Function block for controlling SCHUNK
Contents
1. SWITZERLAND LIECHTENSTEIN SCHUNK Intec AG Soodring 19 8134 Adliswil 2 Tel 41 44 7102171 Fax 41 44 7102279 info ch schunk com www ch schunk com C TURKEY SCHUNK Intec Baglama Sistemleri ve Otomasyon San ve Tic Ltd Sti K c kyali Is Merkezi Girne Mahallesi Irmak Sodak A Blok No 9 34852 Maltepe Istanbul Tel 90 216 366 2111 Fax 90 216 366 2277 info tr schunk com www tr schunk com USA SCHUNK Intec Inc 211 Kitty Hawk Drive Morrisville NC 27560 Tel 1 919 572 2705 Fax 1 919 572 2818 info us schunk com www us schunk com 02 FB10 en 2011 03 11 HF2. It should be noted that the initial characters of the module s entry point and exit point ad dresses entered in the hardware configuration must be identical FL CYCLE BYTE The timing flag byte configured in the CPU e g MB1 gt 1 POS MODE The operating mode determines the position ing type The following options are currently available 0 Standard positioning 1 Positioning via sequence 2 Positioning via current value 3 Positioning via time value 02 FB10 en 2011 03 11 HF 7 SCHUNK Operating instruction of the FB10 4 Positioning via velocity value Parameter Data Description Type 5 Positioning via GRIP function ENABLE BOOL Enable High Signal evaluation If the enable signal drops out an EMERGENCY STOP command is sent to the module ACK BOOL Error acknowledgement internal pulse con trol on rising edge RESEND CMD BOOL Should the module fail to answer a position ing command within the time period config ured in RES TIME this parameter indicates whether the positioning command should be resent or whether an error message should be displayed 0 deactivated with error mes sage 1 resending activated If resending does not apply the error message prevents all other movement commands from being acknowledged REF MODUL BOOL Heference movement internal pulse control on rising edge GE JOG PLUS ec Continuous movement in positive direction dur udi man
3. SCHUNK Function block for controlling SCHUNK Modules for Siemens 57 300 400 Type FB 10 for Step 7 V1 4 User Manual 02 FB10 en 2011 03 11 HF Document last updated 2010 03 11 SCHUNK Dear Customer Congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will support you Do you have further questions You may contact us at any time even after purchase You can reach us directly at the mentioned addresses in the last chapter of these in structions Kindest Regards Your SCHUNK GmbH amp Co KG Precision Workholdind Systems Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 2503 Fax 49 7133 103 2189 automation de schunk com gt A www schunk com m D EN 180 3001 D Reg No DE 3496 01 2 02 FB10 en 2011 03 11 HF SCHUNK Table of contents Table of contents 1 4 5 elef e EC E 4 1 1 PURDOSE Viele E 4 1 2 TAGE elei le 4 1 3 ADDICADIe doGHUmelllS dca cedet mde tad unda utan dm ted mda cud th n d 4 BASIC SATCLY NOLES mee M 5 2 1 ended USE oo seed cen cenccenseececessacdeceasnedadeccucsacecauetecua peneeaceedecesseeseceesu
4. e exceeding that specified is an in fringement of use for intended purpose The manufacturer bears no liability for damage resulting from such use Personnel qualification The assembly initial commissioning maintenance and re pair of the module may be performed only by trained spe cialist personnel Every person called upon by the operator to work on the module must have read and understood the complete As sembly and Operating Manual especially chapter 2 Basic safety notes This applies particularly to occasional per sonnel such as maintenance personnel Operating instruction of the FB10 3 1 SCHUNK Operating instruction of the FB10 Functions The FB 10 offers the following main functions Heading out the current status of the module Continuous moving of the module in JOG mode with the possibility for velocity adjustment Positioning of the module by target position Positioning of the module by sequence Positioning of the module by current Positioning of the module by time Positioning of the module by velocity Positioning of the module by GRIP function Stopping a current movement Following further functions are available Possibility to set velocity current acceleration and jerk Easy choice of the kind of positioning mode by mode parameter Automatic emergency stop of the module in case of false enable signal no personal safety Quick output of the current values of position curre
5. e position measuring system ERROR CURRENT The maximum current has been exceeded Reduce the motor load and intro duce intermediate steps if necessary ERROR I2T An I2T error has occurred This error can only occur if I2 T monitoring is acti vated Reduce load of module ERROR INITIALIZE The module could not be initialized properly gt Check configuration data ERROR INTERNAL An internal error has occurred The Firmware is in an undefined status This should never occur gt f this error occurs contact the service department and give exact details as to why the error may have occurred 02 FB10 en 2011 03 11 HF 17 SCHUNK Troubleshooting Error code Description dai ERROR HARD LOW The module has reached a hardware limit Acknowledge error gt f the module is equipped with a brake release it MOVE CURR and move the module away from the hardware limit manually gt f not equipped with a brake simply move the module away from the hardware limit position manually ERROR HARD HIGH The module has reached a hardware limit gt Acknowledge error gt f the module is equipped with a brake release it MOVE CURR and move the module away from the hardware limit manually gt f not equipped with a brake simply move the module away from the hardware limit position manually ERROR TOO FAST The maximum velocity was exceeded during a current movement motor is overspeeding Reduc
6. e the specified current ERROR COMMUN ICATION The FB10 is not able to communicate with the module This can be because of a wrong selected communication parameter or if the module is not reach able ERROR TIMEOUT COMMAND If resending is deactivated this error appears if the module response is not received in a specified time The error blocks any further motion commands Acknowledge the error with ACK Table 4 possible error codes 18 02 FB10 en 2011 03 11 HF SCHUNK 5 GERMANY HEAD OFFICE SCHUNK GmbH amp Co KG Spann und Greiftechnik Bahnhofstrasse 106 134 D Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com www schunk com KH KH AUSTRIA SCHUNK Intec GmbH Holzbauernstr 20 4050 Traun Tel 43 7229 65770 0 Fax 43 7229 65770 14 info at schunk com www at schunk com BELGIUM LUXEMBOURG SCHUNK Intec N V S A Bedrijvencentrum Regio Aalst Industrielaan 4 Zuid III 9320 Aalst Erembodegem Tel 32 53 853504 Fax 32 53 836022 info be schunk com www be schunk com Contact CANADA SCHUNK Intec Corp 190 Britannia Road East Units 23 24 Mississauga ON L4Z 1W6 Tel 1 905 712 2200 Fax 1 905 712 2210 info ca schunk com www ca schunk com CHINA SCHUNK GmbH amp Co KG Shanghai Representative Office 777 Zhao Jia Bang Road Pine City Hotel Room 923 Xuhui District Shanghai 200032 Tel 86 21 64433177 Fax 86 21 64431922 i
7. ecareat 5 2 2 PErSOnhel QUAIINGATION vestins ia Sei Ae aie eae 5 Operating instruction of the 5810 6 3 1 Fe CIN WO A KE 6 3 2 Bue e EEN 7 3 3 Details on individual commande 11 3 9 1 Reference ue E EE 11 3 3 2 Movement during manual operation JOG 11 3 3 3 Positioning via target position Mode 0 11 3 3 4 Positioning via sequence Mode 1 11 3 3 5 Positioning via current value Mode 2 12 3 3 6 Positioning movement via time value Mode 3 12 3 3 7 Positioning via GRIP function with Firmware version 1 20 Of NORG MOGE E 12 3 4 INGLE Oli HE FOO FAI GO EE 13 TFOUDIESNOOUMNG D 14 relied e 19 02 FB10 en 2011 03 11 HF 3 SCHUNK About this manual 1 About this manual 1 1 Purpose validity This manual is relevant for the FB10 function block and de scribes its safe and proper application in the controlling of SCHUNK Modules This manual applies exclusively for the FB10 function block 1 2 Target groups Manufacturer operator gt Keep this manual available for the personnel at all times gt Require personnel to read and observe this manual and the applicable documents especially the safety notes and warnings Skill
8. ed personnel fitter Read observe and follow this manual and the applicable documents especially the safety notes and warnings Table 1 1 3 Applicable documents You can find the following documents on our homepage Document nee O Assembly and Operating Detailed information about the assembly adjustment and Manuals for SCHUNK commissioning of SCHUNK Modules drives grippers etc Modules ooftware manual Detailed information about the parameters and special fea MotionControl pdf tures of the individual bus systems General terms of busi Including notes on the warranty ness Table 2 4 02 FB10 en 2011 03 11 HF SCHUNK 2 1 2 2 02 FB10 en 2011 03 11 HF Basic safety notes Basic safety notes Intended use For controlling the electrical SCHUNK Modules drive units gripper of the version 5 3 from firmware version 1 24 us ing SMP by Profibus using a Siemens S7 PLC a special FB for all is designed The FB10 including an instance DB for every module entails all necessary variables and func tions for controlling all those modules The FB10 is an interface for easily controlling a SCHUNK Module throughout the user application program It is as sumed that a basic set up and the settings of the relevant parameters using the SCHUNK MCDemo Software had be done Within the user application the FB10 has to be called cyclically once per module and has to be parameterized Any other use or us
9. he FB10 10 02 FB10 en 2011 03 11 HF SCHUNK 3 3 3 3 1 3 3 2 3 3 3 3 3 4 Operating instruction of the FB10 Details on individual commands Reference movement A reference movement is completed The type of referencing is defined once in the configuration data A desired module movement can only be carried out after the module has been referenced Movement during manual operation JOG By implementing the JOG command a continuous move ment of the module is activated for as long as the command is present with the preset velocity being taken into consid eration If the JOG signal is removed the module stops Any change made to the velocity while the module is moving is adopted immediately The user must take responsibility in his user program for the separation between automatic posi tioning and JOG movements during manual operation Positioning via target position Mode 0 Moves the module to a specified position The position is set in the configured unit system The posi tioning movement is based on the configured motion profile When the position is reached the output signal M POS REACHED is set If new positioning parameters are entered during a move ment the movement might be temporarily halted If you wish to enter new positions during a movement e g to move along curves the positioning should be performed using time parameters Positioning via sequence Mode 1 A line fro
10. jp www tbk hand co jp POLAND SCHUNK Intec Sp z o o Stara Iwiczna ul Stoneczna 116 A 05 500 Piaseczno Tel 48 22 7262500 Fax 48 22 7262525 info pl schunk com www pl schunk com MEXICO VENEZUELA SCHUNK Intec S A de C V Av Luis Vega y Monroy 332 Fracc Plazas de Sol Santiago de Quer taro Qro 76099 Tel 52 442 223 6525 Fax 52 442 223 7665 info mx schunk com www mx schunk com NETHERLANDS SCHUNK Intec B V Speldenmakerstraat 3d 5232 BH s Hertogenbosch Tel 31 73 6441779 Fax 31 73 6448025 info nl schunk com www nl schunk com 20 PORTUGAL Sales Representative Victor Marques Tel 34 937 556 020 Fax 34 937 908 692 Mobil 351 963 786 445 info pt schunk com www pt schunk com SLOVAKIA SCHUNK Intec s r o Mostna 62 919 01 Nitra Tel 421 37 3260610 Fax 421 37 6421906 info sk schunk com www sk schunk com 9 vi SOUTH KOREA SCHUNK Intec Korea Ltd 907 Joongang Induspia 2 Bldg 144 5 Sangdaewon dong Jungwon gu Seongnam si Kyunggi do 462 722 Tel 82 31 7376141 Fax 82 31 7376142 info kr schunk com www kr schunk com SPAIN SCHUNK Intec S L Foneria 27 08304 Matar Barcelona Tel 434 937 556 020 Fax 434 937 908 692 info es schunk com www es schunk com SWEDEN SCHUNK Intec AB Morabergsvagen 28 152 42 S dert lje Tel 446 8 554 421 00 Fax 446 8 554 421 01 info se schunk com www se schunk com SCHUNK
11. le are not dimensioned correctly ERROR MOTOR VOLTAGE HIGH N NI NI AN N pA N N 02 FB10 en 2011 03 11 HF 15 SCHUNK Troubleshooting Error code Description HEX The motor voltage is too high gt Check the motor voltage 76 ERROR CABLE BREAK The communication cable is defective This error is caused by a defective communication cable It is only displayed once the communication has been re established If this error occurs fre quently there could be a loose contact in the bus cable ERROR MOTOR TEMP The temperature of the motor has risen above the permitted level ERROR NO RAMP TYPE No valid motion profile has been selected for the positioning movement ERROR CONFIG MEMORY The configuration range is incorrect Data could not be written to EEPROM or EEPROM is defective ERROR PROGRAM MEMORY The program memory is defective gt The entire program memory must be deleted ERROR INVALIDE PHRASE The programmed phrase to be executed is incorrect gt Check the programming gt and parameter limits ERROR SOFT LOW The module has exceeded the software limit If the command byte CMD ERROR is pending this must be acknowledged The error is converted to a CMD WARNING Only now is it possible to move the module away from the software limit using any motion command ERROR SOFT HIGH The module has exceeded the software limit If the command byte CMD ERROR is pending thi
12. m the saved program is executed The desired se quence is selected in the input parameter POS SEQUENCE 02 FB10 en 2011 03 11 HF 11 Operating instruction of the FB10 12 3 3 5 3 3 6 3 3 7 SCHUNK Sequence here means a real target position as well as an arbitrary module command which can be set via MCDemo Positioning via current value Mode 2 A current movement is completed Due to the controller structures used the module can overspeed If the module exceeds the configured maximum velocity an ERROR occurs Positioning movement via time value Mode 3 The module moves to a specified position The position is set in the configured unit system During the movement new positions can be preset which are then immediately moved to When calculating the path the nominal velocity and accel eration values as well as the actual velocity and accelera tion values are taken into account The velocity and accel eration values are adjusted in such a way that the position is reached within the specified time without exceeding the pre set velocity and acceleration limits For these types of movement the motion profile is set to trapezoid New position parameters can be entered during the move ment The new movement is subsequently calculated based on the entered parameters and the current actual velocity and acceleration values This makes it possible to move along curved paths Positioning via GRIP fu
13. nction with Firmware version 1 20 or higher Mode 5 A gripping movement is completed current in configured unit system The command only works if subordinate cur rent control is available Gripping is also possible via a ve locity movement or a positioning movement with subordi nate current control 02 FB10 en 2011 03 11 HF SCHUNK 3 4 02 FB10 en 2011 03 11 HF Operating instruction of the FB10 Note on the programming The FB10 was created in such a way that it transfers any modified parameters to the module first of all followed by the motion command gt In spite of this always ensure that the necessary parameters have already been transferred to the module prior to each motion command gt You must ensure that no pulsed control commands are applied to the FB10 The reason for this is the specific behavior of the PLC when subjected to heavy utilization e g swallowing of pulses during a cycle Because some of the FB10 s inputs create pulses them selves from the rising edge of the input signal a static signal or an extended pulse is sufficient here 13 SCHUNK Troubleshooting 4 Troubleshooting The following table shows possible error codes relating to the module and provides a description of each code Error messages must generally be acknowledged with ACK Error code Description de INFO BOOT The module has booted successfully Info message This is triggered following a c
14. nd the mod ule fails to respond to a positioning command the time period which must elapse before the positioning command is resent If RESEND CMD is deactivated the time POS TIME REAL Time value which dictates where the module should be positioned depending on the se lected mode it is transferred to the module period which must elapse before the error message is displayed standard 2 sec TIMER WDOG TIMER Timer for internal evaluation of the watchdog functionality M REFERENCED BOOL Feedback signal module is referenced M_IN MOTION BOOL Feedback signal module is in motion M PROG ACTIVE BOOL Feedback signal module is in programming mode M WARNING BOOL Feedback signal a warning is present M ALARM BOOL Feedback signal an alert is present M BRAKE ACTIVE BOOL Feedback signal brake has been engaged 02 FB10 en 2011 03 11 HF SCHUNK Operating instruction of the FB10 Parameter Data Description Type M_POS_REACHED BOOL Feedback signal target position has been reached M ACT POS HEAL Feedback signal current position value this is not cyclically updated during the sine vector search M ACT VELO REAL Feedback signal current velocity this is not cyclically updated during the sine vector search M ACT CURR REAL Feedback signal prevailing current this is not cyclically updated during the sine vector search M ERROR WORD Feedback signal error number Table 3 Parameters of t
15. nfo cn schunk com www cn schunk com CZECH REPUBLIC SCHUNK Intec s r o Ernsta Macha 1 643 00 Brno Tel 420 545 229 095 Fax 420 545 220 508 info cz schunk com www cz schunk com 02 FB10 en 201 1 03 11 HF DENMARK SCHUNK Intec A S Storhaven 7 7100 Vejle Tel 45 43601339 Fax 45 43601492 info dk schunk com www dk schunk com FRANCE SCHUNK Intec SARL Parc d Activit s des Trois Noyers 15 Avenue James de Rothschild Ferrieres en Brie 77614 Marne la Vall e Cedex 3 Tel 33 1 64 66 38 24 Fax 33 1 64 66 38 23 info fr schunk com www fr schunk com N LZ AIRS GREAT BRITAIN IRELAND SCHUNK Intec Ltd Cromwell Business Centre 10 Howard Way Interchange Park Newport Pagnell MK16 9QS Tel 44 1908 611127 Fax 44 1908 615525 info gb schunk com www gb schunk com Contact HUNGARY SCHUNK Intec Kft Sz chenyi ut 70 3530 Miskolc Tel 36 46 50900 7 Fax 36 46 50900 6 info hu schunk com www hu schunk com INDIA SCHUNK India Branch Office 80 B Yeswanthpur Industrial Suburbs Bangalore 560 022 Tel 91 80 41277361 Fax 91 80 41277363 info in schunk com www in schunk com ITALY SCHUNK Intec S r l Via Barozzo 22075 Lurate Caccivio CO Tel 39 031 4951311 Fax 39 031 4951301 info it schunk com www it schunk com 19 Contact JAPAN SCHUNK Intec K K 45 28 3 Chome Sanno Ohta Ku Tokyo 143 0023 Tel 481 33 7743731 Fax 81 33 7766500 s takano tbk hand co
16. nt and velocity of the module Reading out the current fault massage for error detection further error handling or visualization on an OP Possibility to distinguish between error and warning message Watchdog for monitoring the time of command exchange between PLC and module watchdog can be parameterized for output of error message or resending command within a specified time Monitoring of the down time of the Profibus communication between SPS and module Should a down time occur an EMERGENCY STOP signal no personal safety is sent to the module cyclically in order to counteract critical movements in addition to module monitoring when the communication is re established 02 FB10 en 2011 03 11 HF SCHUNK Operating instruction of the FB10 3 2 Parameter Description DB INSTANCE MODULE 1 ge W 16 100 I FL CYCLE BYTE 1 I POS MODE 2 m MUS I ENABLE 2168 0 I ACK L68 1 I RESEND CMD 168 2 I CMD REF MODUL L68 3 1 CMD App PLUS 2168 4 I CMD JOG MINUS L68 5 L68 6 STOP MOTION L68 7 E m_MD10 I POS ACCELERATION B LIT 1 Z 4 ce I CMD H d o Uu ca i m MD14 I POS SEQUENCE I POS POSITION I POS CURRENT H d e ur Ld 7 e 2 CJ d I H I I M REFERENCED M IN MOTION M PROG ACTIVE M MOTION FINISHED M POS REACHED Figure 1 Parameter Description ADDR Entry point address of the module HEX
17. omplete failure of the logic volt age or following a restart by the internal watchdog gt f this message appears frequently during operation the logic voltage should be checked The performance driver could also be defective INFO NO FREE SPACE The available memory capacity is no longer sufficient This error might occur during programming of internal sequential programs in cases where the EEPROM memory is depleted With the SRU it might occur in situations where the dynamically generated table used to record and opti mize internal brake points exceeds the size of the available RAM memory INFO UNKNOWN COMMAND The sent command is not recognized Check whether the command code is correct Check whether the user is logged on correctly Certain commands are not known to all users INFO FAILED The command has failed All of the parameters are correct but the execution of the command is not possible at this time due to other reasons e g the module is in emergency stop mode With MOVE POS TIME this message appears if the parameters are correct but the position cannot be reached with the values in the speci fied time INFO NOT REFERENCED The module is not referenced and can therefore not execute the command Ihe module must be referenced in order to carry out a positioning movement INFO SEARCH SINUS VECTOR A search is running for the space vector for the sine commutation 6096 of the maximum current is used fo
18. r the phases Following power up of the device this is carried out once before any movement commands are executed 14 02 FB10 en 2011 03 11 HF SCHUNK Troubleshooting Error code Description HEX INFO NO ERROR There are no other error messages pending This is generated immediately after CMD ACK if no other errors are present or if the module has moved outside of the software limit range INFO TIMEOUT A timeout occurred during communication The data could not be sent or more data was anticipated and was not received on time INFO CHECKSUM INFO MESSAGE LENGTH INFO WRONG PARAMETER One of the specified parameters is outside of the permitted range If a pa rameter is found to be incorrect the old parameters are retained even if the others parameters are valid INFO PROGRAM END ERROR TEMP LOW The temperature has fallen below the permissible temperature range gt Warm up the module ERROR TEMP HIGH The temperature has risen above the permissible temperature range Allow the module to cool down Reduce the load ERROR LOGIC LOW The logic voltage is too low gt Check the logic voltage ERROR LOGIC HIGH The logic voltage is too high gt Check the logic voltage ERROR MOTOR VOLTAGE LOW The motor voltage is too low gt Check the motor voltage If this error occurs frequently the power supply unit of the motor voltage might be underdimensioned or the voltage supply cables to the modu
19. s must be acknowledged The error is converted to a CMD WARNING Only now is it possible to move the module away from the software limit using any motion command ERROR PRESSURE Only applies for SRU The compressed air has suddenly dropped or the coupling has broken gt Check the compressed air It should be at approx 6 bar This drop is detected because it causes an excessive brake point correction see MotionControl pdf ERROR SERVICE 7 C 8 8 D2 O ER UO N O1 16 02 FB10 en 2011 03 11 HF SCHUNK Troubleshooting Error code Description HEX The module requires maintenance gt Contact the after sales service SRU must be lubricated ERROR EMERGENCY STOP An emergency stop has been triggered with the command CMD EMER GENCY STOP ERROR TOW A towing error has occurred Reduce load of module ERROR VPC3 module only The Profibus controller is not working correctly This error can only be de tected by a DIAG user since the error cannot be sent via the Profibus The Profibus controller is defective ERROR FRAGMENTATION An error has occurred in the fragmentation protocol Data packets have been lost ERROR COMMUTATION The module cannot commutate If this error occurs frequently either the wrong commutation type has been selected or the Hall sensors for block commutation are defective or not con nected With regard to sine commutation there is an error in th
20. ual operation High Signal evaluation JOG MINUS BOOL Continuous movement in negative direction during manual operation High Signal evalua tion CMD START POS BOOL otart of positioning in accordance with pre selected mode internal pulse control on ris ing edge CMD STOP MOTION BOOL Current positioning procedure is halted inter nal pulse control on rising edge POS JERK HEAL Jerk depending on the selected mode it is transferred to the module immediately unit as per setting in MCDemo POS ACCELERATION REAL Acceleration depending on the selected mode it is transferred to the module immedi ately unit as per setting in MCDemo 8 02 FB10 en 2011 03 11 HF SCHUNK Operating instruction of the FB10 Parameter Data Description Type POS VELOCITY REAL Velocity depending on the selected mode it is transferred to the module immediately unit as per setting in MCDemo Number of the desired sequence dependent on the selected mode POS POSITION REAL Position value which dictates where the module should be positioned dependent on the selected mode unit as per setting in MCDemo POS_CURRENT REAL Current value which dictates where the mod ule should be positioned depending on the selected mode it is transferred to the module immediately unit as per setting in MCDemo immediately unit as per setting in MCDemo RES TIME S5Time If RESEND CMD is activated a
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