.With multi−axis systems: You can program preselect values for several axes in oneNC record. The preselect values of the individual axes remain valid until a position�ing command is executed for the relevant axis and the preselect value is thereforereached.The further switching conditions of several axes can be linked by a positioningcommand (see example 4).




G25 Position−dependent switch to next recordG25


Example See below (examples 1...6)

Remark This command enables:� the speed and acceleration in the current positioning procedure to be switched

in the case of pneumatic drives� obstructions to be bypassed time−optimized in the case of multi−axis systems.If a stop is triggered when the preselect value is exceeded and a switch is made tothe next record, the target position will be retained.If a stop is triggered before the preselect value is reached, the position of the pres�elect value will also be retained.In the case of M10 with mode 0 or 1, G25 has no effect. In this case switching to thenext record remains active until the next positioning command.

Speed/acceleration switching (only with pneumaticdrives)

Transition to a new nominal speed takes place with the cur�rently set values for approach acceleration or braking. Auto�matic limiting to realistic acceleration values is not under�taken.

CautionUnrealistically high nominal acceleration values can leadto heavy overswing and therefore to damage to the axis.When using command G25, make sure that realistic nom�inal acceleration values are set with regard to the axisused as well as to the remaining path to be traversed.

If the remaining positioning path is not sufficient for comingto a stand within the set delay, a stop will be triggered auto�matically (fault no. nnn03x06). In this case shift the switchingcondition forward or set a steeper braking ramp.

With G02 positioning commands, an automatic stop can alsobe triggered if the condition for further switching lies in therange of the delay phase. In this case, use positioning com�mand G01.



Example 1 Modify speed; only permitted with pneumatic drives

N010 G00 X0N011 G25 X60N012 G01 X500 FX75N013 G01 X500 FX50

After 60 % of the positioning path from position 0 to position500, the SPC200 reduces the speed from 75 % to 50 % of theconfigured maximum speed.

1 2

0 100 200 300 400 s�[mm]500

25%

50%

75%

v

1 Speed in % of the configured maximum speed

2 Preselect value of the X−axis

Fig.�7/9: Example: Modify speed (only permitted with pneumatic drives)

Switching to the highest possible speed (NC command G00)in current operation is not supported.



Example 2 Time−optimized bypassing

N010 G00 X100 Y100N011 G25 X50N012 G00 X400N013 G00 Y300

The SPC200 processes the next NC record after 50 % of thepositioning path from position X100 to position X400.

1 2 3

0 100 200 300 400 sx [mm]500

sy [mm]

100

200

300

1 Positioning path of the Y−axis in mm

2 Preselect value of the X−axis

3 Positioning path of the X−axis in mm

Fig.�7/10: Example: Time−optimized bypassing (example linear drive)

The Y−axis therefore begins to move to position Y300,although the X−axis has not yet completed the positioningprocedure.



Example 3 Event−dependent further switching to next record

N010 G00 X0N011 G25 X1N012 G01 X500 FX60N013 #TNI0.0 13N014 G01 X500 FX10

When 1 % of the positioning path from X0 to X500 has beentraversed, the SPC200 switches further to NC record N013.The program waits in this record until the event occurs (here1−signal at input I0.0). Only then, where applicable, switchingis made to the next positioning task (here speed reduction)during the processing procedure.

If the event occurs after the target position has ben reached,the following command in this example will have no effect, asthe same target position (X500) has been programmed.

Tip:If you use the G25 command together with the axis statusflags (see chapter 7.2.6), it can be sensible to insert a waitingtime of at least 10 ms after the positioning command. Thisapplies particularly with the status flags MC and MOV. Note that with a pneumatic axis, there is always a delay be�fore it responds to the start signal.

Example 4 Further switching to generate its own MC signal

N010 G25 X0 ;immediate further switchingN011 G00 X200 ;Move to position 200N012 #RQ0.1 ;Delete output Q0.1: MC_X=0N013 G04 3 ;Wait 30 msN014 #TNF72 14 ;Positioning task not yet ;completed?N020 #SQ0.1 ;Set Q0.1, MC_X=1



Example 5 Linked further switching condition

N010 G01 X0 FX0 Y0 FY0 Z0 FZ0N011 G25 X10 Y10 Z10N012 G01 X100 FX10N013 #SQ0.0N014 G01 Y100 FY10 Z100 FZ10N015 .......

The SPC200 saves the preselect values for the axes X, Y and Zin NC record N011. In the next NC record only the X−axis ismoved. When the X−axis reaches the preselect value, outputQ0.0 will be set.

The axes Y and Z are moved in NC record N014. Switching ismade to the next NC record if both axes have reached thepreselect value programmed under N011 (AND−linking).

If, beside the axis for which a preselect value has been pro�grammed, other axes are also to be positioned with the sameNC record, a preselect value of 100 % will apply to theseaxes.

N015 G01 X0 FX0 Y0 FY0N016 G25 X50N017 G01 X200 FX0 Y200 FY0N018 #SQ0.0N019 ...

Output Q0.0 will be set if the Y−axis has reached positionY200 and the X−axis has reached the programmed preselectvalue (here X100).



Example 6 Linked further switching condition with correctly used com�mand M37

N010 M37 X50 ;50% of the workpiece massN011 G25 X20 ;switch to next record after 20% of ;traversing distanceN012 G01 X400 FX20 ;position 400 with 20% of the config. speed ;and 50% of workpiece massN013 #SQ0.0 ;Set ouput Q0.0N014 M37 X0 ;100% of the workpiece massN015 G01 X400 Fx50 ;Finish traversing task from N012 with ;50% of the config. speed Speed: ;and 50% of the workpiece mass. ;The new mass from N014 is not ;yet effective here!N016 ...N017 G00 X10 ;Position 10 with 100% workpiece massN...



G28 Load position value into the position register


Nn G28 <Target> X<Source> [Y.., Z.., U..]

<Target> @n Number of the target position register @n n = 0 ... 99

<Source> n Position value, speed value or acceleration value n = ±9999.99

@n Position value, speed value or acceleration value savedin source position register @n

n = 0 ... 99

Effect Loads the position value or register value into the target position register.

Example N010 G28 @0 X10 Y10

N011 G28 @1 X@99

;Loads the value 10 into the position register 0;of the X and Y−axis;Loads the value from position register 99 of the;X−axis into position register 1 of the X−axis

Remark Position registers are saved and protected against power failure (remanent).Each configured axis has its own position register record. The positions containedin the position list are saved here.



G29 Add position value and position register


Nn G29 <Target> X<Source> [Y.., Z.., U..]

<Target> @n Number of the target position register @n n = 0 ... 99

<Source> n Position value, speed value or acceleration value n = ±9999.99

@n Position value, speed value or acceleration value savedin source position register @n

n = 0 ... 99

Effect Forms the sum of position and register values or of two register values and savesthe result in the target register.

Example ;(Register @X10=20)N010 G29 @10 X+10.5

�;Add position value and;position register value of the X−axis

The position value 10.5 and the value from position register 10 of the X−axis(here�20) are added. The result (30.5) is saved in position register 10 of the X−axis.

Remark Position registers are saved and protected against power failure (remanent).Each configured axis has its own position register record. The positions containedin the position list are saved here.



G60 Exact stop without damping time


Nn G60 X [Y, Z, U]

Effect Switches the specified axis to exact stop without damping time (positioning qualityclass 3, see also under G61).Output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the specifiedaxis is within the range of the positioning tolerance for the complete duration ofthe monitoring time (see also Fig.�7/13). If the axis leaves the tolerance rangebefore the monitoring time expires, the monitoring time will be reset.

Example N000 G60 XN001 G00 X100

;Activate exact stop without damping time;Move to position X100

(example: Positioning tolerance = 0.2 mm): When moving to position 100 mm,output MC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the X−axis iswithin the range of the positioning tolerance (between 99.8...100.2 mm).

Remark This command has a saving effect. It remains effective until a switch is made to Fast Stop with command G62 or to any �other positioning quality class withcommand G61.With nominal value modes 0 and 1, the set positioning quality class has no effect(see NC command M13).

Monitoring time

With the rotary module and with linear drives with a length of< 300 mm the monitoring time is 20 ms. For linear drives witha length of > 300�mm the monitoring time can be calculatedas follows:

Formula for linear drives over 300 mm in length

Tmonitoring � �Ldrive � 100�� 20

Tmonitoring = monitoring time in [ms]Ldrive = stroke length of linear drive in [mm]

Example linear drive (stroke length 500 mm):Monitoring time in [ms] = (500 + 100) / 20 = 30



G61 Set positioning quality class


Nn G61 X<Quality class> [Y.., Z.., U..]

<Qualityclass >

n Positioning quality class n = 0 ... 6

Effect Switches the specified axis to the set positioning quality class. Output MC_A/MC_Bor RC_A/RC_B always supplies a 1−signal when the axis fulfils the criteria of the setpositioning quality class (see following table).

Example N005 G61 X1N006 G00 X100N007 G60 X

;Positioning quality class�= 1, Fast stop;Move to position 100 mm;Exact stop without damping time

When moving to position X100, output MC_A/MC_B or RC_A/RC_B always suppliesa 1−signal when the X−axis enters the range of the positioning tolerance (fast stopwithout damping time). A switch is then made to exact stop without damping time.

Remark Command G61 has a saving effect. The positioning quality class remains effectiveuntil a switch is made to another positioning quality class. The individual position�ing quality classes are described in the following table.With nominal value modes 0 and 1, the set positioning quality class has no effect(see NC command M13).



Type Positioningquality class

Description

Presetting 0 Switches to the positioning quality class (1...6) set in the applica�tion data.

Fast stop 1) 1 Fast stop without damping timeOutput MC_A/MC_B or RC_A/RC_B always supplies a 1−signalwhen the axis first enters the range of the positioning tolerance(see Fig.�7/11).

2 Fast stop with damping timeAs 1, but there is still a damping time 2) after the axis enters therange of the positioning tolerance, before the relevant outputsupplies a 1−signal (see Fig.�7/12).

Exact stop 3 Exact stop without damping timeOutput MC_A/MC_B or RC_A/RC_B always supplies a 1−signalwhen the specified axis is in the positioning tolerance for the com�plete duration of the monitoring time 3) (see also Fig.�7/13). If theaxis leaves the tolerance range before the monitoring time ex�pires, the monitoring time will be reset.

4 Exact stop with damping timeAs 3, but there is still a damping time 2) after the monitoringtime�3) expires, before the relevant output supplies a 1−signal(see�also Fig.�7/14).

5 Exact stop with end speed controlAs 3, but for the duration of the monitoring time 3) the drive mustalso stand almost still in the range of the positioning tolerance(end speed control) 4).

6 Exact stop with damping time and end speed controlAs 5, but after the monitoring time 3) expires, there is still adamping time 2) before the relevant output supplies a 1−signal.

1) In positioning quality classes 1 and 2 the adaption has no effect, see appendix B.2) The damping time lasts 200 ms. If the tolerance range is left before the damping time expires, the

damping time will not be reset.3) The length of the monitoring time can be calculated (see under G60). If the tolerance range is left

before the monitoring time expires, the monitoring time will be reset.4) During the end speed control the speed tolerance is 8.0 mm/s (linear drive) or 8.0°/s (rotary

module).



1 Nominal positionvalue

2 Range of thepositioningtolerance

3 Reaching thetolerance range

4 MC_A/MC_B orRC_A/RC_B

01

s�[m]

t�[s]

1

2 3

4

s�[°]

Fig.�7/11: Fast stop without damping time



3 Reaching thetolerance range

4 Damping timeperiod (200 ms)


0

1

s�[m]

t�[s]

1

2 3 4

5

s�[°]

Fig.�7/12: Fast stop with damping time





3 Monitoringperiod dependingon drive

4 Expiry ofmonitoring time

5 Monitoring time


0

1

0

1

s�[m]

t�[s]

1

2 3 4

5

6

s�[°]

Fig.�7/13: Exact stop without damping time

1 Monitoringperiod dependingon drive

2 Expiry ofmonitoring time

3 Expiry ofdamping time

4 Monitoring time

5 Damping time


0

1

s�[m]

t�[s]

3

4

0

1

1 2

0

15

6

s�[°]

Fig.�7/14: Exact stop with damping time



G62 Fast stop without damping time


Nn G60 X [Y, Z, U]

Effect Switches the specified axis to fast stop (positioning quality class 1). OutputMC_A/MC_B or RC_A/RC_B always supplies a 1−signal when the axis first entersthe range of the positioning tolerance (see Fig.�7/11).

Example N000 G60 XN001 G00 X200N002 G62 XN003 G00 X100N004 G00 X300

;Activate exact stop without damping time

;Move to position X200 mm;Activate exact stop without damping time;Move to position X100;Move to position X300 mm

When moving to position X100, output MC_A/MC_B or RC_A/RC_B always suppliesa 1−signal when the X−axis enters the range of the positioning tolerance. TheSPC200 is ready immediately to move to position X300.

Remark This command has a saving effect. The fast stop remains valid until a switch ismade to another positioning quality class.In positioning quality class 1 the adaption has no effect, see appendix B.



G74 Start reference travel 1)


Nn G74 X<Mode> [Y.., Z.., U..]

<Mode> n Reference travel mode n = 0, 5, 6, 7

Effect Starts reference travel of the axis in the mode specified (see Fig.�7/15).After successful reference travel the status flag REF is set.

Example N000 G74 X5 ;Move to reference point, direction:;�retracted piston rod"

Remark � Defining the reference point and the reference position see chapter 3.4.� The reference mode is defined in the application data when each pneumatic axis

is configured. If a different mode is selected with command G74, fault zzz1Ax06will be generated (zzz = program line, x�=�axis number) at the beginning of theexecution of the command. Exception: Reference travel mode 7 can always beused irrespective of the definition in the application data.

� If the modes 1, 2, 3 and 4 are activated for a pneumatic axis, fault zzz1Ax06 willbe generated (zzz = program line, x = axis number).

� A pneumatic axis cannot execute positioning commands without successfulreference travel. Exception: NC command M39 or reference travel with mode 7.

1) This function is only effective as from operating system version 4.82. It is not supported by thecontrol panel.

In the case of a pneumatic axis with an incremental measur�ing system, referencing is always carried out against a fixedstop. Depending on its position, it will be approached fromthe left or the right. This stop can be fitted externally or it canbe the end stop of the cylinder itself. The reproducibility of the reference point depends exclusivelyon the accuracy of the stop.

For commissioning, the offset of the reference position andreference travel mode must be defined in the applicationdata. The offset reference position specifies the offset of theaxis zero point from the reference point. It is always a posi�tive variable. This offset value also influences the controlleroptimization of the SPC200, even small values (a few mm)must be specified as accurately as possible (see chapter 3.4,Fig.�3/5).



Mode Description

0 The reference point is set at the current position.� The status flag REF will be set immediately.� There are no restrictions as regards the speed and acceleration limit values

(compare with mode 7).This mode may only be used if you can be sure that the axis actually stands at theplanned reference position.For�example, you can move program−controlled to the defined end stop with NC com�mand M39, monitor the reaching of the position with the aid of a proximity switch andfinally accept the reference point with mode 0.ExampleN000 #TF64 7 ;REF flag of the X–axis set?N001 M40 X0 ;Cancel all limit value monitorings re. M39 ;(stroke and speed limit ;values)N002 M39 X45 ;Switch off controller and open valve ;statically in the direction smaller ;position values.N003 #TNI0.0 3 ;Test input I0.0 (reference switch) ;for 0, until stop is reached ;(I0.0 = 1)N004 G04 50 ;Wait 500 msN005 M12 X ;Activate controller againN006 G74 X0 ;Set reference pointN007 ...

5 Reference travel in negative direction (retract piston rod up to rear stop or cylindercover).� As soon as the axis stands still, the reference point is set.� The status flag REF will be set immediately.

6 Reference travel in positive direction (extend piston rod up to front stop or bearingcover).� As soon as the axis stands still, the reference point is set.� The status flag REF will be set immediately.



Mode Description

7 This mode serves exclusively for moving the pneumatic axis slowly and program−controlled, providing referencing has not taken place.� When mode 7 is activated with command G74, the axis can be moved with the

positioning commands G01 or G02.� The speed is limited in each case to the referencing speed (see application data).� The acceleration values are clearly reduced.� The status flag REF will not be set.� After completion of the movement in mode 7, reference travel must take place with

mode 0, 5 or 6 in accordance with the application data. Only then can the maximumdynamics of the axis be reached again.

This mode can be used, e.g. for moving an axis manually but program−controlled into adefined starting position, if this cannot take place automatically due to obstructions inthe positioning path.

1 Rear stop� here: bearing cover

2 Current position� starting position for reference travel

3 Front stop� here: fitted externally

4 position accepted asreference point

5 Starting position

6 Interim referencepoint: the restrictedmovement starts here

1 2 3

Mode�0:

Mode�5:

Mode�6:

Mode�7:

4

5

6

Fig.�7/15: Reference travel modes for the pneumatic axis



G74 Starting reference travel


Nn G74 X<Mode> [Y.., Z.., U..]

<Mode> n Reference travel mode n = 0...4

Effect Starts reference travel of the axis in the mode specified (see Fig.�7/16).

Example N000 G74 X0 ;Accept current position as;reference point

Remark All positions refer indirectly to reference point.The exact position of the switching point of the reference switch depends on theselected reference travel mode.

Mode Description

0 Accepting the current axis position as reference point

1 Reference travel in negative direction to referenceswitch (REF) with acceptance as reference point

2 Reference travel in negative direction to negative limitswitch (LIM−) with acceptance as reference point

3 Reference travel in positive direction to referenceswitch (REF) with acceptance as reference point

4 Reference travel in positive direction to positive limitswitch (LIM+) with acceptance as reference point



1 Starting position

2 Position acceptedas reference point

3 Switching rangesof limit andreferenceswitches

LIM− REF LIM+

Mode�0:

Mode�1:

Case�b:

Mode�2:

Mode�3:

Case�b:

Mode�4:

Case�a:

Case�a:

1

2

33 3

Fig.�7/16: Reference travel modes of the electric axis

Detailed instructions on carrying out reference travel can befound in the manual for the stepping motor indexer moduletype P.BE−SPC200−SMX−...�.

If the SPC200 enable is removed (ENABLE = 0), the steppingmotor axes lose the reference.



G90 Absolute dimension specification


Nn G90 X<Position> [Y.., Z.., U..]



Effect Switches to absolute positioning and moves absolutely at the current speed and, ifapplicable, with ramp to the specified position. All the subsequent positions in theprogram will be interpreted as absolute dimensions. The positioning mode remainsvalid until a new positioning mode is set (see also under G00/G01/G02).

Example N000 G00 G90 X200

N001 X100

N002 X@5 Y@1N003 G90 Y100N004 G91 X100

;Move absolutely at highest possible;speed to position X200;Move absolutely at highest possible;speed to position X100;Move to position from register 5 and register 1;Move absolutely to position Y100;Move 100 mm in a positive direction

Remark The following is set during positioning:� absolute positioning (G90)Command G90 has a saving effect. It remains effective until it is cancelled bycommand G91.Example:N010 G90 X100N011 X200N012 G91 X300With WinPISA programming, positions can also be specified symbolically. For thispurpose, the position values and position names are entered in the position list.Example:N010 G90 X@ABHOL_POSN011 X@ABLAGE_POS



G91 Relative dimension specification


Nn G91 X<Position> [Y.., Z.., U..]



Effect Switches to relative positioning and moves relatively at the current speed and, ifapplicable, with ramp to the specified position. All the subsequent positions in theprogram will be interpreted as relative dimensions. The positioning mode remainsvalid until a new positioning mode is set (see also under G00/G01/G02).

Example N000 G00 G91 X200

N001 X100

N002 G90 X@5 Y@1N003 G91 X–100N004 X200

;Move relatively at highest possible;speed 200 mm further;Move relatively at highest possible;speed 100 mm further;Move to position from register 5 and register 1;Move 100 mm in a negative direction;Move 200mm in a positive direction

Remark The following is set during positioning:� absolute positioning (G90)Command G91 has a saving effect. It remains effective until it is cancelled bycommand G90.Example:N010 G91 X100N011 X200N012 G90 X300With WinPISA programming, positions can also be specified symbolically. For thispurpose, the position values and position names are entered in the position list.Example:N013 G91 X@ABHOL_POSN014 X@ABLAGE_POS



M00 Programmed stop


Nn M00

Effect The program sequence will be stopped with command M00 and continued when asynchronization signal is received. In the operating mode Start/Stop a negativeedge at input SYNC_IA/IB will be interpreted as a synchronization signal.

Example N005 M00N006 G00 X100

;Wait for SYNC signal;Move to position X100

Remark In Start/Stop mode you can synchronize with this command the program sequencewith other devices.

1

0

1

0

1

0

SYNC_IA/IB

SYNC_OA/OB

MC_A/B

M00 M00G00/G01/G02 G00/G01/G02

1 1

3 32 2

1 Externally controlled process

2 Programmed stop

3 Program sequence

Fig.�7/17: Programmed stop



M02 Sub−program end


Nn M02

Effect The end of sub−programs must be marked with this command. If the program isaccessed as the main program, it will be executed once and will remain stoppedwith M02. It can only be restarted with a Program Reset.

Example See under L

Remark See also under M30



M10 Activate the nominal value input


Nn M10 X<Factor> [Y.., Z.., U..]

<Factor> n Scaling factor in [mm/V] or [°/V] (see Fig.�7/18) n = 0.1 ... 9999.9

No specification of a scaling factor 1) �

@n Scaling factor saved in position register @n 2) n = 0 ... 99

Effect The effect of command M10 depends on the syntax.� Without specification of a scaling factor (e.g. �M10 X"):

All settings undertaken with M10, M11, M13 or M14 will be reset to the confi�gured standard values (parameter set for the axis, register card �Nominal valuespecification"). The input for the direct nominal value specification will be acti�vated with the configured standard values.

� With specification of a scaling factor (e.g. �M10 X200.5"):The input for analogue nominal value specification is activated with the specifiedscaling factor. Settings for offset, mode or analogue channel assignment definedwith the commands M11, M13 and M14 are valid. Otherwise the configuredstandard settings are used. With the scaling factor, you can specify the position�ing path which is to be covered by the analogue nominal value specification(0�...�10�V) (e.g. factor = 20, possible positioning path = 200�mm).The scaling factor has no effect with the digital setpoint value specification(input 5). In this case, the setpoint values are absolute position values that referto the project zero point.PROFIBUS: The setpoint values are specified by the PLC in �m.

(Example: Target position 88.24 mm −> output data of the PLC = 882400 � presented as decimal)

DeviceNET: The setpoint values are specified by the PLC in �m.

Example See following pages

Remark � The reference point of the positioning range is the project zero point.� By specifying the offset (command �M11") you can shift the reference point

(see Fig.�7/18).� With modes 0 and 1 (see command M13), the analogue input must be deacti�

vated with M12 before it can be activated again with M10. The command G25has no effect in these modes.

With stepping motor axes: modes 0 and 1 are not supported.

1) This syntax is only available as from operating system version 4. The value 0000.00 isrepresented or entered on the control panel.

2) This syntax is only available as from operating system version 4.82. It is not supported by thecontrol panel.



The selected nominal value input is deactivated again withcommand M12. It is deactivated automatically:

� during a stop status (controlled stop)

� if enable is missing (0−signal at ENABLE input).

If there is a 1−signal again at the relevant input after a stop ormissing enable, the nominal value input will be activatedagain automatically.

Example mode 0 Constant position adjustment

....N010 M11 X100 ;Offset 100 mmN011 M13 X0 ;Set mode 0 ;Move constantlyN012 M10 X30 ;Activate nominal value input ;Scaling factor = 30 mm/VN013 #TNI0.0 013 ;Wait until I0.0 supplies a ;1–signalN014 M12 X ;Deactivate nominal value

;input...N020 M30 ;Program end with ;repeat

In this example the analogue input remains active until inputI0.0 supplies a 1−signal. If the input supplies a 1−signal, theprogram will be continued in line N014 and the analogueinput therefore deactivated.�



Example mode 3 Analogue nominal value specification without adjustment,ramp

N001 M11 X100 ;Offset 100 mmN002 M13 X3 ;Set mode 3 ;Move onceN003 G01 G91 X0 FX30 ;Move relative 0 mm ;Speed ramp = 30%N004 G61 X1 ;Fast stopN005 M10 X30 ;Factor = 30, move ;once to analogue ;specified positionN006 G00 G90 X300 ;Move absolute ;to position 300......N020 M30 ;Program end with repeat

The speed ramp can be set with the aid of commands G01and G02. Programming is made here for movement to bemade relatively by 0 mm (see line N003).

The speed ramp specified in this record is therefore validwithout a positioning procedure.



M11 Offset for analogue nominal value specification


Nn M11 X<Offset> [Y.., Z.., U..]

<Offset> n Offset in [mm] or [°] n = ±9999.98

@n Offset saved in position register @n 1) n = 0 ... 99

Effect Equalizes the voltage/position assignment (see Fig.�7/18).

Example Example see under M10

Remark � The preset reference point for the analogue nominal value specification is theproject zero point.

� By specifying the offset you can shift the reference point.� The possible positioning range is limited by the set software end positions.� The command M11 must be issued before M10.� The offset has no effect with the digital nominal value specification (input 5). 1)


1 Project zero point

2 Measuringsystem length

3 Scal. factor = 30, Offset = 100



1

2

3

4

5

0 100 200 3000�V

10V

s�[mm]

U�[V]

Fig.�7/18: Scaling factor and offset with bei analogue nominal value specification (example linear drive)



M12 Axis stop 1)


Nn M12 X [Y, Z, U]

Effect Command M12 stops all addressed axes. Active positioning commands (G00, G01,G02, M10) or the output of valve positioning values (M39) of these axes will bediscontinued. Any nominal positions will be lost.� With pneumatic drives: The current actual positions will be accepted as new

positions. Depending on the current speed of the drive there may be overswing.� With stepping motor axes: The axes stop as soon as possible (braking ramp with

the configured maximum acceleration). The actual positions at the end of thestop will be accepted as new positions.

Command M12 also causes the following:� With active nominal value specification via analogue input or field bus (digital

nominal value specifcation 2)�): The relevant nominal value inputs � analogue or digital � will be deactivated.

� With active output of the valve positioning value (M39): 1)

The output of the valve positioning value will be deactivated, the actual positionwill become the nominal position and the controller will be activated.

� A preselect value defined with G25 will be deleted and further record switching(G25) will have no effect. 1)

When the axes stop, the relevant output MC_A or MC_B (motion complete) will beset and the next NC record processed.


Remark With modes 0 and 1 (see command M13) of the nominal value specification, therelevant nominal value input must be deactivated with M12 before it can beactivated again with M10.Note that the constant repetition of the axis stop command (M12) (eg. in a programloop) can cause the drive to drift (see following instructions).In monitoring programs command M12 can also be used for stopping axes whichhsve been reserved by another task (see also chapter 7.1.1).

1) This function is only effective as from operating system version 4.6.2) This syntax is only available as from operating system version 4.82. It is not supported by the

control panel.



During an axis stop with the M12 command the actual posi�tion will be accepted as the new nominal position.

WarningIf an interfering variable causes a deviation between theactual and nominal positions, the constant repetition ofthe axis stop command (M12) can cause the drive to drift.Each time the M12 command is accessed, the new actualposition will be accepted again as the new nominal posi�tion.

Avoid the drifting by programming a locking which willprevent the constant repetition of the axis stop command(M12).

M13 Set nominal value mode


Nn M13 X<Mode> [Y.., Z.., U..]

<Mode> n Mode; explanation see table below. n = 0...4

Effect Switches to the specified mode (see following table).




Type Mode Description

Positionadjustment

0 1) This mode is only supported by pneumatic drives.� Constant position adjustment� Constant parallel program processing possible

1 1) This mode is only supported by pneumatic drives.� As mode 0 but without MC monitoring 2)

One−timepositioning

2 3) � Current nominal value is read once� A move is made as fast as possible to the new position,

identical to G00

3 3) � Current nominal value is read once� Move with current ramp, identical to G01

4 3) � Current nominal value is read onceOnly with pneumatic drives:� Smooth movement with current ramp, identical to G02Only with stepping motor axes:� Move to position at Start/Stop frequency, identical to G02

1) Fast stop as positioning quality class is always effective in this module (see Fig.�7/11). The setpositioning quality class and the positioning timeout have no effect in this mode. Stepping motor axes are not supported in this mode. .

2) Signal at output MC_A or MC_B is not influenced by the relevant axis, the current positioningquality class is effective (see under G61).

3) In this mode all the last defined or valid movement parameters are used (approach and brakingramps, positioning quality class, etc.).



M14 Assign nominal value inputs


Nn M14 X<Input> [Y.., Z.., U..]

<Input> n Number of the analogue or digital 1) nominal value input n = 1 ... 4n = 1 ... 5 1)

Effect � Withanalogue nominal value specification:The analogue input module type SPC200−2AI−U possesses two nominal valueinputs (differential inputs).� Nominal value module no. 1: Nominal value inputs 1 and 2� Nominal value module no. 2: Nominal value inputs 3 and 4With command M14 one or several axes can be assigned to each analogue inputchannel.

� With digital nominal value specification, only in conjunction with field bus: 2)

� Nominal value input 5A separate digital nominal value is provided for each axis [X, Y, Z, U] at the sametime via the field bus. This value corresponds to a position specification (seeunder M10) and is related to the project zero point. The nominal values must liewithin the permitted limits of the relevant drive.

Example N007 M14 X2 Y5 U1 ;Anal. nominal value input 2 is assigned to the X−axis,;digital nominal value input 5 is assigned to the Y−axis;and analogue nominal value input 1 is assigned to the;U−axis


2) For Profibus this applies only as from operating system version 4.82 together with the Profibussoftware version 2.0. For DeviceNet as from operating system 4.90 together with the softwareversion as from 2.01 (DN2). Interbus does not permit this feature.

M30 Program end with repetition


Nn M30

Effect The end of programs must be marked with this command. This command causesthe program to be continued at the first NC record.

Example N007 G00 X100N008 M30

;Move to position X100;Program end

Remark Sub−program end see under M02



M37 Set mass assessment

� pneumatic axis; � permitted in operating mode: Start/Stop

Nn M37 X<Mass> [Y.., Z.., U..]

<Mass> n Mass assessment of the load in % of the configured workitem mass or of the configured mass moment of inertia of thework item; 0 = 100 %, 1 = 1 %.....99 = 99 %

n = 0 ... 99

@n Absolute value of the work item mass in [kg] or of the massmoment of inertia in [kgcm2], saved in register @n 1)

Permitted value range: 0.0 ... max. work item mass

n = 0 ... 99

Effect Sets the controller to the specified mass load (see chapter 3.2.9).� The following applies with relative assessment of the work item mass:

Mass load = work item mass * n [%] + total moveable mass without work item � The following applies with absolute specification of the work item mass:

Mass load = @n + total moveable mass without work item

Example N001 M37 X50N002 M37 X@88

;50 % of the configured work item mass considered;work item mass from register @88 considered

Remark � The work item mass is a parameter of the application data.� This command has a saving effect and supports the procedure with different

work item masses.� With rotary drives the mass moment of inertia of the work item and the other

moving parts apply here.Recommendation: Carry out dynamic identification travel with minimum andmaximum masses if you wish to use this NC command optimally.


Please noteIf the work item mass in its basic status does not corre�spond to the max. work item mass, you must make surethat before a positioning command the mass load isadapted to the actual work item mass. Remember the sav�ing effect of the command and that after every Power−On,Data, System or Program Reset the basic status is acti�vated again.



M38 Load actual value


Nn M38 @<Register> X [Y, Z, U]

<Register> n Register number n = 0 ... 99

Effect The current position is loaded into the specified position register

Example N003 G00 G91 X100N004 M38 @1 X

N005 G29 @0 X@1

N006 G00 G90 X@0

;Move relatively 100 mm further;Load current position into position register 1;of the X−axis;Form the sum of the two position registers 0;and 1, save result in position register 0;Move to position in register 0



M39 Output valve positioning value 1)


Nn M39 X<Positioning value> [Y.., Z.., U..]

<Positio-ning l

n 1) Valve positioning value in % of the range 0...10 V:1 = 1 % ... 99 = 99 %

n = 1 ... 99

value>Rn 1) Valve positioning value in % saved in register Rn n = 1 ... 99

Effect With command M39, the controller of the SPC200 will be deactivated and the pro�portional directional control valve will be controlled directly. Whilst the drive isstanding still, a pressing force, e.g. against a work item, may be generated.With the positioning value you can specify the valve nominal voltage (0.1 ... 9.9 V)which is to be output. At approx. 5 V (50 %) the valve slide is in the mid−position(see following table). The positioning value controls the flow of the valve and deter�mines the pressure increase time up to the maximum pressure (supply pressure).Command M39 remains active until it is deactivated with command M12 or untilthe stroke limit value (M40), the software end positions or the speed limit value(M41) are exceeded.

Example N018 G01 X400 FX0N019 G01 X420 FX5N020 #TI2.0 30N021 M40 X2.00N022 M41 X0.15N023 M39 X60N024 #TNI2.1 24N025 M12 X...N030 G01 X100 FX10

;Move quickly to pre−holding position;Move slowly to clamping position;Jump output of valve positioning value;Stroke limit value for M39 = 2 mm;Speed limit value for M39 = 0.15 m/s;Valve nominal value voltage = 4 V;Wait for input signal;Switch off M39; ...;... Further program sequence

Remark Command M39 may only be accessed if no positioning command has been carriedout. Otherwise an appropriate fault will be triggered.In order to avoid an uncontrolled movement, e.g. during incorrect programming,the SPC200 monitors the position and the speed of the drive. Presetting formonitoring:� Stroke limit value = ±10.00 [mm] or ±10.00 [°]� Speed value = 0.10 [m/s] or 0.1 [103 °/s]The presettings can be modified with commands M40 and M41.The monitoring of the software end positions remains active.




Valve position�ing value [%]

Positioningsignal 1)

Valve voltage[V]

Effect

� � 2) � 2) Proportional directionalcontrol valve pressurizes

1 −0.98 9.9control valve pressurizesconnection 4} Effect of force in the

2 −0.96 9.8} Effect of force in thedirection of the measuringsystem ero point (smaller

... ... ...system zero point (smallerpositioning values)

49 −0.02 5.1

p g

Mid iti f th l50 0.00 5.0

Mid−position range of the valve(covered), flow blocked

51 0.02 4.9

( )

... ... ... Proportional directionalcontrol valve pressurizes

98 0.96 0,2

control valve pressurizesconnection 2} Effect of force in the

99 0.98 0.1} Effect of force in thedirection away from themeasuring system zero point

� � �measuring system zero point(larger positioning values)

1) Standardized valve positioning signal2) Specification not possible

The valve voltage can be calculated as follows:

Formula

Vvalve � 10� �1� n100�

V valve = valve voltage in [V]n = valve positioning value in [%]



M40 Set stroke limit value 1)


Nn M40 X<Tolerance> [Y.., Z.., U..]

<Limitvalue>

n 1) Stroke limit value in [mm] or [°];0 Z Stroke limit value isswitched offpermitted: 0 � Limit value � stroke length or angle

n = 0 ... 9999.99

@n 1) Stroke limit value in [mm] or [°] saved in the positionregister @n

n = 0 ... 99

Effect If the drive exceeds the defined stroke limit value when command M39 is accessed(in positive or negative direction), M39 will be deactivated, an appropriate fault willbe shown and the axis will be stopped (controlled stop).If 0 is specified as the stroke limit value, the drive can move freely between thesoftware end positions.In the case of drives with an incremental measuring system (e.g. B. DNCI−...)without reference travel carried out, the axis can move freely without limits.Please noteWhen the stroke limit value (e.g. M40 X0) is switched off, the monitoring of thespeed limit value (M41) will also be switched off.

Example See M39

Remark This command has a saving effect. It remains effective until a new stroke limit valueis defined.




M41 Set speed limit value 1)


Nn M41 X<Tolerance> [Y.., Z.., U..]

<Limitvalue>

n 1) Speed limit value in [m/s] or [103 °/s]; permitted: 0,01 � Limit value � defined maximum speed

n = 0.01 ... 9.99

@n 1) Speed limit value in [m/s] or [103 °/s] saved in positionregister @n

n = 0 ... 99

Effect If the speed of the drive exceeds the defined speed limit value when command M39is accessed, M39 will be deactivated, an appropriate fault will be shown and theaxis will be stopped (controlled stop).Please noteWhen the stroke limit value (e.g. M40 X0) is switched off, the monitoring of thespeed limit value (M41) will also be switched off.

Example See M39

Remark This command has a saving effect. It remains effective until a new speed limit valueis defined.




L Access sub−program (load subroutine)


Nn L<Program number>

<Programb

n Program number n = 0 ... 99number>

Rn Program number saved in register Rn n = 0 ... 99

Effect Accesses the specified program as subroutine.

Example See below

Remark The program number can be specified directly (n) or indirectly via a register (Rn).Maximum nesting depth = 4.

Example Palletizing

1 Distance betweenrows

2 Positions0 mm

200 mm

250 mm

1

2

Fig.�7/19: Palletizing



Program 0

...N003 G28 @1 X200 ;Load top row of palletsN004 G28 @2 X50 ;Load distance between rowsN005 #LR0=6 ;Initialize number of rowsN006 L1 ;Access program 1N007 #AR0=–1 ;Update counterN008 #TR0=0 10 ;Gap filled?N009 E05 6 ;Jump to N006... ;further commands...N080 M30 ;Program end

Subroutine 1: Fill pallet gap

N000 #TNI0.0 0 ;Wait for partN001 G00 X0 ;Fetch part, position 0 mmN002 #SQ0.0 ;Close gripperN003 G00 X@1 ;Move to pallet positionN004 #RQ0.0 ;Open gripper, place partN005 G29 @1 X@2 ;Calculate next position... ;further commands...N016 M02 ;Subroutine end

Position register @1 contains the current pallet position.Position register @2 contains the distance between the rows.These position registers are initialized in lines N003 andN004 (program 0).

Register R0 serves as loop counter and is initialized with thenumber of rows. Subroutine 1 is accessed 6 times and thecurrent pallet gap is then filled.



E05 Unconditional jump


Nn E05 <Record number>

<Recordb

n NC record number n = 0 ... 999number>

Rn NC record number saved in register Rn n = 0 ... 99

Effect The program sequence is always continued at the specified jump target.

Example N005 #TNI1.1 5N006 G00 X100N007 E05 5

;Wait for 1−signal at input I1.1;Move to position X100;Jump to NC record 5

In NC record 7 the program always branches to NC record 5.



#S Set single−bit operand


Nn #S<Operand>

<Operand> Fn Flag with number Fn n = 0 ... 63

Qn.n Outputs: all freely programmable outputs n.n = 0.0 ... 13.15

Effect The specified single−bit operand is set.Permitted operands are all single−bit operands, but not inputs.See also chapter 7.2.1.

Example N010 #SQ0.0 ;Set output Q0.0

Output Q0.0 supplies a 1−signal when this record is processed.

Remark Certain outputs are reserved for pre−assigned functions.Flags are remanent.

#R Reset single−bit operand


Nn #R<Operand>


Qn.n Outputs: all freely programmable outputs n.n = 0.0 ... 13.15

Effect The specified single−bit operand is reset.Permitted operands are all single−bit operands, but not inputs.See also chapter 7.2.1.

Example N010 #RQ0.0 ;Reset output Q0.0

Output Q0.0 supplies a 0−signal when this record is processed.

Remark Certain outputs are reserved for pre−assigned functions.Flags are remanent.



#T Test single−bit operand for 1−signal


Nn #T<Operand> <Record number>


Fn Axis status flag 1) n = 64 ... 127

In.n Permitted inputs: all existing inputs n.n = 0.0 ... 13.15

Qn.n Permitted outputs: all existing outputs n.n = 0.0 ... 13.15

<Recordb

n Record number n = 0 ... 999number>

Rn Record number saved in register Rn n = 0 ... 99

Effect A branch is made to the specified NC record if the single−bit operand supplies a1−signal. Otherwise the following NC record will be processed.Permitted operands are all single−bit operands. See also chapter 7.2.

Example See below

Remark See also under �Test register"


Axis status flag Flag number of the axis

Name Meaning X Y Z U




80 81 82 83

MOV The axis moves 84 85 86 87



Example The following applies for this example: Operating mode: Start/Stop

In the following example binary−coded position numbers aresent to the axis controller via the inputs I0.0 and I0.1. Fourposition numbers can therefore be specified:

I0.1 I0.0 Positions

0 0 Po_1

0 1 Po_2

1 0 Po_3

1 1 Po_4

At the beginning of the program the programmed stop forsynchronization with the higher−order PLC/IPC is used. Withthe SYNC signal, the outputs of the PLC/IPC for the binary−coded position number can be controlled at the same time. Adebouncing time of 30 ms is provided for this in NC record 1.

N000 M00 ;Wait for SYNC signalN001 G04 3 ;Debounce time 30 msN002 #TI0.1 8 ;Po_3 or Po_4, if 1–signalN003 #TI0.0 6 ;Po_2, if 1–signalN004 G00 X@Po_1 ;Po_1, if both inputs 0N005 E05 0 ;Jump backN006 G00 X@Po_2 ;Po_2, if 1–signal ;only at I0.0N007 E05 0 ;Jump backN008 #TI0.0 11 ;Po_4, if both inputs 1N009 G00 X@Po_3 ;Po_3, if 1–signal ;only at I0.1N010 E05 0 ;Jump backN011 G00 X@Po_4 ;Po_4, if both inputs 1N012 E05 0 ;Jump back



#TN Test single−bit operand for 0−signal


Nn #TN<Operand> <Record number>


Fn Axis status flag 1) n = 64 ... 127

In.n Permitted inputs: all existing inputs n.n = 0.0 ... 13.15

Qn.n Permitted outputs: all existing outputs n.n = 0.0 ... 13.15

<Recordb

n Record number n = 0 ... 999number>

Rn Record number saved in register Rn n = 0 ... 99

Effect A branch is made to the specified NC record if the single−bit operand supplies a0−signal. Otherwise the following NC record will be processed.Permitted operands are all single−bit operands. See also chapter 7.2.

Example N030 #TNI0.0 30 ;Wait until I0.0 supplies a 0−signal

Remark See also under �Test register"


Axis status flag Flag number of the axis

Name Meaning X Y Z U




80 81 82 83

MOV The axis moves 84 85 86 87



#LR Load register


Nn #LR<Register> = <Value>

<Register> n Number of the register into which the value isloaded

n = 0 ... 99

<Value> n Value which is loaded into the specified register n = −32768 ... 32767

Rn Register Rn contains the value which is loaded intothe specified register

n = 0 ... 99

Effect The value specified with n is loaded into the register.

Example N011 #LR1=100 ;Load value 100 into register 1

Remark Registers are remanent.

#AR Add to register


Nn #AR<Register> = <Value>

<Register> n Number of the register into which the value isloaded

n = 0 ... 99

<Value> n Value which is loaded into the specified register n = −32768 ... 32767

Rn Register Rn contains the value which is loaded intothe specified register

n = 0 ... 99

Effect The contents of the register are added with the specified value.

Example N010 #LR0=0N011 #AR0=1

;Delete register 0;Increase register 0 by 1

Remark Registers are remanent.



#TR Test register


Nn #TR<Register> = <Value> <Record number>

<Register> n Number of the register, the contents of which are tobe compared

n = 0 ... 99

<Value> n Value which is to be compared with the contents ofthe specified register

n = −32768 ... 32767

Rn Register Rn contains the value which is to be com�pared with the contents of the specified register

n = 0 ... 99

<Recordnumber>

n Specification of the record number as numericalvalue

n = 0 ... 999

Rn Register Rn contains the record number n = 0 ... 99

Effect A branch is made to the specified NC record if the register contains the specifiedvalue.

Example N010 #TR0=100 350 ;If register 0 = 100, jump to NC record 350

A branch is made to NC record 350 if register 0 contains the value 100.

Diagnosis and error treatment


Chapter 8

8. Diagnosis and error treatment


Contents

8.1 On−the−spot diagnosis� 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Fault messages on the control panel 8−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 Fault stages 8−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.2 Fault classes 8−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Eliminating faults in the system 8−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 Faults when switching on 8−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 Faults when positioning 8−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Contents of this chapter The SPC200 offers extensive and user−friendly options fordiagnosis and fault treatment. The following possibilitiesare available and are described in this chapter:

� The LEDs on the SPC200 and on the connected field de�

vices show directly configuration faults, hardware faults,

string faults, etc.

� The control panel displays detailed fault messages coded

in the form of a hexadecimal number. These fault mess�

ages describe in detail the fault class, fault number andadditional information on localizing the fault (see sec�

tion�8.2)

Further information In online mode WinPISA shows fault messages in clear text.Information on the LED functions of the field bus moduleand stepping motor indexer module can be found in themanual for the relevant module.

A description of the time reaction of the I/O signals when

faults are quitted can be found in chapter 5.1.



8.1 On−the−spot diagnosis�

The LEDs on the power supply module, the axis interface and

the I/O modules (optional) supply information on the operat�

ing status of the system. The tables below show how the vari�ous operating states are represented by the LEDs. The LEDs

indicate the following:

LED Meaning

LED lights up

LED out

LED flashes� permanently without breakor� several times with a break (flashing sequence

corresponds to fault class which has occurredwith a 1−second break, see also section 8.2)

LED on the SPC200 Smart Positioning Controller

Power supply module type SPC200−PWR−AIF

Reaction Sequence Operating status Eliminating faults

POWER LED

ON

OFF

Operating voltage applied None

ON

OFF

Operating voltage not applied · Check operating voltageconnection of the electronics(pin 2).




ERROR LED

ON

OFF

� Switch−on phase (3...4 seconds)or

� Hardware fault, SPC200 is notready for communication

· None· Servicing required

ON

OFF

No internal fault registered None

ON

OFF

� Lights up briefly once when thedevice is switched on

None

Flashing sequence according to thefault class with a 1−second break� Flashes once (fault class 1)

Initialization fault

� Flashes twice (fault class 2)reserved

� Flashes three times (fault class 3)User data damaged

� Flashes four times (fault class 4)Hardware fault during runningtime

� Flashes five times (fault class 5)Sequence control fault

� Flashes six times (fault class 6)Fault in positioning task

� Flashes seven times (fault 7)Pre−parametrizing fault

� Does not flash (fault class 8)� Flashes nine times (fault class 9)

Trace fault� Flashes continuously without

break Firmware deleted by user

· Install components andmodules correctly or replacedefective module 1) 2)

· (Reserved)

· Carry out Data Reset andenter or load data again 1) 2)

· Read out fault message andeliminate fault 1)




· None· Carry out Data Reset and

enter or load data again 1) 2)

· Load firmware

1) Read out fault message and eliminate fault (see section 8.2)2) Or servicing required



LED on the axis interface


POWER LED

ON

OFF


ON

OFF

Operating voltage not applied Check operating voltage connec�tion and load voltage connectionon the SPC200 (pin 1 and pin 2).

ERROR LED

ON

OFF

� Switch−on phase (3...4 seconds)or

� Hardware fault, SPC200 is notready for communication

· None

· Servicing required

ON

OFF

� No internal fault registered None

ON

OFF

Lights up briefly once when thedevice is switched on

None

Flashes at 1 second intervals:� Once (fault no. 1)

Axis interface not initialized� Twice (fault no. 2)

A CAN−module on the bus is inthe OFF status

� Three times (fault no. 3)Incorrect type ID read

� Four timesEmergency stop activated

� Five timesLinear potentiometer is in endposition or is not connected;cable between axis interface andmeasuring system defective;measuring head (DNCI) not con�nected to axis interface.

� Six timesTimeout

� Seven timesLoad voltage too low

· Switch system on again, orreplace defective axis interface

· Switch system on again, orreplace defective CP module

· Remove non−permittedmodule or servicing required

· None

· Bring linear potentiometer outof the end position or connect;DNCI: Install measuring headand connect to axis interface;for correct fitting see operat�ing instructions for the DNCI

· Check SPC200 and AIF cable,if there are faults see section8.2, or servicing required

· Check load voltage



Tip:Use the movement test to check the function of the measur�ing system, including the transmission of measured values tothe SPC200. During the movement, at the same time observethe actual position displayed on the MMI control panel or inWinPISA in the status display / axes � does the position valuechange as expected? Here you can also shift the axis by hand � only permittedwhen the compressed air is turned off!

LED on the function I/O module

Status LED The operating status of the input module is shown by the

status LED (POWER/DIAG) on the function I/O module.

Meaning:

Reaction Sequence Operating status Fault treatment

POWER/DIAG (Status LED)

ON

OFF


ON

OFF

� Operating voltage not appliedor

� No connection to SPC200

· Check the CP cable as well asthe operating voltage and loadvoltage connections on theSPC200 (pins 1 and 2), switchon the SPC200 again or carryout a System Reset.

ON

OFF

� Test phase when the powersupply has been switched onor

� Short circuit in the sensorsupply

· None

or· Eliminate short circuit and quit

the fault1)

1) The fault is deleted when the power supply is switched on again on the SPC200.



Short circuit sensor supply

If there is a short circuit, the input module will switch off thepower supply to the sensors self−locking and communicatethe fault to the SPC200. The status LEDs will be switched offand the inputs of the module supply a 0−signal. After elimin�ating the short circuit, delete this fault by quitting.

Status display Next to the sensor connections there are green LEDs. Theseshow the status of the signal at the relevant input. The LEDsindicate the following:

Status LED Sequence Status

ON

OFF

Logical 1 (signal present)

ON

OFFLogical 0 (no signal)

ON

OFF

Only in the switch−on phase, if:� there is a 1−signal and� there is an assignment fault on

the axis interface string.



8.2 Fault messages on the control panel

If faults occur, the control panel will display detailed fault

messages (fault codes) coded in the form of a hexadecimal

number. The coded fault messages contain information on:

� the fault class

� the fault number

� in some cases additional information.

Composition of the fault messages

The control panel displays fault messages in the form of an

eight−figure hexadecimal number. The individual positions of

this hexadecimal number contain the following information:

1 Fault class (0...9)

2 Axis identifier(0...4)

3 Fault number

4 Additionalinformation

0 0 0 0 0 0 0 0

1234

Fig.�8/1: Composition of the fault messages (fault codes)



Fault class The fault class reflects the type of fault which has occurred

(e.g. hardware fault, configuration fault etc.) as well as thetime the fault occurred. If the SPC200 is ready for communi�

cation, the ERROR−LED will flash according to the fault class.

Fault time Faultclass

Description

Initialization phase 1 Faults in initializing the components and modules

2 Reserved

3 User data damaged

Operating phase 4 Hardware fault in the operating phase

5 Sequence control fault (e.g. due to fault in the NC program)

Operating or commis�sioning phase

6 Fault in positioning task or identification travel

Commissioning phase 7 Fault in pre−parametrizing

8 NC Editor, Upload/download or operation execution fault

9 Trace fault



Axis identifier With axis−related faults the axis identifer indicates the axis on

which the fault has occurred. Meaning:

Axis identifier Description

0 Fault is not axis−related (system fault)

1 Fault with the X−axis

2 Fault with the Y−axis

3 Fault with the Z−axis

4 Fault with the U−axis

Fault number andadditional information

The fault number describes the source of the fault. Withsome fault numbers, additional information is output in theform of a three−figure hexadecimal number which containsfurther important instructions on localizing the fault.



8.2.1 Fault stages

All faults are assigned to a certain fault stage (A ... D). Thefault stage specifies how the fault can be quitted and how thesystem reacts to the occurrence and quitting of the fault.

Faultstage

Faultclass

Fault reaction 1) Reaction to quitting 2)

A 1, 3 Serious system fault in the initialization phase

� Controller remains switched off� The following outputs are reset:

READY, �ACK_A/B

Initialization phaseIt is necessary to switch on again,or System Reset is possible

B 4 Serious system fault in the operating phase

� Controller is switched off� The following outputs are reset:

READY, ACK_A/B

� Controller is switched on� Status of the outputs is restoredFault must be eliminated andquitted 3)

C 4, 5, 6, 7 System fault or user fault in the operating phase

� Sequence is stopped� The following outputs are reset:

READY, ACK_A/B

� Sequence can be started� Status of the outputs is restoredFault must be eliminated andquitted 3)

D 4, 8, 9 Simple user faults, Upload/download or operation execution faults

� Fault code is entered� System remains fully operational

Fault code is deleted

1) With stages A to C: ERROR LED flashes and fault code is entered2) With stages A to C: Fault code and ERROR LED are deleted3) Fault quitting by starting signal (Start/stop mode) or CLK signal (Record Select mode) or by Reset

command (Reset Error, Reset Program, Reset System)

The following sections describe all the fault messages sortedaccording to fault class and show the assigned fault stages.



8.2.2 Fault classes

Fault class 0: No fault

Faultstage

Faultmessage

Operating status / fault explanation Eliminating faults

� 00000000 No fault registered

Fault class 1: Initialization phase Fault in the initialization of components and modules

Faultstage

Faultmessage


A zzz01x01 Internal system faultzzz = 001, 002: System memory fault;perhaps the basic unit is defective

Servicing required· If the fault occurs

more than once,replace basic unit

zzz02x01 Faults in initializing the axis interface stringzzz = Fault location and fault type:� Fault location:

0zz: Fault on 1st. AIF string1zz: Fault on the 2nd AIF string

� Type of fault:z00: Active fault could not be acknowledgedz01, z0B: Fault on the first measuring systemz02, z0C: Fault on the second measuring systemz03, z09: Fault on the 1st. AIFz04, z0A: Fault on the 2nd. AIFz05: Fault on the 1st. CP modulez06: Fault on the 2nd. CP modulez07, z08, z0D: Bus error

· Check and ifnecessary replacemodules or com�ponents on theAIF string

· Check operating system version inSPC200. Is it per�missible for theaxis interfacesused? (see alsopage XVI)

zzz03x01 Defective or non−permitted componentzzz = Location number, in ascending order from

left to right (000...003 for 4, and000...005 for 6 locations)

Replace or removecomponent

zzz = Additional information yy = Fault number x = Axis identifier (0 = fault is not axis−related) AIF = Axis interface



Fault class 1: Initialization phase Fault in the initialization of components and modules

Faultstage

Eliminating faultsOperating status / fault explanationFaultmessage

A 00004x01 Actual configuration not the same as nominalconfiguration (axis configuration and I/O assignmentchecked)

· Check and ifnecessary correctthe configurationof the internalcomponents andstring assignmentand switch theSPC200 on againor carry out a System Reset.

or· Save the actual

configuration asthe nominal con�figuration (menuSET CONFIGUR.)or load project(with WinPISA)

zzz05x01 Initialization fault with an intelligent component 1)

x = 0: Initialization faultx = 1...4: Axis 1 (x)...4 (U)x = 5: Field bus modulezzz = Location number, in ascending order from

left to right (000...003 for 4 and 000...005 for6 locations)

· Check steppingmotor indexermodule, subcon�troller or field busmodule andswitch on theSPC200 again orcarry out SystemReset,or

· Servicing required

zzz06x01 The firmware versions of the basic unit andsubcontroller module are not compatible

· Servicing required,carry out firmwareupdate

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)1) Stepping motor module, field bus module or axis interface module



Fault class 2: Reserved

Faultstage

Faultmessage


� zzzyyx02 Reserved

Fault class 3: Initialization phase User data damaged

Faultstage

Faultmessage


A zzz01x03 User program damagedzzz = program number

· Carry out Data Reset andenter or load data againor

00002x03 Position list damagedor

· Servicing requiredIf h f l h

00003x03 Configuration data damaged

g q· If the fault occurs more than

once, check and if necessary

00004x03 System data damaged

once, check and if necessaryreplace basic unit

00005x03 Dynamic identification data damaged

00006x03 Static identification data damaged

00007x03 Faulty PROFIBUS configuration data

00008x03 Faulty Interbus configuration data

00009x03 Faulty CANbus configuration data

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)



Fault class 4: Hardware fault in the operating phase

Faultstage

Faultmessage


C zzz01x04 Internal system fault (Watchdog fault)zzz = Fault type (see following description)

· Switch system off/on again;· Check level and stability of

power supplyIf this fault occurs again, returnfor servicing

001: Fault in the switch−off phase; when thesystem was switched off, certain sys�tem functions (Power Down functions)were not carried out. perhaps thepower supply module is defective

· If necessary replace powersupply module

002: Fault whilst monitoring the power sup�ply during operation; unstable powersupply or environment subjected tostrong interference; or the power sup�ply module is defective.

· If necessary replace powersupply module

· If necessary eliminate inter�ference

003/004: Fault in monitoring the memoryrange of the firmware (memory protec�tion violation); environment subjectedto strong interference or basic unit isdefective.

· Carry out Data Reset· If necessary eliminate inter�

ference· If necessary replace basic

unit

005: Fault in monitoring the memory rangeof the user programs (memory protec�tion violation); environment subjectedto strong interference or basic unit isdefective.

· Carry out Data Reset· If necessary eliminate inter�

ference· If necessary replace basic

unit

006: Fault in accessing adaptation data Thedata have not been initialized.

· Carry out Data Reset.

zzz= Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)




Faultstage


B zzz02x04 AIF string no longer functions 1)

(zzz as with fault class 1, fault number 2)· Check and if necessary

replace modules or compo�nents on the AIF string 1)

zzz03x04 Fault in measuring systemz00: � Measuring system in the end

position or� Measuring system defective or� AIF string no longer functions 1)

z01: Reference position is invalid0zz: Concerns the 1st AIF string (on the

power supply module1zz: Concerns the 2nd AIF string (on the

subcontroller module

· Check module on AIF stringand string assignment orbring measuring system outof end position or replacemeasuring system cable 1)

· Replace AIF· Repeat reference run

C zzz04x04 Fault on first I/O modulezzz = short circuit at input (E) or output (A)

or undervoltage:000: short circuit at E and A and undervolt.001: short circuit at E and A002: short circuit at E and A and undervolt.003: short circuit at E004: short circuit at A and undervoltage005: short circuit at A006: undervoltage

· Eliminate undervoltage orshort circuit 2)

zzz05x04 Fault on second I/O modulezzz = short circuit at input or output or

undervoltage000...006: Additional information as with

fault no. zzz04004

· Eliminate undervoltage orshort circuit

zzz = Additional information, yy = fault number, x = axis identifier (0 = fault is not axis−related)1) When this fault has been eliminated and quitted, the system tries at first to commission the axis

interface string. If this is not possible, the axis interface string will be initialized again. This procedure can take a certain amount of time (max. 10 seconds), depending on the system configuration used.

2) If there is a short circuit at the input, the operating voltage must be switched on again.




Faultstage


B 00006x04 Load voltage for field devices and propor�tional directional control valve is too low.

· Eliminate undervoltage �onthe operating voltage con�nection (X2).

C zzz07x04 Fault in monitoring the field bus module(PROFIBUS, Interbus, DeviceNet, etc.); fieldbus module cannot be addressed. Locationin the basic unit or field bus module defec�tive or field bus module not fully inserted.zzz = fault time point001: Fault in initialization phase000: Fault in the operating phase

· Make sure that the field busmodule is fully inserted.

· Check location; if necessaryselect different location

· Switch system off/on againIf this fault occurs again, returnfor servicing

zzz08x04 Fault on analogue input modulezzz = channel number and fault number� Channel number 1 ... 4):

11z: analogue channel 1,12z: analogue channel 2 etc.

� Fault number (1 ... 3):1z1: timeout when reading the analogue

value from channel z1z2: upper software end position violated

when reading from channel z1z3: lower software end position violated

when reading from channel z

· Replace analogue inputmodule

· Adapt voltage range todefined positioning range

D zzz09x04 Fault on the V.24 interface (X4);zzz = fault type001: Overrun002: Parity fault

· Check diagnostic module orconnecting cable; if necess�ary set lower baud rate

zzz0Ax04 Fault on the V.24 interface for the controlpanel (X3)zzz = fault type001: Overrun002: Parity fault

· Check diagnostic moduleand control panel or connec�tion





Faultstage


Czzz0Bx04zzz0Cx04

Fault on:� Third I/O module (B)� Fourth I/O module (C)(zzz as with fault class 4, fault numbers 4 and 5)

· Eliminate undervoltage orshort circuit 1)

zzz0Dx04 Fault on subcontroller module (second AIF string)

· Insert module fully orreplace

zzz0Ex04 Fault on stepping motor modulezzz = fault type:001: Stepping motor controller not ready

002: No reference travel carried out003: Positive limit switch activated

004: Negative limit switch activated

005: Reference travel interrupted

008: Both limit switches active

· Check voltage supply atsignal connector (X31) of thestepping motor module.

· Check stepping motor con�troller or connecting cable

· Carry out reference travel· Bring drive out of end posi�

tion and carry out referencetravel

· Bring drive out of end posi�tion and carry out referencetravel

· Carry out reference travelagain

· Check limit switches

zzz0Fx04 Reserved �

zzz10004 Configured assignment of a local I/O range tothe specified field bus I/O range in theSPC200 is not permissible because the localmodule itself is not present.zzz = I/O word no.:000: Assignment to IW11 faulty001: Assignment to IW12 faulty002: Assignment to IW13 faulty003: Assignment to QW11 faulty004: Assignment to QW12 faulty005: Assignment to QW13 faulty

· Correct the configuration;see description of the fieldbus module or the configur�ation menu of WinPISA fromversion 4.41.




Faultstage



C zzz11x04 The AIF x has detected undervoltage on theload voltage. The valve moves automaticallyto the mid−position, the axis is no longer inclosed−loop control.zzz = String number:000: Concerns the 1st AIF string (on the

power supply module100: Concerns the 2nd AIF string (on the


· Reapply load voltage andacknowledge fault

zzz12004 A CP module has detected undervoltage onthe load voltage.zzz = String number:000: Concerns the 1st AIF string (on the

power supply module100: Concerns the 2nd AIF string (on the


· Reapply load voltage andacknowledge fault

Please note: Fault messages0011x04 was possible alsotriggered at the same time.




Fault class 5: Sequence control fault

Faultstage

Faultmessage


C ppp01x05 Starting program does not exist · Correct starting programnumber or load/enterstarting program

nnn02x05 Sub−program does not exist (L command) · Correct NC record or load/enter program

nnn03x05 NC record does not exist · Correct NC record

nnn04x05 Program no. with L command is identical tonumber of the �accessing program

· Correct NC record

nnn05x05 Permitted nesting depth with L commandexceeded


nnn06x05 Direct nominal value specification (M10) ordirect control of the valve voltage (M39)active with new nominal value (NC com�mand: G00, G01, G02, M10, M39)

· Correct the NC record, firstconclude direct nominalvalue specification or directcontrol of the valve voltagewith M12.

nnn07x05 Arithmetical overrun with a register (R) · Correct NC record

nnn08x05 Record overrun · Conclude NC programs withcommand M02 or M30

nnn09x05nnn0Ax05

Reserved

zzz0Bx05 NC command cannot be processed. Either itis not supported by the firmware or the axisspecification is not valid.

· Check axis specification· Check firmware version

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)ppp = Program numbernnn = NC record number of the accessing NC command



Fault class 5: Sequence control fault

Faultstage


C 0050Cx05 Conversion for this nominal value hasalready taken place.

· Analogue nominal valueinput must be deactivatedwith M12, before it is acti�vated again with M10.

zzz0Dx05 Reserved �

zzz0Ex05 The programmed nominal value input doesnot exist.


zzz0Fx05 Reserved

zzz10x05 Programmed input or output is not avail�able. Input/output address or I/O moduledoes not exist.

· Correct NC record.Correct input/outputaddress

zzz11x05 Register index is not valid (index > 99) · Correct NC record

zzz12x05 The absolute preselection value (G25) inthe selected register @n is not between thelast nominal position or the last switchoverposition and the new nominal position.

· Correct NC record or registercontents.

Please note: If the axis wasstopped by a stop signal duringthe movement command andwas then supposed to continuemoving, the current actualposition no longer correspondsto the original one.

zzz13x05 The nominal value specification via fieldbus (M10, channel 5) cannot be activated,since no field bus card is present or thefield bus card used does not support thisfunction.

· Check type and software ver�sions of the field bus card,replace if necessary.permitted:� SPC200−COM−PDP from

version 2.0� SPC200−COM−DN2� SPC200−COM−CO2




Fault class 6: Fault in positioning task or identification travel

Faultstage

Faultmessage


C nnn01x06 Positioning timeout:The reference position and/or the position ofthe last movement task could not be reachedquickly enough (MC error)

· Eliminate obstruction inpositioning range or checksupply pressure or increasepositioning timeout oroptimize the controller.

nnn02x06 Nominal position outside the software endpositions; the positioning process is notstarted

· Correct NC record, positionlist or software end positions

nnn03x06 Non−permitted positioning task with posi�tion−dependent further record switching(G25)

· Correct NC record or positionlist (see under NC command�G25").

nnn04x06 Required speed cannot be reached · Correct maximum speed orspeed factor

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)nnn = NC record number of the accessing NC command




Faultstage


C ssz05x06 Fault in identification travelss = Service information specifies the

identification step in which the fault occurred.

z = Fault type (see following description)

(See following description)

ss0: Fault in pre−calculating the control parameters (x10, x50, x90)ortimeout (x20, X60, XA0)

· Check controller, axis andapplication data

ss1: The system identification was abortedwith Stop. The stop can be triggered by the user or by a system fault.

· Check I/O coupling;· Check fault stack (with

WinPisa) and if necessaryeliminate the cause of thefault.

ss2: No sensible parameters were found during system identification


· Check general conditions� Construction susceptible to

vibration?� Supply pressure stable?� Is the driver of the measur�

ing system fastened cor�rectly, etc?

ss4: A fault occurred when the original parametrizing was restored

Check controller, axis andapplication data

ss8: A fault occurred when the identifica−tion step was initialized

Check controller, axis andapplication data





Faultstage


C nnn06x06 NC command G00 is not possible as adynamic identification travel has not beencarried out

· Carry out dynamic identifica�tion travel

nnn07x06 The controller in the SPC200 cannot beinitialized


nnn08x06 A task for this axis is already active (position�ing, identification ...). A new task can only beaccepted when the old task is concluded.

· Correct the NC record or stopthe system before carryingout the activity

nnn09x06 Contents of a position register are not valid · Correct NC record

nnn0Ax06 Violation of stroke limit value (M40) withM39

· Check stroke limit value andvariable value with com�mand M39; if necessary correct NC record

0000Bx06 System identification aborted as enablesignal is missing

· Set ENABLE input and startidentification travel again

B 0000Cx06 Reserved �

0000Dx06 Reserved �

C 0000Ex06 Identification data not valid · Carry out system identifica�tion again

nnn0Fx06 Non−permitted positioning quality class · Correct NC record





Faultstage


C nnn10x06 Controller is inactive, as enable signal forfirst commissioning or after movement test ismissing or the configuration is faulty.

Only with stepping motor axis:� No Ready signal from the power controller

· Generate rising edge at ENABLE input or check con�troller, axis and applicationdata

· Correct fault on steppingmotor controller

nnn11x06 Command is not supported by this axis type:With pneumatic axes:� Command Reference travel (G74)With electric axes:� Activate analogue input in modes 0 and 1

(M10)� Command M39

· Correct NC program

nnn12x06 Reference position for this axis unknown · Carry out reference travel

nnn13x06 Violation of software end positions withcommand M39

· Check software end posi�tions and variable value withcommand M39; if necessarycorrect NC program

nnn14x06 Violation of speed limit value (M41) withM39

· Check speed limit value andvariable value with com�mand M39; if necessary correct NC program

nnn15x06...nnn19x06

Reserved





Faultstage


C nnn1Ax06 The specified reference run mode is notpermissible for this axis.

· Correct the command· Check reference run mode in

the application data, com�pare with that currentlybeing used.

Permitted:� Stepping motor axis:

Modes 0 to 4� Pneum. Axis:

Modes 0, 5 to 7

nnn1Bx06 The reference run for the pneumatic axis wascarried out in mode 7. Mode 0, 5 or 6 isnecessary for the desired command.

· The reference run must becarried out in mode 0, 5 or 6before the command inquestion.

Only the following are permiss�ible in mode 7: G01, G02 and M39, see alsocommand G74

nnn1Cx06 Parameter outside the permitted tolerance · Correct NC program

zzz1Dx06 Fault in the digital nominal value specifica�tion via field bus.zzz = Fault type:001: The nominal value transferred is

smaller than the lower software endposition.

002: The nominal value transferred isgreater than the upper software endposition.

· Check the nominal valuesgenerated in the field busmaster (PLC) and if necess�ary adapt to the permissiblemovement range.

· Check limit values in theapplication data, adapt ifnecessary.




Fault class 7: Fault in the pre−parametrizing

Faultstage

Faultmessage


C 00001x07 Software end position lies outside thepossible positioning range

· Correct parameter(permitted value ranges seechapter 6 2)

00002x07 Mass load lies outside the permitted rangechapter 6.2)

00003x07 Gain factor not permitted

00004x07 Damping factor not permitted

00005x07 Filter factor not permitted

00006x07 Measuring system length not valid ormeasured value outside the set cylinderlength

00007x07 Parameter limit violated

00008x07 Measuring system type not permitted

00009x07 Reserved �

0000Ax07 Max. permitted step frequency (positioningfrequency) exceeded (>40000 Hz)

· Check resolution or reducepositioning speed

0000Bx07 Reserved �

0000Cx07 Adaptation data incorrect · Carry out Data Reset




Fault class 7: Fault in the pre−parametrizing

Faultstage


C zzz0Dx07 Configured assignment of a local I/O rangeto the specified field bus I/O range in theSPC200 is not permissible because thelocal module itself is not present.zzz = I/O word no.:000: Assignment to IW11 faulty001: Assignment to IW12 faulty002: Assignment to IW13 faulty003: Assignment to QW11 faulty004: Assignment to QW12 faulty005: Assignment to QW13 faulty


zzz0Ex07 Configured assignment of a local I/O rangeto the specified field bus I/O range in theSPC200 is not permissible because thefield bus I/O range is already occupied.zzz = I/O word no.:000: Assignment to IW11 faulty001: Assignment to IW12 faulty002: Assignment to IW13 faulty003: Assignment to QW11 faulty004: Assignment to QW12 faulty005: Assignment to QW13 faulty


Please note: Each local I/Orange may be assigned onlyonce.




Fault class 8: NC Editor, Upload/download or operation execution fault

Faultstage

Faultmessage


D nnn01x08ppp01x08

Syntax fault or non−permitted programnumber entered

· Correct entry

ppp02x08 When using the control panel:� Non−permitted program number selected,

program cannot be created as it alreadyexists or program cannot be opened as itdoes not exist.

� No free memory space

When using WinPISA:� Program could not be loaded When the

fault is deleted, the memory of the SPC200will be re−assigned.

· Correct entry

If the maximum number of NCrecords is not yet reached:· Carry out program modifica�

tion with WinPISA; if necess�ary the memory will be re−assigned.

· Load the program againwhen the memory has beenre−assigned.

nnn03x08 Non−permitted record number · Correct entry

ppp04x08 No free memory space for new program · Delete unnecessaryprograms and NC records

ppp05x08 Test sum fault · Servicing required

00006x08to0000Ax08

Fault in Upload/Download with WinPISA · Check connecting cable anddiagnostic module; if necess�ary set lower baud rate

0000Bx08 Enable signal missing · Apply a 1−signal at theENABLE input

0000Cx08 System has stopped, there is a 0−signal atthe STOP input

· Apply a 1−signal at the STOPinput

0000Dx08 Starting program does not exist · Correct the number of thestarting program

0000Ex08 Command not permitted in this operatingmode

· Do not use this command inthe current operating modeor modify the operating mode

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)ppp= Program numbernnn = NC record number of the accessing NC command




Faultstage


D 0000Fx08 Command or operating function notpermitted with active NC program

· Stop the system and accessthe command or operatingfunction again

D 00010x08 Controller is inactive, as enable signal forfirst commissioning is missing or theconfiguration is faultyOnly with stepping motor axis� No Ready signal from the power controller

· Generate rising edge at ENABLE input or check con�troller, axis and applicationdata

· Correct fault on steppingmotor controller

ppp11x08 The NC program contains new NC commandsand extended NC syntax which is notsupported by control panel typeSPC200−MMI−1... (see also chapter 7.1.4).

· Use WinPISA as from version4.3, in order to edit such NCprograms.

ppp12x08 Movement test cannot be started as theENABLE input supplies a 1−signal.

Apply a 0−signal at the ENABLEinput

ppp13x08 Valve voltage cannot be modified as theENABLE input supplies a 0−signal.

Apply a 1−signal at the ENABLEinput

ppp14x08 Movement test is interrupted as ENABLEinput supplies a 0−signal.

None

ppp15008 Compatibility error between WinPISA, MMIand the operating system version of theSPC200. A program present in the SPC200cannot be processed with the WinPISAversion being used.ppp = program number

· Use the latest WinPisaversion.

· If necessary, delete all pro�grams and reload them intothe SPC200.

Please note: You can find thecurrent WinPISA version inFesto’s download area < festo.com>.

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)ppp= Program number




Faultstage


D zzz16x08 Compatibility error between WinPISA and theoperating system version of the SPC200.zzz = 001: The function Calibration of

operating system version 4.82 requires at least WinPISA 4.41.

· Use the latest version ofWinPISA; if necessary down�load it from Festo’s down�load area < festo.com> anduse it to carry out the calibration.

· Adapt measuring systemlength in the �Axis data"dialogue.

zzz = Additional informationyy = Fault numberx = Axis identifier (0 = fault is not axis−related)ppp = Program number

Fault class 9: Trace fault

Faultstage

Faultmessage


D 00001x09 Too many trace variables defined.Max. 10 trace variables per axis arepermitted

· Check measured valueconfiguration

00002x09to00005x09

Reserved �

00006x09 Trace memory reserved for anotheraxis

· Create default measured value con�figuration for all axes. Then specifydesired configuration again

00007x09 Unknown trace variable defined(caused by the use of differentfirmware versions)

· Create and confirm defaultmeasured value configuration.Then set the desired configurationagain

00008x09 Trace not configured · Carry out System Reset




8.3 Eliminating faults in the system

8.3.1 Faults when switching on

1) No display on the SPC200

Cause Remedy Remarks

Supply voltage is not corrector SPC 200 is defective

Check supply voltage orservicing required

See section 3.2.1

2) Axis makes small movements backwards and forwards


Axis or application data notcorrect

Check axis or application data See section 6.2

System identification has notbeen carried out

Carry out system identification See section 6.8

System is not earthedcorrectly

Check earthing measures See section 3.5

Measuring system or measur�ing system cable is defective

Check measuring system and�measuring system cable andreplace if necessary

Check by shifting manually orcarry out movement test, see section �4.4.2



3) Axis moves against end positions


Cables not connected correctly(incorrect polarity)

Check See section A

Measuring system is defectiveor not connected

Check See section 3.6.1

Proportional directional controlvalve is defective

Check proportional directionalcontrol valve

Carry out movement test, see section 4.4.2



8.3.2 Faults when positioning

1) Drive does not move


No supply pressure Check

Valve cable is not connectedcorrectly



Check and, if necessary, replace. Carry out movement test, see section 4.4.2

2) Axis moves against end positions


Cables not connectedcorrectly

Check See section A

Measuring system isdefective or not connected



Check Carry out movement test, see section 4.4.2

Tip:Use the movement test to check the function of the measur�ing system, including the transmission of measured values tothe SPC200. During the movement, at the same time observethe actual position displayed on the MMI control panel or inWinPISA in the status display / axes � does the position valuechange as expected? Here you can also shift the axis by hand � only permittedwhen the compressed air is turned off!



3) Axis has bad positioning behaviour


System is not fitted correctly Check mechanical parts Check measuring system andcylinder for parallelism, mechan�ical play and sluggishness

System is not earthedcorrectly


Application data are not setoptimally (mass, work stroke)

Check application data See section 6.2

System identification has notbeen carried out

Carry out system identification See section 4.4.2

Controller data are not setoptimally (gain, damping)

Optimize controller data See section B

Notes on installing the pneumatic components

A−1Festo P.BE−SPC200−EN en 0901d

Appendix A

A. Notes on installing the pneumatic components

A−2 Festo P.BE−SPC200−EN en 0901d

Contents

A.1 Axis structure with drive type DGP(L)−... and type DGPI(L)−... A−3 . . . . . . . . . . . .

A.2 Axis structure with standard cylinder type DNC−... A−10 . . . . . . . . . . . . . . . . . . . .

A.3 Axis structure with standard cylinder type DNCM−... A−17 . . . . . . . . . . . . . . . . . . .

A.4 Axis structure with rotary module type DSMI−... A−24 . . . . . . . . . . . . . . . . . . . . . .

A.5 Axis structure with standard cylinder type DNCI−... A−31 . . . . . . . . . . . . . . . . . . . .



A.1 Axis structure with drive type DGP(L)−... and type DGPI(L)−...

The following diagram shows as an example the axis struc�ture in conjunction with a positioning drive type DGP(L)−...�.

1

2

3

4

5

3

6

7

SPC200

1 Drive (here type DGP(L)−...)

2 Measuring system (here external measuring system type MLO−POT−...−TLF)

3 Shock absorber (optional)

4 Axis interface (here type SPC−AIF−POT)

5 Proportional directional control valvetype MPYE−5−...−010B

6 Service unit with 5 �m filter, withoutlubricator

7 Compressed air source (4 to 8 bar)

Fig.�A/1: Axis structure with positioning drive type DGP(L)−...



Valve−drive combination with DGP(L)−... andDGPI(L)...

Recommendation: Use only suitable valve−drive combina�tions. The following diagram shows valve−drive combinationsfor type DGP(L)−... and DGPI(L)... .

L�[mm]

∅[m

m]

1MPYE−5−3/8−010B

MPYE−5−1/4−010B

MPYE−5−1/8HF−010B

200 400 600 800 1000 1200 1400 1600 1800 2000

25

32

40

50

63

MPYE−5−1/8LF−010B

2

3


2 Drive diameter

3 Stroke length of the drive

Fig.�A/2: Suitable valve−drive combination with DGP(L)−... and DGPI(L)...

The limits related to stroke length and valve types are to beregarded as flowing. If you wish for a system with higher dy�namics, you should use the valve with the higher flow in thelimit range. If you attach great importance to control accu�racy, you should use the valve with the lower flow, providingthis fulfills your requirements as regards the dynamics.



Installation instructions for drives DGP(L)−... andDGPI(L)−...

� Any mounting position is permitted (horizontal, vertical ordiagonal)

· Note that in conjunction with the SPC200, the completestroke of the drive must not be used.

Permitted work stroke = stroke length minus stroke reduction

1 Permitted workstroke = (strokelength minusstroke reduction)

2 Stroke reduction

1

2

Fig.�A/3: Permitted working stroke

On each side of the drive positioning must not take place inthe range of the stroke reduction (see also section 3.4).

� The best possible positioning behaviour can beachieved if you use only 80 % of the stroke length ofthe drive, symmetrically to the two end positions.

� If demands placed on the positioning behaviour areonly slight, observe at least the following stroke re�ductions in both end positions:

Pistonj [mm] 25 32 40 50 63

Stroke reductionper end position [mm] 25 25 35 35 35



· In order to use the end position cushioning as minimumstop protection, tighten completely the adjusting screwsfor the internal end position cushioning.

· Recommendation: Limit the permitted work stroke byshock absorbers, also on drives with adjustable cushion�ing. In this way you can avoid damage in the event ofoperating and system faults.

· Arrange the tubing between the valve (MPYE−5−...) and thedrive (DGP(L)−...or DGPI(L)−...) symmetrically and as shortas possible.Maximum tubing length � Drive length

· With DGP(L) cylinders, provide air supply on both sides asfrom a cylinder length of 600�mm, in order to ensure goodpositioning behaviour (type identifier D2).

· Lubricate the guide of the cylinder at maintenanceintervals as specified in the operating instructions for thecylinder.

Measuring systems for the DGP(L)−...

· Use only measuring systems of types MLO−POT−...−TLF orMME−MTS−...−AIF or use cylinder with integrated measur�ing system type DGPI(L)−...−AIF.

· If you wish to use a linear potentiometer with a slideunder difficult ambient conditions (dusty atmosphere),fit�it so that the side with the actuator slide faces down�wards. The drip edge on both sides prevents excessivedirt from forming on the running surface.

· If you are using a linear potentiometer, fasten it with theaid of the clamping brackets supplied so that it is electri�cally insulated from the mounting surface.



CautionIf the positioning range of the drive is longer than the posi�tioning range of the measuring system:Limit the positioning range by means of shock absorbers,so that the measuring system covers the complete posi�tioning range. In this way you can protect the measuringsystem against damage.

Note here the general instructions on measuring systems insections 3.2.7 and 3.4.

1 Positioning rangeof the drive

2 Permittedpositioning range

3 Shock absorber(optional)

4 Positioning rangeof the measuringsystem

1

2

3

4

Fig.�A/4: Limits of the positioning range



Tubing with slide and yoke operation with theDGP(I)(L)−...

The DGP(I)(L)−... is suitable both for slide and yoke mode.When compressed air is applied to port 4 of the proportionaldirectional control valve, the slide must move in the directionof the measuring system zero point (electrical connection ofthe potentiometer). If compressed air is applied to port 2, theslide must move away from the measuring system zero point.

1 Electricalconnection

12 4

Fig.�A/5: Tubing for the slide mode

1 Electricalconnection

1 2 4

Fig.�A/6: Tubing connection for yoke mode with measuring system



Drives with unilateral air supply

1

2

1 Electrical connection (measuring system zero point)

2 Identifying the direction of movement

Fig.�A/7: Tubing on the side with the measuring system zeropoint

1 2

1 Electrical connection (measuring system zero point)

2 Identifying the direction of movement

Fig.�A/8: Tubing on the side opposite the measuring systemzero point



A.2 Axis structure with standard cylinder type DNC−...

The following diagram shows the axis structure in conjunctionwith standard cylinder type DNC−... and measuring systemtype MLO−POT−...−LWG:

ÓÓÓÓÓÓ

ÓÓÓÓÓÓ

1

2 5

6

4

78

3

9aJ

SPC200

1 Guide

2 Backlash−free coupling

3 Measuring system (here type MLO−POT−...−LWG)

4 Drive (here type DNC−...)

5 Earth strap

6 Axis interface type SPC−AIF−POT−LWG




aJ Shock absorber (optional)

Fig.�A/9: Axis structure with standard cylinder type DNC−...



An operating system as from version 4.6 is required foroperating this drive.

Please noteThe following DNC variants are not permitted for use withthe SPC200:

� constant run variant S10 (slow speed)

� light run variant S11 (low friction)

� temperature−resistant variant S6 (only on demand).

Use only:

� DNC drives with permitted maximum piston speed Vmax > 1 m/s.

� permitted valve−drive combinations.



Valve−drive combinations with DNC−...

Recommendation: Use only suitable valve−drive combina�tions. The following diagram shows valve−drive combinationsfor type DNC−... .

1 Proportionaldirectionalcontrol valve typeMPYE−5−...−010B

2 Drive diameter

3 Stroke length ofthe drive

1

2

350 150 250 450 650 750350 550

32

40

50

63

80



MPYE−5−3/8−010B

MPYE−5−1/4−010B

L�[mm]∅

[mm]

MPYE−5−M5−010B

Fig.�A/10: Suitable valve−drive combinations with DNC−...




Installation instructions for standard cylinder DNC−...

� Any mounting position is permitted (horizontal, vertical ordiagonal).



On each side of the drive positioning must not take place inthe range of the stroke reduction (see also chapter 3.4).



Piston j [mm] 32 40 50 63 80

Stroke reductionper end positionwith pneumatic cushioning [mm]

10 10 15 15 15

Stroke reduction per end positionwith PPV cushioning [mm]

25 25 30 30 35

· Drives with adjustable end position cushioning (PPV): Inorder to use the end position cushioning as minimumstop protection, tighten completely the adjusting screwsfor the internal end position cushioning.

· Recommendation: Limit the positioning range by shockabsorbers, also in the case of a cylinder with adjustablecushioning. In this way you can avoid damage in theevent of operating and system faults.



· Arrange the tubing between the valve (MPYE−5−...) and thedrive (DNC−...) symmetrically and as short as possible.Maximum tubing length � Cylinder stroke length + 50 mm.

· Lubricate the external guide at suitable maintenanceintervals (note manufacturer specifications).

· Use only fastening elements which can permanently resistthe acceleration forces.

Recommendation: Use the following fastening elements fromFesto:

Fastening elements Type

Base fastening HNC−...

Flange fastening FNC−...

· Use a suitable guide for absorbing lateral forces.

The cylinder, guide, measuring system and load must be rigidin the direction of movement, have very little play and mustbe connected flush with each other.

In positioning applications, use only the following elementsapproved by Festo for coupling the mass load to the drive:

Connecting element Type

Articulated head SGS−...

Swivel journal kit ZNCM−...

Bearing block LNZG−...

· Check the play of the coupling.The following applies here: Coupling play � 0.05 mm



Please noteIf there is too much coupling play this may cause:

� noise due to knocking on the coupling

� increased wear on the coupling

� bad running behaviour

� bad positioning accuracy

� in some cases to faults in identification travel.

Make sure that the play of the coupling is as small aspossible.

WarningLateral loadings produce false measuring results and maydamage the measuring system.

· Use an external guide for the mass load in order toprevent lateral loads on the connecting rod of themeasuring system.

Measuring system for the DNC−...

· In conjunction with a DNC−... , use measuring system typeMLO−POT−...−LWG (connecting rod potentiometer).

CautionIf the positioning range of the cylinder is longer than theworking stroke of the measuring system:Limit the positioning range by means of shock absorbers,so that the measuring system covers the complete posi�tioning range. In this way you can protect the measuringsystem against damage.

Note here the general instructions on measuring systems inchapter 3.2.7.



· In order to earth the device, connect the earth strap to theflat plug of the measuring system and to the earth con�nection of the axis interface (see Fig.�A/9).

The earth strap in included with the measuring system.

Please noteIf the measuring system bends or vibrates during oper�ation, use additional support for the measuring system.Use suitable measures to cushion the vibrations.

Tubing of the DNC−...

When compressed air is applied to port 4 of the proportionaldirectional control valve, the slide must move in the directionof the measuring system zero point (electrical connection ofthe potentiometer). If compressed air is applied to port 2, theslide must move away from the measuring system zero point.

1

1

24

1 Electrical connection

Fig.�A/11: Tubing of the DNC−...



A.3 Axis structure with standard cylinder type DNCM−...

The following diagram shows the axis structure in conjunctionwith the standard cylinder with built−on measuring systemtype DNCM−...:

ÔÔÔÔÔÔ

1

2 5

6

4

78

3

9aJ

SPC200

1 Guide

2 Backlash−free coupling

3 Built−on measuring system

4 Drive with built−on measuring system(here type DNCM−...)

5 Earth strap

6 Axis interface type SPC−AIF−POT





Fig.�A/12: Axis structure with standard cylinder type DNC−...−POT



An operating system as from version 4.6 is required for oper�ating this drive.

CautionThe standard cylinder and the measuring system aremounted symmetrically at the factory. Do not loosen themechanical connections between the standard cylinderhousing and the measuring system housing. When fittingthe coupling plate, observe the operating instructions forthe DNCM−...−POT.

Fig.�A/13: Do not loosen the mechanical connection



Valve−drive combinations with DNCM−...

Recommendation: Use only suitable valve−drive combina�tions. The following diagram shows valve−drive combinationsfor type DNCM−... .


2 Drive diameter


1

2

3100 200 400300 500

32

50



L�[mm]

∅[m

m]


Fig.�A/14: Suitable valve−drive combinations with DNCM−...




Installation instructions for standard cylinder typeDNCM−...−POT







Piston j [mm] 32 50

Stroke reduction per end position [mm] 10 15

· Drives with adjustable end position cushioning (PPV): Inorder to use the end position cushioning as minimumstop protection, tighten completely the adjusting screwsfor the internal end position cushioning.

· Recommendation: Limit the positioning range by shockabsorbers, also in the case of a cylinder with adjustablecushioning. In this way you can avoid damage in theevent of operating and system faults.

· Arrange the tubing between the valve (MPYE−5−...) and thedrive (DNCM−...) symmetrically and as short as possible.Maximum tubing length = cylinder stroke length + 50 mm.



· Lubricate the external guide at suitable maintenanceintervals (note manufacturer specifications).



Fastening elements Type



· Use a suitable guide for absorbing lateral forces.

The cylinder, guide, measuring system and load must be rigidin the direction of movement, have very little play and mustbe connected flush with each other.







Please noteIf there is too much coupling play this may cause:

� noise due to knocking on the coupling

� increased wear on the coupling




Make sure that the play of the coupling is as small aspossible.

WarningLateral loadings produce false measuring results and maydamage the measuring system.

· Use an external guide for the mass load in order toprevent lateral loads on the connecting rod of themeasuring system.

Tubing of the DNCM−...

When compressed air is applied to port 4 of the proportionaldirectional control valve, the slide must move in the directionof the measuring system zero point (electrical connection ofthe potentiometer). If compressed air is applied to port 2, theslide must move away from the measuring system zero point.



1

1

24

1 Electrical connection

Fig.�A/15: Tubing of the DNCM−...



A.4 Axis structure with rotary module type DSMI−...

The following diagram shows as an example the axis struc�ture in conjunction with the rotary module type DSMI−... .

ÓÓÓÓÓÓ

ÓÓÓÓÓÓÓÓÓÓÓÓÓÓ

1

2

3 4

5

67

8

SPC200


2 Rotary module with integratedmeasuring system type DSMI−...−...(rear view)


4 Earthing cable

5 Axis interface type SPC−AIF−POT−LWG

6 Proportional directional control valvetype MPYE−5−...

7 Service unit (without lubricator, with 5 �m filter)


Fig.�A/16: Axis structure with rotary module type DSMI−...



For this drive an operating system as from version 4.6 andWinPISA as from version 4.3 are required.

Valve−drive combinations with DSMI−...

Recommendation: Use only suitable valve−drive combina�tions. The following table shows valve−drive combinations fortype DSMI−... as well as the dimensions of the compressed airtubing and tube connectors.

Horizontal mounting position

TypeDSMI

Valve type MPYE−... Screw connectors for Tube type PUNDSMI−...

MPYE−... DSMI−...

DSMI−25−... MPYE−5−M5−010B QSM−M5−6 QSM−M5−6 PUN−6x1

DSMI−40−... MPYE−5−1/8−LF−010B QS−1/8−8 QS−1/8−8 PUN−8x1.25

Permitted mounting positions

In the application data you must always specify 0 [°] for therotary module under �Mounting position" (see also chap. 6.2).

The mounting position which is permitted depends on theposition of the mass centre of gravity. A distinction is madebetween the following cases:



Case A:The centre of gravity of the mass load lies outside therotary axis (output drive shaft of the DSMI−...)

· Only the vertical mounting position is permitted. The out�put drive shaft points vertically upwards or downwards.The load is moved only in a horizontal plane.

1 Centre of gravityof the mass load

1

1

Fig.�A/17: Permitted mounting position for case A

Case B:The centre of gravity of the mass load lies in the rotary axis(output drive shaft of the DSMI−...)

� Any mounting position is permitted (horizontal, vertical ordiagonal).

1 Centre of gravityof the mass load

1

Fig.�A/18: Any mounting position for case B



Installation instructions for rotary moduletype�DSMI−...

· Note that in conjunction with the SPC200, the completeswivel range of the rotary module must not be used.

Permitted swivel range = max. swivel range minus strokereduction


� The best possible positioning behaviour can beachieved if you use only 80 % of the swivel range,symmetrically to the two end positions.

� If demands placed on the positioning behaviour areonly slight, observe at least the following strokereductions in both end positions:

Pistonj [mm] 25 40

Stroke reduction per endposition [°]

5 5

· Arrange the tubing between the proportional directionalcontrol valve (MPYE−5−...) and the rotary module (DNC−...)symmetrically (equal tube lengths). Recommendation: tubing length = max. 300 mm




Please noteObserve the operating instructions for the DSMI−... . Make sure that:

� the permitted lateral force

� the permitted longitudinal force and

� the maximum permitted swivel frequencies areobserved.

· Make sure that the cushioning plate is fitted on the stoplever of the DSMI−... .

· Recommendation: Limit the swivel range by means ofshock absorbers. In this way you can avoid damage in theevent of operating and system faults.

· In order to earth the device, connect the earth connectionof the DSMI−... and the earth connection of the axis inter�face with an earth strap or an earth cable (cross−sectionalarea min. 2.5 mm2, length max. 0.5 m; see Fig.�A/16).

Mass load

In conjunction with the SPC200, operation of the DSMI−... isregulated electronically. Special mass moments of inertiatherefore apply (see chapter 3.2.9).

Please noteMake sure that the permitted mass moment of inertia isobserved during operation. The mass moment of inertiamust not change during the movement.

· Fit the mass load free of play.

· Avoid a mass load with unfavourable internal vibrations.



Please noteInternal vibrations of the mass load can lead to malfunc�tioning. Fasten the mass load so that vibration is kept to aminimum. Avoid masses on long, flexible lever arms.

1 Favourableinternal vibrationbehaviour

2 Unfavourableinternal vibrationsare not permitted

1 2

Fig.�A/19: Example: Favourable and unfavourable internal vibration behaviour of the mass

Tubing of the DSMI−...

Work connection 2 of the proportional directional controlvalve must be connected to the connection which moves thestop lever in the direction of end position 1.



1 Shock absorberfor end position 1

2 Stop lever

3 Shock absorberfor end position 2

4 Work connectionhas effect indirection of endposition 1

5 Work connectionhas effect indirection of endposition 2

1

2

3

45

Fig.�A/20: Work connections and fixed stops on the DSMI−...−...

42

Fig.�A/21: Tubing of the DSMI−...



A.5 Axis structure with standard cylinder type DNCI−...

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

ÔÔÔÔÔÔ

1

2 5

6

4

78

3

9aJ

SPC200

,

1 Guide

2 Play−free coupling

3 Measuring system in the piston rodand sensor head in the bearing cover

4 Drive with integrated incrementalmeasuring system (type DNCI−...)

5 Earth strap

6 Axis interface type SPC−AIF−INC





Fig.�A/22: Axis structure with standard cylinder type DNCI−...



An operating system as from version 4.82 is required foroperating this drive. For commissioning, WinPISA from version 4.41 is additionallyrecommended.

WarningThere is a danger of injury caused by pressure forceswhich can eject the sensor if the connecting screws areloosened under pressure.

· Make sure that the following sources of power areswitched off:� operating voltage� compressed air (drive vented on both sides).

The sensor projects into the pressure chamber of theDNCI−... .

Fig.�A/23: Sensor connection



Please noteThe piston rod of the DNCI is flat on both sides � thedouble piston rod. The incremental magnetic measuringtape is integrated into the piston rod on one side. Do notdamage this side of the piston rod; the measuring tapecould be damaged and thus falsify the measuring signal.This can disable the function of the measuring system.

The double piston rod is used exclusively to secure themeasurement system against rotation; it is not suitable forabsorbing external moments. Further information on oper�ating and connecting the DNCI can be found in the operat�ing instructions for the DNCI.

Please noteThe function of measuring system in the DNCI is based onmagnetism. Excessively strong magnetic fields in the areaof the sensor head can hinder the measuring function orfalsify the measurement results.

Be sure to observe the mounting conditions described inthe operating instructions.



Valve−drive combinations with DNCI−...

Recommendation: Use only suitable valve−drive combina�tions, see the following illustration.


2 Drive diameter


1

2

350 150 250 450 650 750350 550

32

40

50

63



MPYE−5−1/4−010B

L�[mm]

∅[m

m]


Fig.�A/24: Suitable valve−drive combinations with DNCI−...




Installation instructions for standard cylindertype�DNCI−...



Permitted work stroke = stroke length minus strokereduction




Piston j [mm] 32 40 50 63

Stroke reduction per end position [mm] 10 10 15 15

· Recommendation: Limit the movement range by means ofshock absorbers. In this way you can avoid damage in theevent of operating and system faults.

· Arrange the tubing between the valve (MPYE−5−...) and thedrive (DNCI−...) symmetrically and as short as possible.Maximum tubing length = cylinder stroke length + 50 mm.

· Lubricate the external guide at suitable maintenance in�tervals (be sure to note manufacturer specifications).





Fastening element Type



· Use a suitable guide for absorbing lateral forces andexternal torques.

Recommendation: If necessary, use standard cylinder typeDNCI from Festo in the variant with built−on guide unit typeFENG.

The cylinder, guide, measuring system and load must be rigidin the direction of movement, have little play and must beconnected flush with each other.




Swivel journal kit ZNCM−...

Bearing block LNZG−...




Please noteIf there is too much play in the coupling between the massload and the drive this may cause:

� noise due to knocking on the connecting elements

� high wear on the connecting elements




Make sure that there is as little play as possible betweenthe connecting elements.

WarningLateral loads and torques produce incorrect measuredresults and can even damage the measuring system.

· Use an external guide for the mass load in order to pre�vent lateral loads and torques on the double piston rod.



Tubing of the DNCI−...

When compressed air is applied to port 4 of the proportionaldirectional control valve, the piston must retract, and themass load then moves to the right in the depiction shownhere (see Fig.�A/25). When compressed air is applied toport�2, the piston must advance, and the mass load thenmoves to the left here.

1 Electricalconnections

2 Compressed airsource (4...8 bar)

1

24

2 1

Fig.�A/25: Tubing of the DNCI−...

Optimizing the positioning behaviour

B−1Festo P.BE−SPC200−EN en 0901d

Appendix B

B. Optimizing the positioning behaviour

B−2 Festo P.BE−SPC200−EN en 0901d

Contents

B.1 Basic information on control B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Description of the controller factors B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 Optimize positioning behaviour B−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.1 Proceed as follows if the compressed air supply is unstable B−16 . . . . .



B.1 Basic information on control

The basis for control of the pneumatic axes is a model control

path stored in the SPC200. This model assumes a pneumatic

axis which is built up in accordance with specifications, e.g.with regard to:

� the compressed air provided

� the valve−cylinder combination used

� the permitted mass load

� tubing sizes and lengths, etc.

The basic parameters of this control path are:

� the axis and application data to be entered

� internal data ascertained by the system identification andby adaptation.

System identification During commissioning, variables such as the maximumachievable speed, acceleration ability, static friction andvalve characteristics of the axis are ascertained based on adynamic and static system identification run.

Adaptation With adaptation, the positioning behaviour is continuouslymonitored during operation.. Internal controller data areadapted here to the actual state of the axis, e.g. in order tocompensate for system wear etc. during the service period.



In addition to point−to−point positioning (G00), the SPC200

controller also enables profile travel (G01/G02) of the pneu�matic axes.

Point−to−point With point−to−point positioning, nominal value curves forpath, speed and acceleration are generated by the SPC200.These should enable reproducible, if possible fast andoverswing−free movement towards the nominal position(see�chapter 7.4, command G00).

Profile travel With profile travel, the nominal value curves are calculatedon the basis of the nominal positions programmed by the

user for position, speed and acceleration (see chapter 7.4,

commands G01, G02).

The nominal positioning time is here the sum of the individ�ual times of the following phases (see following diagram):

� acceleration phase

� braking phase

� the phase of consistent movement.

Note that the programmed speed and acceleration values areautomatically limited to implementable values depending onthe positioning stroke. The implementable maximum valuesare ascertained by the SPC200 individually for each axis dur�ing dynamic identification travel.



1

2

34 5

6

7

89aJ

1 Programmed speed

2 Identified maximum speed


4 Approach ramp (G08)

5 Braking ramp (G09)

6 Nominal value curve with G02

7 Nominal value curve with G01

8 Braking phase (t2)

9 Consistent movement (t3)

aJ Acceleration phase (t1)

Fig.�B/1: Nominal speed value curve (G01/G02)



Please noteWith dynamic identification, the maximum speed and themaximum acceleration values of the positioning systemconcerned are ascertained. When NC commands G01, G02and G08, G09 are used, these values must not be ex�ceeded.

Phases of apositioning process

Calculationformulae

Description

Acceleration phase t1 �va1

v = programmed speeda1 = acceleration for approach ramp

s1 �a12� t21

a1 = acceleration for approach rampa2 = acceleration for braking rampt1 = approach timet2 = braking time

Braking phase t2 �va2

t2 = braking timet3 = time with constant speeds1 = approach path

s2 �a22� t22

s1 = approach paths2 = braking patht3 = path with constant speeds = complete path

Consistent movement s3 � sges−(s1 � s2)

s1 = complete path

t3 �s3v



B.2 Description of the controller factors

From the basic parameters the SPC200 ascertains various

controller parameters. These determine the dynamics

(speed) as well as transition behaviour (damping) of the con�troller. The aim is to guarantee fast, overswing−free position�

ing with little contouring fault (dynamic control deviation).

The controller data ascertained by the SPC200 are usuallytherefore the optimum values. The (real) pneumatic axes

used, however, do not always correspond to the axes used as

a basis for the control process (ideal axes). In order thatpossible deviations can be taken into consideration, you can

influence the control parameters by entering factors.

Instructions on optimizing the positioning behaviour can befound in section B.3.

The factors are standardized to 1.0 by the SPC200. If thefactors are increased (> 1), the parameters will be increased

accordingly; if the factors are reduced (< 1), the parameters

will be reduced accordingly.

Gain factor With the gain factor you can influence the sensitivity withwhich the positioning control circuit reacts to modificationsof the �variables" (position, speed, acceleration).



Behaviour of the axis Factor

The drive tends towards instability (tendency tovibrate during positioning, up to continuousvibration around the nominal position).

Reduce

Bad positioning accuracy or high contouring faultas well as long positioning time.

Increase

The positioning process is carried out quickly andaccurately.

Optimal

Permitted: 0.1 ... 10.0

Damping factor Damping is a measure for the transition behaviour of thesystem from the actual to the nominal status, especiallywhen there are fast modifications to the nominal value. As arule the system should guarantee low−oscillation behaviourwith nominal value specifications and movement into thetarget position without overswing.

By modifying the factor for damping, you can influence thetransition behaviour of the system.


Bad positioning quality, nominal position isapproached only slowly (underswing).

Reduce

The drive tends towards instability (tendency tovibrate during positioning, up to continuousvibration around the nominal position, heavyoverswing).

Increase

The positioning process is carried out quickly andaccurately.

Optimal

Permitted: 0.1 ... 10.0



Signal filter factor Speed and acceleration are derived from the positioningsignal and filtered to improve the signal quality. If in practicethere is bad signal quality, e.g. due to electrical interfer�ence, filtering of the signal can be influenced by the signalfilter factor.

If filtering is too strong it may destabilize control.


The drive tends towards instability (despite lowgain and good damping).

Reduce

�Noise" or loud valve noises (observe gain; thismay be too high).

Increase

The positioning process is carried out quickly andaccurately, low valve noises.

Optimal

Permitted: 0.1 ... 10.0



B.3 Optimize positioning behaviour

The following problems can occur during positioning:

� the axis stops prematurely on several occasions

� swinging around the nominal position

� stability problem, very frequent swinging around thenominal position

� overswing

� underswing.

However, before you begin to optimize the positioning behav�

iour of your axis, proceed at first as follows:

· Make sure that the pneumatic axis is built up in

accordance with the regulations (see chapter 3.2 andappendix�A).

· Make sure that all axis and application data are set

correctly.

· Always carry out the static identification and at least one

of the dynamic system identifications.

· Now carry out several positioning cycles. This is toguarantee that the adaptation is effective.

The adaptation is only effective with position quality

classes 3, 4, 5 and 6; in positioning quality classes 1and�2 the adaptation is not effective.



If problems still occur, proceed as follows:

1. Observe the positioning behaviour. If possible, use the

WinPISA software package here. With WinPISA you canrecord and represent graphically nominal and actual

values for e.g. path, speed and acceleration.

Detailed information on this can be found in the WinPISAuser manual.

2. Compare the positioning behaviour or the graphcompiled with WinPISA with the following examples.

3. In order to optimize the positioning behaviour, proceed

as described in the table of the corresponding example.Check first from top to bottom the most probable causes

and their remedial measures.



Effect Cause Remedy

Premature stop several times

1 2 � System identification has notbeen carried out

� Adaptation is not yet com�pleted

� Bad running behaviour ofcylinder/guide (stick−slip)

� Incorrect mass

� Incorrect valve type confi�gured

· Carry out system identifica�tion

· Carry out some positioningcycles (adaptation)

· Carry out test or mainten�ance or replace components

· Correct mass

· Correct configuration

Swinging around the nominal position with standstill times

1 2 � Static identification travelnot carried out

� Incorrect mass load confi�gured or programmed (M37)

� High performance of cylinder(friction has changed)

� Gain factor set too low

· Carry out static identificationtravel

· Correct configuration orprogram

· Carry out system identifica�tion again (static or dynamic)

· Correct parameters

1 Nominal position

2 Actual position



Effect Cause Remedy

Stability problem, very frequent swinging around the nominal position

1 2

3

� Incorrect mass load confi�gured or programmed (M37)

� Gain factor set too high

� Damping factor set too low

� Signal filter factor set toohigh (smooth acceleration/speed signal but continuousswinging)

� Or very noisy accelerationsignal with high amplitude

� Minimum mass load notreached

� Too small tolerancedemanded

· Correct configuration orprogram



· Reduce signal filter factor

· Increase signal filter factor

· Increase basic load (see chapter 3.2.9)

· Increase tolerance

1 Nominal position

2 Actual position

3 Speed



Effect Cause Remedy

Overswing (no or minimum standstill time before MC)

1 2 � Drop in the static supplypressure below the per�mitted tolerance limit duringoperation

� Mass load too high (or confi�gured mass load too low)

� Overstressing (nominalacceleration too high)

� Signal filter factor set toohigh

� Gain factor set too high

� Damping factor set too low

· Stabilize supply pressure orcarry out new systemidentification with lowsupply pressure (see section B.3.1)

· Correct mass load

· Reduce nominal values(especially acceleration) orcarry out dynamicidentification travel(automatic limiting)




1 Nominal position

2 Actual position



Effect Cause Remedy

Overswing (no or minimum standstill time before MC)

1 2 � Too high mass load entered(in some cases causes over�dampened controller)

� Overstressing (too high,�fast" nominal values)

· Reduce mass load (see chapter 3.2.9)

· Adapt nominal values orcarry out dynamic identifica�tion travel (automatic limiting)

1 Nominal position

2 Actual position



B.3.1 Proceed as follows if the compressed air supply is unstable

If your compressed air supply does not reliably fulfil the

requirements (tolerance of +/− 1 bar in operation), although a

compressed air reservoir has been installed (see chapter3.2.3), the maximum values for acceleration and delay

ascertained during system identification may, under some

circumstances, not be reached.

This may result e.g. in overswing, if the operating pressure

required for delay is not available.

In order to avoid such overstressing, you can reduce thedynamics of the system. In order to do this proceed as

follows:

1. Ascertain the lowest static supply pressure available forpositioning in your compressed air network.

2. Lower the supply pressure statically to this level.

3. Now carry out the dynamic identification travel again.

4. When system identification is concluded, increase thesupply pressure again to the value set in the application

data.

Technical appendix

C−1Festo P.BE−SPC200−EN en 0901d

Appendix C

C. Technical appendix

C−2 Festo P.BE−SPC200−EN en 0901d

Contents

C.1 Sequence plans for the programmer C−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Creating readiness to operate C−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.2 Start NC record in Record Select mode C−7 . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Start program or NC record C−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.4 Carry out fault acknowledgement C−10 . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 Cable length and cross−sectional area C−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.3 Internal layout of the inputs/outputs C−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.4 Technical specifications C−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.4.1 Technical specifications for the SPC200 C−22 . . . . . . . . . . . . . . . . . . . . . .

C.4.2 Technical specifications of axis interface type SPC−AIF−... C−28 . . . . . . . .

C.4.3 Technical specifications of the I/O function module type SPC−FIO−... C−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.4.4 Technical specifications of control panel type SPC200−MMI−1 C−31 . . . .

C.4.5 Technical specifications of control panel type SPC200−MMI−1F C−32 . . .



C.1 Sequence plans for the programmer

The following sequence plans will support you in program�ming a higher−order PLC/IPC. They show you how to:

� create readiness to operate

� start NC records in Record Select mode

� start NC programs in Start/Stop mode

� quit fault.

The signal names are printed in upper−case letters. For example: READY stands for READY signal, 1 stands for1−signal, 0 stands for 0−signal.

C.1.1 Creating readiness to operate

When the operating voltage is switched on, the SPC200carries out the initialization and self−test of the connectedmodules. This initialization phase can take a certain amountof time (max. 10 seconds), depending on the equipment fittedon the system.

Please noteDuring this initialization phase no further rising signal edgemay be created at the Start/Reset input.

After the initialization phase there may be a fault (e.g. hard�ware fault) even if the READY output supplies a 1−signal for abrief period. Therefore when the 1−signal is first recognized atthe READY output, you must wait another � 100 ms. The sig�nal at the READY output must then be scanned again for a1−signal (see sequence plan �Create readiness to operate").



The following signal states must exist at the control inputsbefore the readiness to operate can be created:

Record Select mode

Control input Signal

ENABLE 0−signal

STOP 0−signal

RESET 0−signal

CLK_B Not relevant

CLK_A Not relevant

Start/Stop mode


ENABLE 0−signal

STOP 0−signal

START/RESET 0−signal

SYNC_IB Not relevant

SYNC_IA Not relevant



Wait � 10 sInitialization phase

Switch on the operatingvoltage and load voltage atthe same time

Set ENABLE

Switch on the load voltage

Wait � 1 s

Create readiness to operate

Wait � 10 s

Reset:��ENABLE��STOP��RESET or START/RESET

Switch on the operatingvoltage

1

Switch onoperating and loadvoltage suppliesat the same

time?

Yes No

1

2

2

2

1 Operating and load voltage supplies of the SPC200

2 Each voltage must be stable 24 V DC −5/+25 %

Fig.�C/1: Create readiness to operate



1

Start timer � 2 s

No Timerexpired?

Yes

No

READY =1?

Yes

Wait � 100 ms

READY =1?

End

Yes

No


SPC200 is faulty

Wait for the readiness of the stepping motor and the pneumaticaxes to operate (reaction time max. 2 s).

Waiting for faults

Set STOP

Wait � 10 ms Debounce time

Fig.�C/2: Create readiness to operate (continued)



C.1.2 Start NC record in Record Select mode

ACK_A/B=0?

Create NC record number

Reset CLK_A/B

Start timer � 2 s

No Timerexpired?

YesFault

No

ACK_A/B=1?

Yes

Start NC record in RecordSelect mode

Wait � 10 ms

Set CLK_A/B

1

RECBIT1...10

2

No

Yes

Fig.�C/3: Start NC record in Record Select mode



No Timerexpired?

YesFault

No

Yes

Start timer � 2 s

RC_A/B=1?

End

No Timerexpired?

YesFault

No

Start timer

ACK_A/B=0?

1 2

Time requirement depends on the application

Yes

Fig.�C/4: Start NC record in Record Select mode (continued)



C.1.3 Start program or NC record

Prerequisites

� The program must already be saved in the program memory� The axis, application and system data must be set correctly� The operating mode must be set� The SPC200 is ready to operate (1−signal at ENABLE and STOP

inputs and at READY output)

Start NC program in Start/Stop mode

In the operating mode Start/Stop the sequence is started orcontinued with a rising signal edge at the START input. Theremust be a 1−signal here at the STOP input.

If there is a 0−signal at the STOP input, a Program Reset willbe triggered by a rising edge at the START input.

Set START

Reset START

Wait 10 ms

Process NC program inStart/Stop mode

Prepare new start

NC program will be started

Debounce time

End

Fig.�C/5: Start NC program in Start/Stop mode



C.1.4 Carry out fault acknowledgement

When serious faults have been quitted, the SPC200 carriesout the initialization and self−test of the connected modulesagain. This initialization phase can take a certain amount oftime (max. 10 seconds), depending on the equipment fittedon the system.

Please noteDuring this initialization phase no further rising signal edgemay be created at the Start/Reset input.

When a fault has been quitted, there may still be faults (e.g.hardware faults). In this case, fault acknowledgement shouldbe repeated up to three times (see sequence plan �Faulttreatment"). If the SPC200 is then still not ready to operate(READY signal = 0), the fault cannot be quitted, as the causeof the fault must first be eliminated.

A diagnosis can be carried out with WinPISA or with thecontrol panel.

When the load voltage supply is switched off (e.g. afterEmergency Stop), an appropriate fault message will be dis�played. When the load voltage is switched on again, you mustwait 1 second before the fault is quitted (see Fig.�C/1 �Createreadiness to operate").



The following signal states must exist at the control inputsbefore the readiness to operate can be created:

Record Select mode


ENABLE 1−signal

STOP When acknowledging with the RESET signal:0−signalWhen acknowledging with the CLK signal:1−signal

RESET 0−signal

CLK_B 0−signal

CLK_A 0−signal

Tab.�C/1: Necessary signal states in Record Select mode

Start/Stop mode


ENABLE 1−signal

STOP 1−Signal *)

START/RESET 0−signal

SYNC_IB not relevant

SYNC_IA not relevant

*) If there is a 0−signal at the STOP input, a Program Reset will betriggered by a rising edge at the START/RESET input.

Tab.�C/2: Necessary signal states in Start/Stop mode



Acknowledgem. counter = 0

No

READY =1?Yes

Fault treatment

Carry out fault acknowledge−ment (see Fig.�C/7)

READY =1?

End

No

Increment acknowledge−ment counter

Yes

NoAcknow−ledgem.counter

> 3 ?

Fault cannot be quittedDiagnosis required

Yes


Fig.�C/6: Fault treatment



Set START or CLK

Start timer � 10 s

No Timerexpired?

Yes

No

READY =1?

Yes

Fault acknowledgement

Wait � 10 ms

Reset START or CLK

Debounce time

Wait � 100 ms

Rising edge starts the fault acknowledgement

Restore standard setting

Max. waiting time until READY signal is applied

Wait for next fault

Create necessary signalstates

Wait � 10 ms Debounce time

The necessary signal states depend on the operating modeused (see Tab.�C/1 and Tab.�C/2).

End

Fig.�C/7: Carry out fault acknowledgement



C.2 Cable length and cross−sectional area

Please noteIn the following section it is assumed that the reader isfamiliar with the information in the chapter 3 �Installation"in this manual. This section is directed exclusively atpersonnel trained in electrotechnology.

A load−dependent drop in voltage occurs on all three supplycables of the SPC200. This can lead to the voltage at pin 1

(24�L) or pin 2 (24 V) of the operating voltage connection (X2)lying outside the permitted tolerance.

Recommendation:

· Avoid long distances between the power unit and theSPC200.

· Ascertain the most suitable cross−sectional area and themaximum cable length for the operating voltage cable inaccordance with the following formula.

Please noteThe following formula assumes that the cross−sectionalareas of the operating voltage supply (pins 1, 2 and 3) arethe same.



Ascertain by formula

Proceed as follows:

1. Calculate the maximum current consumption of the inter�nal electronics, the connected modules and measuringsystems (I1) as well as the load supply for outputs, field

devices and proportional directional control valves (I2)(see also chapter 3.5.1).

2. Ascertain the lowest voltage to be expected during oper�ation (VBmin) on the power unit. Take the following intoaccount:

· the load dependency of the power unit

· the fluctuations in the primary mains voltage

· the operating temperature of the devices.

3. Enter the values in the relevant formula. The equivalent

circuit diagram as well as the example explain the correla�tions.



Pin 1

Pin 2

Pin 3

AC

DC

RL1 VL1 RL2 VL2

RI1 RI2

RL0 VL2+VL1

0�V

VOUT/VAL

I1

I2

I0

Switch on

SPC200

Equivalent circuit diagram

L

VB

1

2

3

I1I2

I1: Electronics etc. (24 V)I2: Outputs/valves etc. (24 L)

1 Line resistor (outgoing) RL1 + RL2

2 Line resistor (returning) RL0

3 L = distance (cable length)

Fig.�C/8: Equivalent circuit diagram for power supply



Formula for maximum cable length:

L ��VBmin � VOUTVALmin

� � A � ËCU�

{2 � I2 � I1}

Meaning

· VOUT/VALmin 22.8 V

· VBmin = minimum operating voltage supply (on the power unit)

· Current I1 = current for electronics etc. (24 V)

· Current I2 = current for outputs, field devices and proportional directional control valves etc. (24 L)

· A = cross−sectional area (uniform e.g. 1.5 mm2)

· κ = conductance value of the cables

(uniform e.g. κCU = 56m

mm2 �)

Example: SPC200−CPU4 with basic components and field devices for2�axes:

I1 = 1 AI2 = 2.3 AVBmin = 24 VVOUT/VALmin = 22.8 V

κCU = 56m

mm2 �

Result:L ≤ 18 m for A = 1.5 mm2

L ≤ 9 m for A = 0.75 mm2



C.3 Internal layout of the inputs/outputs

Internal layout of type SPC200−DIO (PNP inputs)

0...9 *)

0 V

24�V +10/−15 %

0�V

1

2 3

4

5

1 Diagnosis (short−circuit, overload,protection against incorrect polarity)

2 SPC200, inputs 0...9

3 Logic recognition

4 24 V sensor supply (not with separate potential)

5 *) Designation on plug X5/X7 (inputs 0...9)

Fig.�C/9: Internal layout of type SPC200−DIO (PNP inputs)



Internal layout of type SPC200−DIO (PNP outputs)

1

0...7 *)

0 V

24�V +10/−15 %

0�V

23

4

5

1 Load voltage connection

2 SPC200, outputs 0...7

3 Electrical isolation

4 Diagnosis (short circuit, overload, loadvoltage failure)

5 *) Designation on plug X6/X8(outputs 0...7)

Fig.�C/10: Internal layout of type SPC200−DIO (PNP outputs)



Internal layout of type SPC−FIO−2E/2A (PNP inputs)

Pin 1

0�V

Pin 4

Pin 3

+24�V1

2

3

4

5

1 Sensor supply via AIF string

2 SPC−FIO−..., input 1.0 or 1.1


4 Diagnosis (short circuit, overload,protection against incorrect polarity)

5 green LED

Fig.�C/11: Internal layout of type SPC−FIO−2E/2A (PNP inputs)



Internal layout of type SPC−FIO−2E/2A (PNP outputs)

1 2

3

4

Pin 4 (n.c.)

0�V

Pin 1

Pin 3

1 Load supply via AIF string

2 Diagnosis (short circuit, overload, load voltage failure)

3 SPC−FIO−..., output 1.0 or 1.1


Fig.�C/12: Internal layout of type SPC−FIO−2E/2A (PNP outputs)



C.4 Technical specifications

C.4.1 Technical specifications for the SPC200

Type �SPC200−CPU−...

Dimensions

� Height� Width� Depth

Locations4 6120 mm 120 mm126 mm 167 mm96.5 mm 96.5 mm

WeightNot fitted

�Approx. �675 g Approx. 850 g

Temperature range:� Operating temperature� storage/transport

− 5 ... + 50 °C− 20 ... + 70 °C

Relative humidity 95 %, non−condensing

Protection class as per EN 60529, locations occupied or sealed with blanking plugs IP20

NC programming� Based on� Number of programs� Number of NC records� Number of NC records per program� Position register,� Nesting depth of sub−programs

Program saving without batteriesDIN 66025Max. 100Max. 2000Max. 1000100 per axisMax. 4

Vibration and shock� Vibration

� Shock

Tested as per DIN/IEC 68 part 2−6:0.15 mm path at 10...58 Hz;2 g acceleration at 58...150 HzTested as per DIN/IEC 68 part 2−27:± 30 g at 11 ms duration; 5 shocks per direction

CE symbol (declaration of conformity)è www.festo.com

In accordance with EU EMC Directive

The component is intended for industrial use.



Type SPC200−PWR−AIF

Temperature range� Operation� Storage/transport

− 5 ... + 50 °C− 20 ... + 70 °C

Weight 82 g


Operating voltage at pin 1 (load voltage)� Rated value� Tolerance 1)

� Residual ripple� Current consumption (SPC200−CPU−4 and

SPC200−CPU−6)

24 V DC−5 ... +25 % (22.8...30.0 V DC)2 %500 mA + 1.2 A per pneumatic axis

Operating voltage at pin 2 (internal electronics)� Rated value� Tolerance� Residual ripple� Power failure bridging timeCurrent consumption with:� SPC200−CPU−4

� SPC200−CPU−6

24 V DC−5 ... +25 % (22.8...30.0 V DC)2%10 ms

400 mA + current requirement of the componentsconnected to the sensor supply 2) + sum of cur�rent consumption on the AIF string 3)

600 mA + current requirement of the componentsconnected to the sensor supply 2) + sum of cur�rent consumption on the AIF string 3)




� Shock


1) Observe the tolerance of the modules connected to the axis interface string.2) Maximum 0.5 A �be made available for each I/O module type SPC200−DIO.3) See technical specifications of the connected modules.The component is intended for industrial use.



Type SPC200−MMI−DIAG


− 5 ... + 50 °C− 20 �... + 70 °C

Weight 68 g

Relative humidity 9%, non−condensing

Serial interface (RS232C)� Baud rates� Data bits� Stop bits� Parity� Protocol

9600, 19200, 38400, 57600, 115200 Baud8 bits1StraightNo handshake




� Shock




Type SPC200−DIO (PNP)


− 5 ... + 50 °C− 20 ... + 70 °C

Weight �62 g


Digital inputs� Design� Logic level: ON

OFF� Current consumption (at 24�V) (input current

from sensor to input)� Response delay (at 24 V)� Reference potential

10 inputs as per IEC 1131−2 type 2 inputs 24 VDC positive−switching (PNP)> 11 V< 5 VAt �logical 1"; typ. 8 mA

Typ. 5 ms0 V

Digital outputs� Design� Load capacity per output� Electronic fuse (short circuit, overload)

Trigger currentResponse time

8 outputs as per IEC 1131−224 V DC; positive−switching250 mA

> 2 AMax. 1.5 ms

Sensor supply VD 24 V ± 25 % Max. 0.5 A (electronic short−circuit protection)

Electrical isolation� Inputs� Outputs

NoYes




� Shock




Type �SPC200−2AI−U


− 5 ... + 50 °C− 20 ... + 70 °C

Weight Approx. 55 g


Analogue nominal value input� Input voltage� Resolution� Input resistor

0...10 V12 bits> 200 k




� Shock




Type �SPC200−SCU−AIF


− 5 ... + 50 °C− 20 ... + 70 °C

Weight Approx. 80 g


Current consumption Typ. 100 mA




� Shock




C.4.2 Technical specifications of axis interface type SPC−AIF−...

Type SPC−AIF−...

Dimensions (plug exit on top, without cable; incl. fasteningbracket)

...−POT/−LWG/−MTS ...−INCWidth: appr. 100 mm appr. 91 mmHeight: appr. 42 mm appr. 46 mmLength: appr. 66 mm appr. 66 mm

Weight ...−POT/−LWG/−MTS ...−INCapprox. 300 g approx. 240 g

Temperature range� Operating temperature� Storage/transport

0 ... + 50 °C− 20 ... + 70 °C


Protection class as per EN 60529 plug connectorsinserted or fitted with protective cap

IP65

Power supply� Rated value� Tolerance 1)

� Current consumpt. of load voltage incl. MPYE−...� Current consumption of internal electronics� Residual ripple

24 V (DC)− 25 ... +�25 % 1)

...−POT/−LWG −...−MTS ...−INC1.1 A 1.2 A 2) 1.1 A100 mA 200 mA 2) 60 mAmax. 6 % max. 6 % max. 5 %

Valve output (MPYE−5−...−...)� Power supply� Output voltage

24 V (DC)0 ... +10 V

Potentiometer (only SPC−AIF−POT and ...−LWG)� Reference voltage VOUT� Rmin

+ 10 V2.5 K

Digital measuring system (only SPC−AIF−MTS)� VOUT + 24 V

1) Observe the tolerance of the connected valve type MPYE−...2) Current consumption incl. digital measuring system



Continued type SPC−AIF−...




� Shock


The device is intended for use in industrial applications



C.4.3 Technical specifications of the I/O function module type SPC−FIO−...

Type SPC−FIO−2E/2A−M8 1) �(PNP)


− 5 ... + 50 °C− 20 ... + 70 °C

Weight 42 g


Protection class as per EN 60529plug connectors inserted or fitted withprotective cap IP65




� Shock

Tested as per DIN/IEC 68 part 2−6:± 30 g at 11 ms duration; 5 shocks per directionTested as per DIN/IEC 68 part 2−27:± 30 g at 11 ms duration; 5 shocks per direction

Digital inputs� Design� Protection against incorrect polarity� Logic level: ON

OFF� Reference potential� Current consumption (at 24�V)

(input current from sensor to input)� Response delay (at 24 V)

2 inputs as per IEC 1131−2 type 2 inputs 24 V DC, positive switch. PNP, status display by LED− 30 ... + 30 V> 11 V< 5 V0 VAt �logical 1" typ. 7 mA

Typ. 3 ms

Sensor supply 2) VD 24 V ± 25 % Max. 0.5 A (electronic short−circuit protection)

Digital outputs� Design� Load capacity per output 1)

� Electronic fuse (short circuit, overload)Trigger currentElectrical isolation

2 outp. as per IEC 1131−2; 24 V DC positive switching250 mA

Min. >500 mANone

Internal current consumpt. of electronics 2) < 40 mA

1) External load voltage supply type SPC−AIF−SUP−24V required2) Is provided by module SPC200−PWR−AIF (internal electronics, pin 2)



C.4.4 Technical specifications of control panel type SPC200−MMI−1

Type SPC200−MMI−1

Dimensions� Height� Width� Depth

Approx. 67�mmApprox. 59 mmApprox. 52 mm

Weight Approx. 90 g


− 5 ... + 50 °C− 20 ... + 70 °C


Protection class as per EN 60529Control panel inserted IP20


� Shock




C.4.5 Technical specifications of control panel type SPC200−MMI−1F

Type SPC200−MMI−1F

Dimensions� Height� Width� Depth

Approx. 102 mmApprox. 102 mmApprox. 37 mm

Weight Approx. 225 g


0 ... + 50 °C− 20 ... +70 °C


Protection class as per DIN 40050 (DIN EN 60529)

On front side: IP65 (fitted)On rear: IP20




� Shock


Electric power supply� Rated voltage� Voltage range� Current consumption� Protected against incorrect polarity

Phoenix Combicon 3x3.8124 V18...36 VApprox. 100 mAYes

Protection against electric shock (protectionagainst direct and indirect contact acc. to IEC/DIN EN 60204−1)

By means of PELV power units(Protected Extra−Low Voltage)

Interface to SPC200� Specification

� Connection� Max. cable length� Pin assignment

RS232 port8 bits, 1 stop bit, even parity, no handshake, baud rate 9600 bits/s; 9−pin D−sub−socket10 mPin 2: Received Data (RxD)Pin 3: Transmitted Data (TxD)Pin 5: Signal Ground (SGND)

Care and maintenance Clean with a soft cloth

Index

D−1Festo P.BE−SPC200−EN en 0901d

Appendix D

D. Index

D−2 Festo P.BE−SPC200−EN en 0901d

D. Index


A

Absolute dimension specification with positioning commands (NC command G90) 7−64 . . . . . . . .

Acceleration switching (example) 7−45 . . . . . . . . . . . . . . . . . .

Acceleration, maximumConfigure 7−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Determining (dynamic identification) B−3 . . . . . . . . . . . . . . Setting with the control panel (pneumatic axis) 6−22 . . . . . Setting with the control panel (stepping motor) 6−23 . . . .

ACK_A/B signal (Record Select mode)Definition 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sequence diagram 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Acknowledging a fault (time behaviour) 5−8 . . . . . . . . . . . . . .

Actual configuration 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Save 4−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Save as nominal configuration with the control panel 6−24

Actual position (explanation) 1−15 . . . . . . . . . . . . . . . . . . . . .

Adaptation (explanation) B−3 . . . . . . . . . . . . . . . . . . . . . . . . . .

Add to register (NC command #AR) 7−89 . . . . . . . . . . . . . . . .

Additional information (for fault messages) 8−9 . . . . . . . . . . .

Address assignment, Example 1−32 . . . . . . . . . . . . . . . . . . . .

Address assignment (I/O modules) 3−41 . . . . . . . . . . . . . . . . Basic rules 3−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Addressing 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Address ranges 3−41 , 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . Basic rules 3−42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operands 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

AnalogueConnecting sensors 3−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . Input module 3−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Nominal value specification 3−48 , 7−28 , 7−75 . . . . . . . . . . . Offset 7−71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Angle measuring system 3−24 . . . . . . . . . . . . . . . . . . . . . . . . .

Angle of rotation of the drive 3−25 . . . . . . . . . . . . . . . . . . . . . .

Application dataFor electric axes (setting with control panel) 6−23 . . . . . . . for pneumatic axes (setting with control panel) 6−18 . . . . . Overview 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ascertain acceleration, Maximum (dynamic identification) 7−32 . . . . . . . . . . . . . . .

Autonomous mode 1−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis dataOverview 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting with control panel − electric axes 6−17 . . . . . . . . . . Setting with control panel − pneumatic axes 6−16 . . . . . . . .

Axis identifier (for fault messages) 8−11 . . . . . . . . . . . . . . . . .

Axis identifiers, Assignment 1−20 . . . . . . . . . . . . . . . . . . . . . .

Axis interfaceDescription 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing 3−56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Manual override cover 2−16 . . . . . . . . . . . . . . . . . . . . . . . . . On−the−spot diagnosis (LEDs) 8−6 . . . . . . . . . . . . . . . . . . . .

Axis interface stringBasic rules for installation 3−53 . . . . . . . . . . . . . . . . . . . . . . Definition, structure 1−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . External load voltage supply 3−53 . . . . . . . . . . . . . . . . . . . . Installing the modules 3−52 . . . . . . . . . . . . . . . . . . . . . . . . . Max. cable lengths on string 3−54 , 3−55 . . . . . . . . . . . . . . . Maximum string length 3−53 . . . . . . . . . . . . . . . . . . . . . . . .

Axis status flag Fn 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General information 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . MC (motion complete) 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . MOV (axis moves) 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . REF (Reference set) 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . TOL (axis in the tolerance window) 7−22 . . . . . . . . . . . . . . .

Axis stop (NC command M12) 7−72 . . . . . . . . . . . . . . . . . . . . .

D. Index


Axis structure of the pneumatic drivesDGP(I)(L)−... (drive without piston rod) A−3 . . . . . . . . . . . . . DNC−... (standard cylinder, piston rod drive) A−10 . . . . . . . DNCI−... (standard cylinder, measuring system integrated) A−31 . . . . . . . . . . . . . . . . .

DNCM−... (standard cylinder, measuring system built on) A−17 . . . . . . . . . . . . . . . . . . .

DSMI−... (rotary drive, measuring system integrated) A−24 . . . . . . . . . . . . . . . . .

Axis type, Supported NC commands 7−30 . . . . . . . . . . . . . . .

B

Base fastening (drives) A−14 , A−21 , A−36 . . . . . . . . . . . . . . .

Basic rules for installation 3−53 . . . . . . . . . . . . . . . . . . . . . . . .

Basic setting on the control panel 6−6 . . . . . . . . . . . . . . . . . . .

Basics of controlling pneumatic axes B−3 . . . . . . . . . . . . . . . .

1−bit operands 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Buttons, Operating functions of the control panel 6−4 . . . . . .

C

Cable cross−sectional area, Calculation C−14 . . . . . . . . . . . . .

Cable length (permissible), Calculation C−14 . . . . . . . . . . . . .

Checking the pneumatic tubing 4−27 . . . . . . . . . . . . . . . . . . .

CLK_A/B signal (Record Select)Definition 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sequence diagram 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


CommissioningCalibrating (WinPISA) 4−35 . . . . . . . . . . . . . . . . . . . . . . . . . . Controller enable 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enter test program 4−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Explanation of the control signals 4−11 . . . . . . . . . . . . . . . . First commissioning 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multiple−axis systems (overview) 4−42 . . . . . . . . . . . . . . . . Of a pneumatic axis 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . Pneumatic axis (overview) 4−6 , 4−27 . . . . . . . . . . . . . . . . . . Proceed as follows 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Single−axis system 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Steps for commissioning 4−6 . . . . . . . . . . . . . . . . . . . . . . . . Switch on the power supply 4−15 . . . . . . . . . . . . . . . . . . . . With the control panel 4−23 . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning and programming possibilities 1−26 . . . . . . .

Compatibility violation XVIII . . . . . . . . . . . . . . . . . . . . . . . . . . .

Components of the SPC200 1−9 . . . . . . . . . . . . . . . . . . . . . . . . Basic modules 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control panel 1−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dismantling 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Extension modules 1−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting and removal (overview) 2−5 . . . . . . . . . . . . . . . . . . . I/O module 3−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply module (PWR) 3−29 . . . . . . . . . . . . . . . . . . . . Rack 1−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Range of devices 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sub−controller module 3−50 . . . . . . . . . . . . . . . . . . . . . . . . .

Compressed air 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Compressed air filter 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Compressed air reservoir 3−7 . . . . . . . . . . . . . . . . . . . . . . . . .

Compressed air supply 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . Unstable B−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Compressed air tubing 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . .

Conclude entry (programming with the control panel) 6−34 .

D. Index


Connecting a differential signal 3−49 . . . . . . . . . . . . . . . . . . . .

Connecting a potentiometer 3−49 . . . . . . . . . . . . . . . . . . . . . .

Connection assignmentDigital inputs 3−43 , 3−45 . . . . . . . . . . . . . . . . . . . . . . . . . . . Digital outputs 3−46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . digital outputs 3−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection diagram for the first commissioning 4−10 . . . . . .

Control deviation, Display with the control panel 6−48 . . . . .

Control panelBasic setting 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delete program 6−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Design and functions 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit existing program 6−39 . . . . . . . . . . . . . . . . . . . . . . . . . . Manual override cover 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . Menu system 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating functions 6−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 1−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Store of commands 6−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . Supported operating system versions XVII . . . . . . . . . . . . Type SPC200−MMI−1 2−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . Type SPC200−MMI−1F 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

Control signals (Record Select mode) 5−19 . . . . . . . . . . . . . . . ACK_A/B output 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CLK_A/B input 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ENABLE input 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RC_A/B output 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . READY output 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RECBIT... input 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RESET input 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . STOP input 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control signals (Start/Stop mode) 5−10 . . . . . . . . . . . . . . . . . ENABLE input 4−11 , 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_A/B output 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . READY output 4−14 , 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . START/RESET input 4−14 , 5−12 . . . . . . . . . . . . . . . . . . . . . . STOP input 4−14 , 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SYNC_OA/OB output 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Controller data 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller enable 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller factors B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller factors for pneumatic axes, Setting with the control panel 6−51 . . . . . . . . . . . . . . . . . . .

Coordinated mode 1−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cylinder diameter 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−17 . . . . . . . . . . . . . . . . . . .

Cylinder lengthElectric axis, Setting with the control panel 6−17 . . . . . . . . Pneumatic axis, Setting with the control panel 6−17 . . . . .

Cylinder type (design), Setting with the control panel 6−17 . .

D

Damping factorDefinition B−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Definition (controller data) 4−22 . . . . . . . . . . . . . . . . . . . . . . Examples B−13 , B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting on the control panel 6−51 . . . . . . . . . . . . . . . . . . . .

Data Reset (with the control panel) 6−47 . . . . . . . . . . . . . . . .

Decimal number operands (real variables) 7−14 . . . . . . . . . .

Define starting programs, Setting with the control panel 6−25

Defining the starting program (control panel) 4−41 . . . . . . . .

Design/designation (cylinder type) 4−18 . . . . . . . . . . . . . . . .

DGP(I)(L)−... 1−7 , 3−18 , A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DiagnosisAxis interface 8−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I/O function module 8−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . On−the−spot (overview) 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . Power supply module (PWR) 8−4 . . . . . . . . . . . . . . . . . . . . . With the control panel 6−52 , 8−9 . . . . . . . . . . . . . . . . . . . . .

Diagnostic module 1−10 , 3−35 . . . . . . . . . . . . . . . . . . . . . . . . . Interface 3−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Programming cable 3−36 , 3−65 . . . . . . . . . . . . . . . . . . . . . .

D. Index


DigitalI/O module 3−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Nominal value specification 7−28 , 7−75 . . . . . . . . . . . . . . . .

Dimensional reference system (definitions) 3−17 . . . . . . . . . . DGP(I)L) 3−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC(M) 3−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI 3−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI 3−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DIN 66025 1−30 , 7−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DNC(M)−... 3−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DNC−... 1−7 , A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DNCI−... 1−7 , 3−22 , A−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DNCM−... 1−7 , A−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DrivesDGP(I)(L)−... A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC−... A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI−... A−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCM−... A−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI−... A−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instructions for fitting 2−20 , 2−21 . . . . . . . . . . . . . . . . . . . . Performance limits 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Planning notes 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Supported drives 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DSMI−... 1−7 , 3−24 , A−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dwell time (NC command G04) 7−40 . . . . . . . . . . . . . . . . . . . .

E

Earth/ground connection 3−31 . . . . . . . . . . . . . . . . . . . . . . . .

Editing lines (with the control panel) 6−33 . . . . . . . . . . . . . . .

Elements of a pneumatic positioning axis 1−13 . . . . . . . . . . .

Eliminating faults 8−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Emergency stopAdditional pneumatic circuits 3−16 . . . . . . . . . . . . . . . . . . . General 3−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Emergency travel (stepping motor axis), Starting with the control panel 6−54 . . . . . . . . . . . . . . . . . .

D. Index


ENABLE input 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ENABLE signal 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ENABLE signal (Record Select) 5−23 . . . . . . . . . . . . . . . . . . . .

Enter test program 4−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Exact stopSetting parameters with control panel 6−22 . . . . . . . . . . . . With damping time 7−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . With end speed monitoring 7−54 . . . . . . . . . . . . . . . . . . . . . Without damping time 7−53 . . . . . . . . . . . . . . . . . . . . . . . . .

Exact stop without damping time (NC command G60) 7−53 .

Examples of circuitryInputs 3−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Outputs X6/X8 3−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Extension modules (SPC200) 1−11 . . . . . . . . . . . . . . . . . . . . .

External load voltage supply 3−53 . . . . . . . . . . . . . . . . . . . . . .

F

Fast stopSetting parameters with control panel 6−22 . . . . . . . . . . . . With damping time 7−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . With end speed monitoring 7−54 . . . . . . . . . . . . . . . . . . . . . Without damping time 7−58 . . . . . . . . . . . . . . . . . . . . . . . . .

Fast stop without damping time (NC command G62) 7−58 . .

Fault class 8−9 , 8−10 , 8−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault Messages, Display on the control panel 6−5 , 6−49 . . . .

Fault messagesAdditional information 8−11 . . . . . . . . . . . . . . . . . . . . . . . . . Axis identifier 8−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Composition of the fault messages 8−9 . . . . . . . . . . . . . . . . Fault classes 8−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault number 8−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault stages 8−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On the control panel 8−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Fault number 8−9 , 8−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display on the control panel 6−49 . . . . . . . . . . . . . . . . . . . .

Fault quittingReset with the control panel 6−47 . . . . . . . . . . . . . . . . . . . . Time behaviour 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault stages 8−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Field bus module (see separate manuals) XVI . . . . . . . . . . . .

First commissioning (notes) 3−5 . . . . . . . . . . . . . . . . . . . . . . .

FittingFitting onto a wall (I/O function module) 2−18 . . . . . . . . . . General instructions for the control panelControl panel MMI−1F 2−14 . . . . . . . . . . . . . . . . . . . . . . . . MMI−1 control panel 2−12 . . . . . . . . . . . . . . . . . . . . . . . . .

General instructions for the SPC200 2−5 . . . . . . . . . . . . . . . Basic unit 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting modules 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting onto a wall (basic unit) 2−9 . . . . . . . . . . . . . . . . . . Instructions for fitting the pneumatic axes 2−20 . . . . . . . On a hat rail 2−10 , 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . Removing modules 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Proportional directional control valve type MPYE 3−8 . . . .

Fitting onto a hat rail 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dismantling 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I/O module type SPC−FIO−... 2−18 . . . . . . . . . . . . . . . . . . . . .

Fitting onto a wall, I/O function module 2−18 . . . . . . . . . . . . .

Fitting position (of the axis) 1−7 . . . . . . . . . . . . . . . . . . . . . . . .

Fitting the basic unit 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Flag Fn 7−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Flags Fn, Testing with the control panel 6−53 . . . . . . . . . . . . .

Flange fastening (drives) A−14 , A−21 , A−36 . . . . . . . . . . . . . .

Flow factor 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


G

Gain factorDefinition B−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Definition (controller data) 4−22 . . . . . . . . . . . . . . . . . . . . . . Examples B−12 , B−13 , B−14 . . . . . . . . . . . . . . . . . . . . . . . . . Setting on the control panel 6−51 . . . . . . . . . . . . . . . . . . . .

I

I/O address range 1−31 , 3−41 , 7−15 . . . . . . . . . . . . . . . . . . . .

I/O function module type SPC−FIO−... 1−5 , 3−61 . . . . . . . . . . . Diagnosis (LEDs) 8−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing 3−53 , 3−62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Manual override cover 2−16 . . . . . . . . . . . . . . . . . . . . . . . . .

I/O module 3−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic rules for commissioning 3−42 . . . . . . . . . . . . . . . . . . .

I/O modules 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O signalsIn Record Select mode 5−19 , 5−22 . . . . . . . . . . . . . . . . . . . . In Start/Stop mode 5−7 , 5−11 . . . . . . . . . . . . . . . . . . . . . . .

Identification of components and modules 1−23 . . . . . . . . . .

Identification travel (system identification)Carry out 4−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With the control panel 4−34 . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions XIII . . . . . . . . . . . . . . . . . . . . . . . .

Initial state, Mass load 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Initialization phase after switching on C−3 , C−10 . . . . . . . . . .

Inputs (field bus module)Display status with the control panel 6−48 . . . . . . . . . . . . . Testing with the control panel 6−53 . . . . . . . . . . . . . . . . . . .

D. Index


Inputs (I/O module) 3−39 , 3−40 . . . . . . . . . . . . . . . . . . . . . . . . Address range 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Circuitry example 3−39 , 3−40 . . . . . . . . . . . . . . . . . . . . . . . . Display status with the control panel 6−48 . . . . . . . . . . . . . External supply 3−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Inputs with control function 3−43 . . . . . . . . . . . . . . . . . . . . . Inputs without control function 3−45 . . . . . . . . . . . . . . . . . . Internal structure C−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Load supply 3−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Outputs with control function 3−44 . . . . . . . . . . . . . . . . . . . Outputs without control function 3−46 . . . . . . . . . . . . . . . . Pin assignment 3−43 , 3−44 , 3−45 . . . . . . . . . . . . . . . . . . . . Technical specifications C−25 . . . . . . . . . . . . . . . . . . . . . . . . Test with NC command 7−86 , 7−88 . . . . . . . . . . . . . . . . . . . . Testing with the control panel 6−53 . . . . . . . . . . . . . . . . . . .

Inserting or deleting lines (with the control panel) 6−33 . . . .

InstallationFitting the electric components 3−5 . . . . . . . . . . . . . . . . . . . Basic rules 3−53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Compressed air reservoir 3−7 . . . . . . . . . . . . . . . . . . . . . . Compressed air tubing 3−10 . . . . . . . . . . . . . . . . . . . . . . . CP modules on the axis interface string 3−52 . . . . . . . . . Differential signal (analogue input module) 3−49 . . . . . . Earth/ground connection 3−31 . . . . . . . . . . . . . . . . . . . . . I/O modules on the axis interface string 3−52 . . . . . . . . . Potentiometer (on analogue input module) 3−49 . . . . . . Proportional directional control valve type MPYE−... 3−8 Screw connectors 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . Selecting the power unit 3−27 . . . . . . . . . . . . . . . . . . . . . Sensors, analogue (on analogue input module) 3−48 . . . Service unit 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General instructions 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing the SPC200 3−26 . . . . . . . . . . . . . . . . . . . . . . . . . .

InstallingAxis interface SPC−AIF−... 3−56 . . . . . . . . . . . . . . . . . . . . . . . Fitting the electric componentsControl panel MMI−1F 3−65 . . . . . . . . . . . . . . . . . . . . . . . . I/O function module type SPC−FIO−... 3−62 . . . . . . . . . . . Proportional directional control valve type MPYE−... 3−60

I/O function module type SPC−FIO−2E/2A−M8, 3−61

D. Index


Instructions on editing with the control panel 6−33 . . . . . . . .

Integer operands (integer variables) 7−14 . . . . . . . . . . . . . . .

Integer variables 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

J

Jump instruction (NC command E05) 7−84 . . . . . . . . . . . . . . .

L

LED on the axis interface 8−6 . . . . . . . . . . . . . . . . . . . . . . . . . .

LED on the function I/O module 8−7 . . . . . . . . . . . . . . . . . . . .

Load actual value (= actual position) into the position register (NC command M38) 7−77 . . . . . . . . . . . . .

Load subroutine (NC command L) 7−82 . . . . . . . . . . . . . . . . . .

Load supplyExternal 3−53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Missing 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Lower software end positionSetting with the control panel 6−21 . . . . . . . . . . . . . . . . . . . Setting with the control panel (stepping motor) 6−23 . . . .

M

Mass, Setting with the control panel. see Mass load. . . . . . .

Mass load (definition) 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum permissible mass load 3−15 . . . . . . . . . . . . . . . . Maximum workpiece mass 3−14 . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−19 . . . . . . . . . . . . . . . . .

Minimum mass load 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum permissible mass load 3−15 . . . . . . . . . . . . . . . . . Total moving mass without workpiece 3−12 . . . . . . . . . . . . Setting with the control panel 6−19 . . . . . . . . . . . . . . . . .

Workpiece mass in initial state 3−14 . . . . . . . . . . . . . . . . . .

Mass load − instructions for the DSMI A−28 . . . . . . . . . . . . . . .

Mass moment of inertia 3−15 . . . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−19 . . . . . . . . . . . . . . . . . . .

D. Index


Maximum acceleration, Setting with the control panel 6−22 .

Maximum speedConfiguring 4−19 , 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Determining (dynamic identification) 4−32 . . . . . . . . . . . . . Setting with the control panel 6−22 . . . . . . . . . . . . . . . . . . . Setting with the control panel (stepping motor) 6−23 . . . .

Maximum speed, Determining (dynamic identification) B−3 .

MC (axis status flag Motion Complete) 7−22 . . . . . . . . . . . . . .

MC_A/B signalDefinition 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Working method 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Measuring systemCalibrating (WinPISA) 4−35 . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting 3−59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . Measuring system length (sensor length) 3−19 , 3−21 . . . . Setting with the control panel 6−17 . . . . . . . . . . . . . . . . .

Measuring system zero point 3−19 , 3−21 , 3−25 . . . . . . . . .

Menus on the control panelMenu system 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Method of operation of a pneumatic positioning axis 1−15 . .

Micro/half step (stepping motor), Setting with the control panel 6−23 . . . . . . . . . . . . . . . . . . .

Minimum mass load 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Minimum positioning stroke 1−8 . . . . . . . . . . . . . . . . . . . . . . .

Minimum speed 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MMI 1−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mounting offset 3−19 , 3−21 , 3−25 , 4−19 . . . . . . . . . . . . . . . . Setting with the control panel 6−21 . . . . . . . . . . . . . . . . . . .

Mounting position 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−19 . . . . . . . . . . . . . . . . . . .

D. Index


Mounting position (of the axis) 3−15 , 4−19 . . . . . . . . . . . . . . . DGP(I)(L)−... A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC−... A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI−... A−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCM−... A−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI−... A−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MOV (axis status flag Axis moves) 7−22 . . . . . . . . . . . . . . . . .

MOVEMENT TEST 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Movement test XVII , 4−27 , 4−29 . . . . . . . . . . . . . . . . . . . . . . . Check the pneumatic tubing 4−6 . . . . . . . . . . . . . . . . . . . . . Control signals 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting with the control panel 6−54 . . . . . . . . . . . . . . . . . . With control panel 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Multi−axis applications with the SPC200 1−25 . . . . . . . . . . . . .

Multi−axis operation. see Operating modes. . . . . . . . . . . . . . .

Multiple−axis systemsExamples 1−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With the SPC200 (instructions) 1−25 . . . . . . . . . . . . . . . . . .

Multitasking−capable operating system 7−5 . . . . . . . . . . . . . .

N

NC commandsCombination with operating modes 7−30 . . . . . . . . . . . . . . Command syntax 7−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the NC commands 7−30 . . . . . . . . . . . . . . . . New NC commands 7−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of commands 7−26 . . . . . . . . . . . . . . . . . . . . . . . . Presettings after Power−on or RESET 7−11 . . . . . . . . . . . . . Supported operating mode 6−36 . . . . . . . . . . . . . . . . . . . . .

NC record 7−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Number (in Record Select) 5−20 , 5−21 . . . . . . . . . . . . . . . . . Pointer (reset) 5−12 , 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . .

New features (tabular format) XVIII . . . . . . . . . . . . . . . . . . . . .

Nominal position (explanation) 1−16 . . . . . . . . . . . . . . . . . . . .

Nominal position value, Display with the control panel 6−48 .

D. Index


Nominal value inputActivate (NC command M10) 7−68 . . . . . . . . . . . . . . . . . . . . Assign (NC command M14) 7−75 . . . . . . . . . . . . . . . . . . . . .

Nominal value ramp with NC command G01, 7−35

Nominal value specification 7−68 . . . . . . . . . . . . . . . . . . . . . . . Analogue via analogue input card 3−48 . . . . . . . . . . . . . . . . Digital XX , 7−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Direct (analogue or digital) 7−28 , 7−68 , 7−71 , 7−73 , 7−75

Note on planning pneumatic axes 1−8 . . . . . . . . . . . . . . . . . . .

Notes on operating system versions, General information XVII�XXI . . . . . . . . . . . . . . . . . . . . . . . .

Notes on versions 7−12 , 7−13 . . . . . . . . . . . . . . . . . . . . . . . . . As regards NC commands 7−12 , 7−13 . . . . . . . . . . . . . . . . .

Notes/warningsAbout performance limits of pneumatic drives 1−8 . . . . . . Control panel XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controller enable 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . First commissioning 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . For compatibility XVIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For safety XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installation 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Measuring system 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . On planning pneumatic axes 1−8 . . . . . . . . . . . . . . . . . . . . . Software versions XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

OffsetProject zero point 3−19 , 3−21 , 3−23 , 3−25 . . . . . . . . . . . . . Reference position 3−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Offset for analogue nominal value specification (NC command M11) 7−71 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operands (definition) 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Operating modesMulti−axis modeAutonomous mode 1−25 . . . . . . . . . . . . . . . . . . . . . . . . . . Coordinated mode 1−25 . . . . . . . . . . . . . . . . . . . . . . . . . .

Multi−axis operationAutonomous operation 7−9 . . . . . . . . . . . . . . . . . . . . . . . Coordinated operation 7−8 . . . . . . . . . . . . . . . . . . . . . . . .

Overview 1−24 , 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Record Select mode 1−24 , 5−4 , 5−17 . . . . . . . . . . . . . . . . . . Setting with control panel 6−25 . . . . . . . . . . . . . . . . . . . . . . Start/Stop mode (under program control) 1−24 , 5−4 , 5−9 . Supported NC commands 7−30 . . . . . . . . . . . . . . . . . . . . . .

Operating system versions 7−12 , 7−13 . . . . . . . . . . . . . . . . . . Differences between versions XVII . . . . . . . . . . . . . . . . . . . Display on the control panel 6−6 . . . . . . . . . . . . . . . . . . . . . with WinPISA 1−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating voltage 3−30 , C−23 . . . . . . . . . . . . . . . . . . . . . . . . . Cable C−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connection 3−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Load supply/external supply 3−30 , 5−10 . . . . . . . . . . . . . . . External 3−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating voltage cable C−14 . . . . . . . . . . . . . . . . . . . . . . . . Power supply, Internal electronics 3−30 . . . . . . . . . . . . . . .

Output valve positioning value (NC command M39) 7−78 . . .

Outputs (field bus module)Display status with the control panel 6−48 . . . . . . . . . . . . . Testing with the control panel 6−53 . . . . . . . . . . . . . . . . . . .

Outputs (I/O module)Address range 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display status with the control panel 6−48 . . . . . . . . . . . . . Internal structure C−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reset with NC command 7−85 . . . . . . . . . . . . . . . . . . . . . . . Set with NC command 7−85 . . . . . . . . . . . . . . . . . . . . . . . . . Technical specifications C−25 . . . . . . . . . . . . . . . . . . . . . . . . Test with NC command 7−86 , 7−88 . . . . . . . . . . . . . . . . . . . . Testing with the control panel 6−53 . . . . . . . . . . . . . . . . . . .

Overview of systemMultiple−axis systems, examples 1−17 . . . . . . . . . . . . . . . . . Pneumatic positioning axis 1−13 . . . . . . . . . . . . . . . . . . . . . Range of devices for the SPC200 1−5 . . . . . . . . . . . . . . . . . . Structure of the SPC200 1−9 . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


P

Parameters of a positioning axis 4−17 . . . . . . . . . . . . . . . . . . . Application data 4−19 , 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . Axis data 4−18 , 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controller data 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Performance limits of the drives 1−8 . . . . . . . . . . . . . . . . . . . .

Pictograms XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Piston rod drives 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Planning (notes) 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Points of reference (see also Dimensional reference system) 6−20 . . . . . . . . .

Position actual value, Display with the control panel 6−48 . .

Position axisDuring commissioning (control panel) 4−36 . . . . . . . . . . . . Starting with the control panel 6−54 . . . . . . . . . . . . . . . . . .

Position list (position register) 1−30 , 7−18 . . . . . . . . . . . . . . .

Position register 7−18 , 7−51 , 7−52 , 7−77 . . . . . . . . . . . . . . . . Input with control panel 6−42 . . . . . . . . . . . . . . . . . . . . . . . . Teach with control panel 6−43 . . . . . . . . . . . . . . . . . . . . . . .

Position valueAdd position value and position register (NC command G29) 7−52 . . . . . . . . . . . . . . . . . . . . . . . . .

Load into position register (NC command G28) 7−51 . . . . . . . . . . . . . . . . . . . . . . . . .

Position−dependent switch to next record (NC command G25) 7−44 . . . . . . . . . . . . . . . . . . . . . . . . . . .

PositioningAt defined speed (NC command G02) 7−37 . . . . . . . . . . . . . At defined speed (nominal value ramp) (NC command G01) 7−35 . . . . . . . . . . . . . . . . . . . . . . . . .

At highest possible speed (point to point) (NC command G00) 7−31 , 7−33 . . . . . . . . . . . . . . . . . . . .

Position adjustment (NC command M13) 7−74 . . . . . . . . . . . . . . . . . . . . . . . . .

Presettings 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . With Start/Stop frequency (NC command G02) 7−39 . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Positioning accuracy, Notes 2−21 . . . . . . . . . . . . . . . . . . . . . .

Positioning quality class 4−19 , 7−55 . . . . . . . . . . . . . . . . . . . . Set (NC command G61) 7−54 . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−22 . . . . . . . . . . . . . . . . . . .

Positioning signal 7−79 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning stroke, Minimal 1−8 . . . . . . . . . . . . . . . . . . . . . . . .

Positioning timeoutDefinition (controller data) 4−22 . . . . . . . . . . . . . . . . . . . . . . Setting on the control panel 6−51 . . . . . . . . . . . . . . . . . . . .

Positioning tolerance 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−21 . . . . . . . . . . . . . . . . . . .

Power supply module 3−29 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power unitCalculating power requirements 3−28 . . . . . . . . . . . . . . . . . Selection 3−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Presettings for positioning (with regard to NC commands) 7−11 . . . . . . . . . . . . . . . . . .

Program end with repetition (NC command M30) 7−75 . . . . .

Program processing, parallel 7−5 . . . . . . . . . . . . . . . . . . . . . .

Program reset 5−16 , 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Programmed Stop (NC command M00) 5−15 . . . . . . . . . . . . . SYNC_IA/IB (input) 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . SYNC_OA/OB (output) 5−13 . . . . . . . . . . . . . . . . . . . . . . . . .

Programmed stop (NC command M00) 7−66 . . . . . . . . . . . . .

ProgrammingDescription of the NC commands 7−30 . . . . . . . . . . . . . . . . General instructions 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the NC commands 7−30 . . . . . . . . . . . . . . Presettings after Power−on or RESET 7−11 . . . . . . . . . . .

Programming language DIN 66025 7−24 . . . . . . . . . . . . . . . . .

D. Index


Programming with the control panelCreate new program 6−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . Delete program 6−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edit program 6−27 , 6−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exit program editor 6−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . First NC word 6−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program test in single steps 4−39 , 6−53 . . . . . . . . . . . . . . . Reset program 6−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Second NC word 6−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Project zero point 3−19 , 3−21 , 3−23 , 3−25 . . . . . . . . . . . . . . . Setting with the control panel 6−21 . . . . . . . . . . . . . . . . . . . With analogue nominal value specification 7−71 . . . . . . . .

Project zero point (stepping motor), Setting with the control panel 6−23 . . . . . . . . . . . . . . . . . . .

Project−specific parametersOverview 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting with control panel 6−13 . . . . . . . . . . . . . . . . . . . . . .

Proportional directional control valve 2−20 . . . . . . . . . . . . . . . Connecting (electrical) 3−60 . . . . . . . . . . . . . . . . . . . . . . . . . Manual override cover 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . .

R

Range of devices for the SPC200 1−5 . . . . . . . . . . . . . . . . . . .

RC_A/B signal (Record Select mode)Definition 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

READY output 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

READY signal 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

READY signal (Record Select) 5−24 . . . . . . . . . . . . . . . . . . . . .

Real variables (decimal numbers) 7−14 . . . . . . . . . . . . . . . . . .

RECBIT... (Record Select mode)Meaning 5−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Record number (explanation) 7−24 . . . . . . . . . . . . . . . . . . . . .

Record Select mode 1−24 , 5−4 , 5−17 , 7−4 . . . . . . . . . . . . . . . Maximum permissible number of NC records 5−20 . . . . . .

D. Index


REF (axis status flag reference set) 7−22 . . . . . . . . . . . . . . . . .

Reference configuration 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . Saving with the control panel 6−24 . . . . . . . . . . . . . . . . . . .

Reference point (DNCI) 3−23 . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference position (stepping motor) 4−21 . . . . . . . . . . . . . . . Setting with the control panel 6−23 . . . . . . . . . . . . . . . . . . .

Reference speed (pneumatic axis) 4−19 . . . . . . . . . . . . . . . . .

Reference speed factor (stepping motor) 4−21 . . . . . . . . . . . . Setting with the control panel 6−23 . . . . . . . . . . . . . . . . . . .

Reference stop (DNCI) 3−22 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference travelSetting with the control panel (stepping motor axis) 6−54 . Start (NC command G74) 7−59 , 7−62 . . . . . . . . . . . . . . . . . .

Reference travel modeEntry with NC command 7−59 , 7−62 . . . . . . . . . . . . . . . . . . . Setting with the control panel (stepping motor) 6−23 . . . .

Reference voltage 3−47 , C−28 . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing speed (pneumatic axis) 7−61 . . . . . . . . . . . . . . . .

Register Rn 7−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Add to register (NC command #AR) 7−89 . . . . . . . . . . . . . . Load (NC command #L) 7−89 . . . . . . . . . . . . . . . . . . . . . . . . Overview 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test (NC command #TR) 7−90 . . . . . . . . . . . . . . . . . . . . . . . . Testing with the control panel 6−53 . . . . . . . . . . . . . . . . . . .

Relative dimension specification with positioning commands (NC command G91) 7−65 . . . .

RESET, With the control panel 6−47 . . . . . . . . . . . . . . . . . . . . .

RESET (program error) 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . .

RESET signal (Record Select mode) 5−23 . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reset single−bit operand (NC command #R) 7−85 . . . . . . . . .

Reset system, With the control panel 6−47 . . . . . . . . . . . . . . .

Resolution (stepping motor) 4−21 . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−23 . . . . . . . . . . . . . . . . . . .

Rotary drive A−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


S

Safety instructions XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Save the configuration 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Saving the hardware configuration 4−24 . . . . . . . . . . . . . . . . .

Screw connectors 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sequence plans for the programmer C−3 . . . . . . . . . . . . . . . . Carry out fault acknowledgement C−10 . . . . . . . . . . . . . . . . Create readiness to operate C−3 . . . . . . . . . . . . . . . . . . . . . Start NC record in Record Select mode C−7 . . . . . . . . . . . . . Start program or NC record C−9 . . . . . . . . . . . . . . . . . . . . . . Switch−on behaviour 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial interfaces (X4) 3−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service unit (compressed air supply) 3−6 . . . . . . . . . . . . . . . .

Set acceleration ramp (NC command G08/G09)Approach ramp (pneumatic axis) 7−41 . . . . . . . . . . . . . . . . Braking ramp (pneumatic axis) 7−43 . . . . . . . . . . . . . . . . . . Stepping motor axis 7−42 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Set mass assessment (NC command M37) 7−76 . . . . . . . . . .

Set nominal value mode (NC command M13) 7−73 . . . . . . . .

Set single−bit operand (NC command #S) 7−85 . . . . . . . . . . .

Set speed limit value (NC command M41) 7−81 . . . . . . . . . . .

Set stroke limit value (NC command M40) 7−80 . . . . . . . . . . .

Short circuit, Sensor supply 8−8 . . . . . . . . . . . . . . . . . . . . . . .

Short−circuit diagnosis C−18 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Signal filter factorDefinition B−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Definition (controller data) 4−22 . . . . . . . . . . . . . . . . . . . . . . Examples B−13 , B−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting on the control panel 6−51 . . . . . . . . . . . . . . . . . . . .

Signals, explanation of all I/O signalsIn Record Select mode 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . In Start/Stop mode 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Slide mode A−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Software end positionDefinition 3−19 , 3−21 , 3−23 , 3−25 . . . . . . . . . . . . . . . . . . . Lower 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Upper 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software end position, Setting with the control panel 6−21 . .

Software versions, Notes XVII . . . . . . . . . . . . . . . . . . . . . . . . .

Speed, Minimal 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Speed switching (example) 7−45 . . . . . . . . . . . . . . . . . . . . . . .

Speed, maximum, Configure 7−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Standard cylinder A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

START input 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start system, With the control panel 6−46 . . . . . . . . . . . . . . . .

Start−stop frequency (stepping motor), Setting with the control panel 6−23 . . . . . . . . . . . . . . . . . . .

START/RESET signal 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start/Stop mode 1−24 , 5−4 , 5−9 , 7−4 . . . . . . . . . . . . . . . . . .

Status display (status LED) 8−8 . . . . . . . . . . . . . . . . . . . . . . . .

Status display (with the control panel)Field bus inputs 6−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Field bus outputs 6−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For digital inputs 6−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For digital outputs 6−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . For flags 6−49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For registers 6−49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . For sensors of the electric axis 6−49 . . . . . . . . . . . . . . . . . .

Status LEDOn axis interface 8−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On supply module PWR 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . On the I/O function module 8−7 . . . . . . . . . . . . . . . . . . . . . .

Step mode (stepping motor axis) 4−21 . . . . . . . . . . . . . . . . . .

Stepping motor indexer module XVI , 1−12 , 2−6 . . . . . . . . . . .

D. Index


Stepping motor, project−specific parametersGears 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor (type) 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Steps per revolution 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . .

STOP input 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

STOP signal 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

STOP signal (Record Select) 5−22 . . . . . . . . . . . . . . . . . . . . . .

Stop system, With the control panel 6−46 . . . . . . . . . . . . . . . .

Store of commands on the control panel 6−35 . . . . . . . . . . . .

Stroke length/strokeOf the drive/cylinder 3−19 , 3−21 , 3−23 . . . . . . . . . . . . . . . . Of the measuring system 3−19 , 3−21 . . . . . . . . . . . . . . . . . . Working stroke 3−19 , 3−21 , 3−23 , 3−25 . . . . . . . . . . . . . . .

Stroke length/stroke of the drive/cylinder 1−8 . . . . . . . . . . . .

Stroke length/stroke of the measuring system 3−11 . . . . . . .

Stroke reductionDGP(I)(L)−... A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC−... A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI−... A−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCM−... A−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI−... A−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Structure of the SPC200 1−9 . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum extension 1−19 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sub−controller module 3−50 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sub−program end (NC command M02) 7−67 . . . . . . . . . . . . . .

Supply pressure, Setting with the control panel 6−19 . . . . . .

Supported drives 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch onEquivalent circuit diagram C−16 . . . . . . . . . . . . . . . . . . . . . . Power supply 4−15 , C−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch to next record, Position−dependent 7−44 . . . . . . . . . . Example of speed/acceleration switching 7−45 . . . . . . . . .

Switch−on behaviour 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control panel 6−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switching, program−controlled, Speed/acceleration 7−45 . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Swivel angleSetting with the control panel 6−17 . . . . . . . . . . . . . . . . . . . Usable range 3−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYNC_IA/B signalDefinition 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYNC_OA/B signalDefinition 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin assignment 3−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System configuration 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Defining the starting program 4−41 . . . . . . . . . . . . . . . . . . . Hardware configuration 4−24 . . . . . . . . . . . . . . . . . . . . . . . . Actual configuration 4−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference configuration 4−25 . . . . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−24 . . . . . . . . . . . . . . . . . . .

System identification 4−32 , B−3 . . . . . . . . . . . . . . . . . . . . . . . . Dynamic (pneumatic axis) 4−32 . . . . . . . . . . . . . . . . . . . . . . Starting with the control panel 6−54 . . . . . . . . . . . . . . . . . . Static (pneumatic axis) 4−32 . . . . . . . . . . . . . . . . . . . . . . . . .

T

Target group of this manual XII . . . . . . . . . . . . . . . . . . . . . . . .

Task (explanation) 7−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Task Status, Display with the control panel 6−48 . . . . . . . . . .

Technical specificationsSPC−AIF−... C−28 , C−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC−FIO−2E/2A−M8 (PNP) C−30 . . . . . . . . . . . . . . . . . . . . . . . SPC200−2AI−U C−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC200−CPU−... C−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC200−DIO (PNP) C−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC200−MMI−1, C−31 SPC200−MMI−1F C−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC200−MMI−DIAG C−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC200−PWR−AIF C−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SPC200−SCU−AIF C−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terminating resistor (AIF string) 3−53 . . . . . . . . . . . . . . . . . . .

Test single−bit operand for 0−signal (NC command #TN) 7−88

D. Index


Test single−bit operand for 1−signal (NC command #T) 7−86 .

Text markings XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Time behaviourTime behaviour at start of sequence 5−7 . . . . . . . . . . . . . . Time behaviour in Record Select mode 5−19 . . . . . . . . . . . When acknowledging a fault 5−8 . . . . . . . . . . . . . . . . . . . . . With a Programmed Stop 5−15 . . . . . . . . . . . . . . . . . . . . . . .

TOL (axis status flag Axis in the tolerance window) 7−22 . . . .

U

Unconditional jump (NC command E05) 7−84 . . . . . . . . . . . . .

Unilateral air supply with DGP(I)(L)−... A−9 . . . . . . . . . . . . . . .

Upper software end positionSetting with the control panel 6−21 . . . . . . . . . . . . . . . . . . . Setting with the control panel (stepping motor) 6−23 . . . .

Usable stroke length 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Valve type, Setting with the control panel 6−17 . . . . . . . . . . .

Valve−drive combinationsDGP(L)−... A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DGPI(L)−... A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNC−... A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCI−... A−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DNCM−... A−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSMI−... A−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


W

WinPISA 1−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

WinPISA programming software 1−29 . . . . . . . . . . . . . . . . . . .

Working stroke 3−19 , 3−21 , 3−23 , 3−25 , A−5 . . . . . . . . . . . . .

Workpiece mass 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . In initial state 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum workpiece mass 3−14 . . . . . . . . . . . . . . . . . . . . . Setting with the control panel 6−19 . . . . . . . . . . . . . . . . . . .

Y

Yoke mode A−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SPC200 Smart Positioning Controller - Festo€¦ · · 2018-04-26Electronics/ pneumatics manual System manual Smart Positioning Controller type SPC200 Manual 170 246 en 0901d [713

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