Home

Manual - Festo

1. 0 cece cc cee eect eee eee eenee 3 87 3 2 Festo P BE SPC200 SMX 1 EN en 0503b 3 Installation 3 1 General instructions Warning Before carrying out installation and or maintenance work switch off the following in the sequence specified ila 2 the compressed air supply all load and operating voltage supplies on the SPC200 and the connected components of the positioning system Load and operating voltage supplies You Festo P BE SPC200 SMX 1 EN en 0503b The load voltage supply for field devices and proportional directional 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 The operating voltage supply for the internal electronics of the SPC200 and field devices plug X2 pin 2 The sensor supply on the stepping motor indexer module connection SIGNALS pin 4 The operating voltage supply on the stepping motor con troller can thereby avoid undesired movements of the connected actuators uncontrolled movements of loose tubing undefined switching states damage to the electronic components 3 3 3 Installation gt Please note Connection to the main power supply and the fitting of mains switches transformers fuses and mains filters may only be carried out by a qualified electronics engineer Caution A Place motor cables and control cables at a distance from each other where po
2. 1 Select the command STEPMOTOR INPUT in the menu DISPLAY 2 Then select the axis identifier of the stepping motor axis with T or Accept this with the Enter key 3 Position the cursor on LIM with gt You can switch from one input to another with T or The status of the indi vidual input is shown as 1 for 1 signal or 0 for O sig nal STEPMOTOR INPUT Y LIM 1 Meaning of the inputs description see section Diagnosis with WinPISA Input Meaning LIM O signal Positive limit switch actuated REF 1 signal Reference switch actuated LIM O signal Negative limit switch actuated SRDY 1 signal Stepping motor controller sends message Ready to operate Festo P BE SPC200 SMX 1 EN en 0503b 5 7 5 Diagnosis and error treatment 5 5 5 8 Emergency travel If a limit switch is actuated the axis can be pushed manually into the positioning range again when the stepping motor controller is switched off Alternatively an axis can be moved into the positioning range again with the function Emergency travel Caution Movement outside the limit switches may result in a collision When the device is switched on the axis must lie within the limit switches The function Emergency travel may only be used if a limit switch has been actuated as a result of manual positioning or due to a program fault during the commissioning phase Emergency travel procedure When the functi
3. Controller Motor Effects in WinPISA and in the SPC200 New drive package MTR ST The stepping motor controller supports the step modes from Festo with 1 1 1 2 1 4 1 5 1 8 and 1 10 step The stepping mode stepping motor is set by means of the DIP switch on the controller controller SEC ST The step mode set on the stepping motor controller must be set in WinPISA WinPISA calculates from this the resul New drive package MTRE ST ting resolution which is saved in the SPC200 see section from Festo with inte 3 3 0 grated stepping motor utput F H STEP of the stepping motor indexer module is controller MTRE ST not used Old drive package from VRDM or The stepping motor controller supports Full Half step Festo with stepping MTR VRDM modes motor controller MRC With the setting Half step output F H STEP of the stepping motor indexer module will be set when the stepping motor controller is actuated 1 winPISA supports for the MTRE ST only the step modes 1 1 and 1 2 Please note The new drive packages with stepping motor controller SEC ST are supported only with WinPISA as from version 4 3 and SPC200 as operating system version 4 6 Check and if necessary correct the settings in the register cards Axis parameters and Application parameters as described in the following sections The specifications for the axes in the delivery scope of WinPISA are usually pr
4. Fig 3 3 Connection diagram for the sensors Festo P BE SPC200 SMX 1 EN en 0503b 3 7 3 Installation 3 3 Connecting the stepping motor controller and the stepping motor Fit the stepping motor controller and the motor cable in accordance with the accompanying description Please note In order to comply with EMC a mains filter may have to be installed between the mains supply cable and the stepping motor controller 3 4 Connecting the control cable 3 8 There is a sub D plug on the stepping motor indexer module for connecting the SPC200 to the stepping motor controller AMPLIFIER X30 This plug has been designed for stepping motor controllers with 5 V control signals Use the special cables from the Festo range for connecting the stepping motor controller If you use a stepping motor controller from a different manu facturer you must prepare a cable in accordance with the manufacturer s instructions In this case connect the cable screening on both sides with the plug housing Festo P BE SPC200 SMX 1 EN en 0503b 3 Installation a fut 2 amp 0 i ETT D 2 C aic o a o T C ye o a o Els H2 A E
5. Description of the LED signals Signal Description Signal Description ON is off ON Pil Lay flashes for a long mL OFF time ON lights u ON flashes briefl OFF a d OFF y 5 4 Festo P BE SPC200 SMX 1 EN en 0503b 5 Diagnosis and error treatment 5 3 Diagnosis with WinPISA Status display In online mode WinPISA offers the following possibilities of diagnosing stepping motor axes Status display Display ofthe inputs of the stepping motor indexer module Further notes and diagnostic possibilities can be found in the WinPISA manual or in the online help In order to display the status select the command Status display in the menu Online Diagnosis Select the axis identifier of the desired stepping motor axis in the register card System Under Software version the software version of the step ping motor indexer module is displayed Whether or not reference travel has been carried out is shown after the entry Reference travel s Status display of x Axes Enor System CX Gv j ES Operating mode Start Stop Software version v 2 00 Controller version Start program 0 Start program B Reference travel yes Fig 5 1 Status display register card System The other entries correspond to the display for a selected pneumatic axis see WinPISA manual Festo P BE SPC200 SMX 1 EN en 0503b 5 5 5 Diagnosis and error treatment Display inputs In order to display the status of the
6. Positioning the axis Festo P BE SPC200 SMX 1 EN en 0503b 4 Make sure that the axis is always within the positioning range defined by the limit switches when it is switched on and before the start of reference travel Now switch on the stepping motor controller Under Status of the inputs the checkbox Servo ready shows that the stepping motor controller is ready to operate By actuating the arrow buttons under Procedure you can determine the direction in which the motor is to ro tate The motor should only rotate when the relevant button is actuated Check the direction of rotation with regard to the result ing direction of movement of the axis If necessary switch off the stepping motor controller again and adjust the direction of rotation If the steps up till now have been carried out without any faults you can now connect the coupling and move the axis with the arrow buttons under Procedure The axis will then move at the configured reference speed Check that the limit switches function correctly In order to do this move the axis up to the limit switches the posi tive limit switch switches when moving in the positive direction the negative limit switch switches when moving in the negative direction 4 25 4 Commissioning Reference travel 4 26 With the function Emergency travel you can move into the positioning range again after a limit switch has been actuated Select here the option E
7. Servo ready SRDY shows with a 1 signal that the stepping motor controller is ready to operate 4 31 4 Commissioning Checking the direction of rotation Positioning the axis 4 32 4 Select the command AXIS in the menu TEST DIAG and press the Enter key With T or select the identifier of the stepping motor axis and confirm the selection with the Enter key You are now in the menu TEST DIAG AXIS Accept the command JOG AXIS with the Enter key The cursor is positioned on the sign after the coordinate specification Y 0000 00 With TT or you can switch between for positive direction and for negative direction By pressing the Enter key you can determine the direc tion in which the motor is to rotate The motor should only rotate when the Enter key is pressed Check the direction of rotation with regard to the resulting direction of movement of the axis If necessary switch off the stepping motor controller again and adjust the direc tion of rotation If the steps up till now have been carried out without any faults you can now connect the coupling and move the axis in the relevant set direction with the Enter key Check that the limit switches function correctly In order to do this move the axis up to the limit switches the posi tive limit switch switches when moving in the positive direction the negative limit switch switches when moving in the negative direction If nece
8. in the event of programming faults must permit destruc tive free braking stroke reserve The usual arrangement of the sensors on an electric axis with safety limit switches is shown in the following diagram 2 8 Festo P BE SPC200 SMX 1 EN en 0503b 2 Fitting po00000000070 og oo0o0o0o0000000 0 0 9 1 LIM REF LIM L L L n R S e hi SS U gt 3 LA tdke reser ye Stroke reser ve 5 Blaking range Braking range 6 1 Sensor connections for control 2 Sensor connections for the EMERGENCY STOP circuit 3 Positioning range Fig 2 2 Arrangement of the sensors Festo P BE SPC200 SMX 1 EN en 0503b 4 Switching range of the reference switch 5 Switching ranges of the hardware limit switch braking range stroke reserve 6 Switching ranges of the safety limit switch EMERGENCY STOP range Installation Chapter 3 Festo P BE SPC200 SMX 1 EN en 0503b 3 1 3 Installation Contents 3 Installation eer E E ER PER ES EC e YEN ME ES EE 3 3 1 General instructiva rai m aa ec 3 3 1 1 Overview of electricalinstallation ooooooooo 3 3 2 Connecting the sensors eee cee cee hh 3 47 3 3 Connecting the stepping motor controller and the stepping motor 3 8 3 4 Connecting the control cable
9. 3 Drive packs iia e daa 1 87 1 3 1 Stepping motor controller ooocooooccoornommom 1 87 1 4 Electromechanical linear drive 0 eee ccc cee cece eee eens 1 1 1 5 ACEON AD ant an 1 1 1 6 EMERGENCY STOP concept see eee e eee eee cere teen eens 13r 1 2 Festo P BE SPC200 SMX 1 EN en 0503b 1 System summary 1 1 System structure Stepping motor drives must be connected to the SPC200 by means of special stepping motor indexer modules Each step ping motor indexer module type SPC200 SMX 1 enables a stepping motor axis to be coupled on 1 Programmer PC for commissioning 2 SPC200 with stepping motor indexer module 3 Stepping motor controller 4 Control cabinet Fig 1 1 System overview Festo P BE SPC200 SMX 1 EN en 0503b le N co lo Electromechanical linear drive Reference limit switches Coupling and flange Motor in some cases with gear Pneumatic axis optional 1 3 1 System summary 1 2 Basis structure for operating a stepping motor axis With just the following modules the SPC200 can control a stepping motor controller Ok Oo os nm E oh oH oh a om E ETE 1 Power supply module 2 Diagnostic module 3 1 0 module optional field bus module 4 Stepping motor indexer module Fig 1 2 Basis structure for a
10. BE SPC200 SMX 1 EN en 0503b A Technical appendix Festo P BE SPC200 SMX 1 EN en 0503b Circuitry of sensor connection SIGNALS X31 Circuitry of the inputs LIM REF LIM SPC200 4k7 LIM Sensors Wey 24V 24V OV OV gt supply Fig A 3 Sensor inputs A 5 A Technical appendix A 6 Festo P BE SPC200 SMX 1 EN en 0503b A Technical appendix A 3 Index Festo P BE SPC200 SMX 1 EN en 0503b A Abbreviations cles pH AMPLIFIER connection 0 c eee eee e eee E Analogue reference value eee eee eee 72 Application parameters 0064 ERF Axis parameters csse T9828 B Basis str ct re 2c cig scisco E Ice ee ia C COMMISSIONING s c doeet da RU deese 38 Connecting elements 0 eee eee eee eens CW Control patiel vacunas dea eet CPP Control plug i caida ies E D Desigriated USE eri e EE Eae ts M Diagnosis Diagnosis on the control panel 0 Diagnosis with WinPISA 0e cece eee ees General instructions 0 cee eee eee eee On the spotdiagnosis 2 eee eee ee eee Diameter of drive ce ec cece ee eens 47 Display elements cee cece eee eee eee CW Drive packages cece cece eee eee eee eee L38 A Technical appendix A 8 E Electromechanical linear drive o o 31 EMERGENCY STOP concept eee
11. Check the settings on the stepping motor controller see manual for the stepping motor controller e g the phase current the step size the step mode or Micro Half step the direction of rotation thecurrent reduction Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Festo P BE SPC200 SMX 1 EN en 0503b The settings of the maximum phase current depend on the stepping motor connected The maximum permitted phase current is specified on the type plate of the stepping motor Caution Excessive currents can damage the motor Do not set a current higher than that specified for the motor as otherwise the motor will be overloaded Select the next lower value if the specified current cannot be set Please refer to the documentation on the stepping motor con troller for the correct pre settings and for instructions on opti mizing the settings Switching on the power supply on the SPC200 Please note Make sure that the axis is always within the positioning range defined by the limit switches when it is switched on and before the start of reference travel When you have checked the installation and parametrizing of the stepping motor controller switch on the power supply for the SPC200 4 5 4 Commissioning 4 6 Electric linear axis Proceed as described in the operating instructions for the electric linear axis Check especially the position and functioning of the limit switches Carry out
12. SPC200 CPU 4 z 1st AIF string xS axis DGP 25 100 750 f SPCFIO 2E 2A z Stepping motor interface Pee Y axis DGEL SP KF 3 Software Position list 0 DIN Test program 1 DIN Testprogramm2 Fig 4 1 Stepping motor interface In order to configure a stepping motor axis select the icon of the axis in the project window With the command Edit Configure or with a double click on the axis icon you can open the relevant dialogue window Parameter set for the axis Caution Incorrectly set parameters can lead to uncontrolled reac tions of the connected axes during operation Festo P BE SPC200 SMX 1 EN en 0503b 4 7 4 Commissioning Parameter set for the axis Axis parameters Application parameters Cylinder Des DGE 8zR mene Length 300 mm Upload Diameter Ce mm Motor Gear Motor WTR ST42 485 44 Steps turn 200 Bear F Fig 4 2 Parameter set for the axis register card Axis parameters 4 3 1 Selecting a specification for the axis 4 8 A large number of settings and parameters must be defined for an electric axis Specifications for drive packages can be selected for this pur pose The specifications are saved in planning files pta A series of typical specifications can be found in the delivery scope of WinPISA You can create these specifications your self with t
13. are added or re moved whilst the power supply is switched on Before carrying out installation and or maintenance work switch off the following power supplies in the sequence specified 1 the compressed air supply 2 all load and operating voltage supplies on the SPC200 and the connected components of the positioning system Fitting modules Proceed as follows when fitting a module into the rack 1 Switch off the compressed air supply and the operating voltage supply 2 If necessary remove blanking plate 3 Hold the module by the front plate and push it into the guide rail Make sure that the modules are not tilted when they are pushed in and that no components on the printed circuit board are damaged 4 Make sure that the plugs of the terminal strips are cor rectly aligned Then gently push the module in as far as possible The retaining levers will then lock automatically see diagram Festo P BE SPC200 SMX 1 EN en 0503b 2 5 2 Fitting Fig 2 1 Direction for unlocking Locks automatically Retaining lever Front plate of the module Terminal strip Guide rail Removing modules 2 6 Installing the modules Proceed as follows when removing a module 1 Switch off the operating voltage and the compressed air supply Loosen and pull off the connecting cable on the front of the module Unlock both locking levers see
14. controller see manual for stepping motor controller A stepping motor drive package from Festo consisting of a stepping motor controller a stepping motor and in some cases also gears Other stepping motor controllers are possible providing they have compatible connections Mains filter fuses etc for the stepping motor controller Motor cable for connecting the stepping motor controller and the stepping motor Motor flange and coupling Linear drive e g DGE L with accessories Suitable sensors for reference and limit switches When selecting the sensors note that the accuracy of the switchover point of the sensors determines the accuracy of the reference point You must make sure that the switchover point always lies within a step resolution Festo P BE SPC200 SMX 1 EN en 0503b 1 System summary 1 2 1 Connecting and display elements of the stepping motor indexer module The diagram below shows the connecting and display elements of the stepping motor indexer module type SPC200 SMX 1 1 Control plug AMPLIFIER X30 15 pin 2 FAULT LED red 3 STATUS LED green 1 4 Signal plug SIGNALS X31 2 3 4 Fig 1 3 Connecting and display elements Festo P BE SPC200 SMX 1 EN en 0503b 1 7 1 System summary 1 3 Drive packages Festo offers drive packages for electric axes These consist of Stepping motor control
15. if necessary correct the settings in the register card Application parameters in accordance with your system Parameter set for the Y axis Axis parameters Application parameters Stepper mode Resolution Start stop frequency Project zero point Lower software end position Upper software end position Reference position Reference speed factor Maximum speed Maximum acceleration Reference travel mode Resolution with full step 1 1 6 25000 14mm 1 2 X 12 50000 1 mm 400 Hz 00 mm 100 mm 208 mm 100 mn Foo 020 m s 20 m s ir Download Upload R EXON 5 rpm Run um visis Fig 4 4 Parameter set for the axis register card Application parameters Description of the parameters under Application parameters The application parameters are configuration data which de scribe the conditions of use specified by the application Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Resolution with full step Steps per mm positioning path with step mode Full step 1 1 steps turn feed constant transmission ratio Resolution with full step Permitted 0 01000 9999 99999 1 mm Description of the parameters Parameters Description AAA AA AAA A AAA A AAA Steps turn Number of steps per revolution ofthe stepping motor ie steps turn Step angle step angle see type plate Feed constant Feed in mm per turn of
16. inputs select the command Stepping motor module in the menu Online Observe Stepping motor 7 Z EI ES Input signals M End switch positive IV End switch negative Reference switch IV Servo ready Fig 5 2 Observe stepping motor module The inputs are shown by means of checkboxes as follows Checkboxes Input Description Remedy End switch positive LIM When the checkbox is Push the axis into the Limit switch deactivated the positive limit positioning range if positive switch N C is actuated necessary emergency travel End switch negative LIM When the checkbox is Push the axis into the Limit switch deactivated the negative limit positioning range if negative switch N C is actuated necessary emergency travel Reference switch REF When the checkbox is activated the reference switch N O is actuated Servo ready SRDY When the checkbox is Check the stepping motor deactivated the stepping controller or cabling bridged motor controller does not in the cable for the SEC ST indicate readiness to operate 5 6 Festo P BE SPC200 SMX 1 EN en 0503b 5 Diagnosis and error treatment 5 4 Diagnosis on the control panel Display inputs The control panel offers the following possibility of diagnos ing stepping motor axes Display of the inputs of the stepping motor indexer module Further notes and diagnostic possibilities can be found in the SPC200 manual
17. linear axis has been loosened If this is not the case loosen the coupling e Leave the stepping motor controller switched off If necessary switch this off e When the axis moves in accordance with the functions in the dialogue window Commission stepping motor it moves in each case at the set reference speed If necessary set a lower reference speed factor during the functional check of the axes 4 30 Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Check the inputs Festo P BE SPC200 SMX 1 EN en 0503b 2 Make sure that the end and reference switches function correctly In order to do this you can move the axis by hand when the stepping motor controller is switched off Select the command STEP MOTOR INPUT in the menu DISPLAY and press the Enter key The cursor is positioned on the axis identifier Select the desired axis with T or and position the cursor on the entry LIM with gt STEP MOTOR INPUT Y LIM 1 With T or switch between the inputs The state of the individual input is shown with 0 or 1 When checking the sensors note their different designs LIM LIM Limit switches end switches N C normally closed REF Reference switch N O normally open Make sure that the axis is always within the positioning range defined by the limit switches when it is switched on and before the start of reference travel Now switch on the stepping motor controller The input
18. ln faultless technical condition When used together with commercially available compo nents such as actuators the specified limits for pressures temperatures electrical data torques etc must be observed National and local safety regulations must also be observed Contents and general instructions Target group Service VI This manual is intended exclusively for technicians trained in control and automation technology who have experience in fitting installing commissioning programming and diagnos ing stepping motor axes Please consult your local Festo repair service if you have any technical problems Festo P BE SPC200 SMX 1 EN en 0503b Contents and general instructions Important user instructions Danger categories This manual contains instructions on the possible dangers which may occur if the product is not used correctly These instructions are marked Warning Caution etc printed on a shaded background and marked additionally with a picto gram A distinction is made between the following danger warnings Warning This means that failure to observe this instruction may result in serious personal injury or damage to property Caution This means that failure to observe this instruction may result in personal injury or damage to property Please note gt This means that failure to observe this instruction may result in damage to property The following pictogram marks passages in the text whic
19. the start stop fre quency Festo P BE SPC200 SMX 1 EN en 0503b 4 17 4 Commissioning gt Maximum speed Maximum acceleration Please note When specifying the maximum speed and maximum accel eration take into account the limits of the linear axis used maximum permitted speed and feed force Speed for positioning with command GOO or maximum speed for positioning with command G01 The speed factor speci fied with command G01 refers to the maximum speed defined here Permitted 0 1 10 0 m s Note that the maximum permitted step frequency position ing frequency with the SPC200 is 40 kHz The maximum step frequency is calculated from the product of the resolution and the maximum speed Step frequency resolution speed Maximum acceleration for positioning with the commands GOO and GO1 The acceleration factor specified with the com mand GO8 refers to the maximum acceleration defined here Permitted 0 1 100 0 m s Note that due to too small accelerations resonance effects can occur Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Value Revolution Determined number of revolutions and run up period From the set application data the maximum number of revol utions as well as the run up period are determined and indi cated Description Number of revolutions with the configured maximum speed and resolution Resolution with full step Maximum acceleration Steps turn Rev
20. 24 V connected internally with pin 4 of the SIGNALS plug via relay contact Push pull control electric as per RS 485 80 Hz 40 kHz Max 500 kHz sec 0 00 9999 99 mm 0 01000 9999 99999 steps mm Electromagnetic compatibility Interference emitted Resistance to interference Tested as per DIN EN 61000 6 4 industry 3 Tested as per DIN EN 61000 6 2 industry 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 Hz Tested as per DIN IEC 68 part 2 27 t 30 g at 11ms duration 15 cycles signals Festo P BE SPC200 SMX 1 EN en 0503b 1 Note the tolerance of the connected sensors 2 Pin compatible with the stepping motor controllers of the Festo drive package for 5 V control 3 The SPC200 is intended for industrial usage A 3 A Technical appendix A 2 Internal circuitry Circuitry of control connection AMPLIFIER X30 Circuitry of the outputs DIRECT PULSE ENABLE F H STEP SPC200 Stepping motor controller Fig A 1 Principle RS 485 RS 422 Circuitry of the inputs READY SPC200 Stepping motor controller READY 9 24V from Ei Ra sensor plug i READY 4 9 Fig A 2 Relay contact On the connecting cable for the SEC ST the input READY is EBEN bridged A 4 Festo P
21. E G PE SENICE unica cea AE E E E EN qn SIGNALS connection 0 ee eee eee eee eee Prd Size of drive o loossilelo Saeed aa e ee et ed ewes 47 Software end position Caer AE Software version lle IE Start stop frequency eee eee eee ed eed A 9 A Technical appendix A 10 STATUS LED asou trate RUE XI RR eR IS Re GE Step mode uere em xe ree ea aedes T1 Stepping motor controller oo ooooo E ET System Structure 20s ccc coke ed dee eee eed sae HE T Target group sss e ree mtr ere been L1 Technical specifications cee eee eee eee eee AE Text markings citen a E eee f U Upper software end position eed W WINPISA cnesei rh Rx AX RE RA Ere OSes AT BI Festo P BE SPC200 SMX 1 EN en 0503b
22. SPC200 Smart Positioning Controller FESTU Electronics manual Stepping motor indexer module Type SPC200 SMX 1 693 858 Contents and general instructions Author cs aetema ne ett sane a rites P Mauch Editor ok b eid led tant e die Ces M Holder Original cia ias de Translation ooooocoooooo transline Deutschland Layout ra Festo AG amp Co KG Dept KG GD Type settings ic a n Gb RA hel Re KI DT Editions iss LUPA VEA E te oes en 0503b Designation o o ooooo o P BE SPC200 SMX 1 EN Order Tio erie enese pte eret te sre ws 188 895 Festo AG amp Co KG D 73726 Esslingen Federal Republic of Germany 2003 Internet http www festo com e mail service internationalQfesto com The reproduction distribution and utilization of this docu ment as well as the communicaton of its contents to others without express authorization is prohibited Offenders will be held liable for the payment of damages All rights re served in the event of the grant of a patent utility module or design Festo P BE SPC200 SMX 1 EN en 0503b Contents and general instructions ll Festo P BE SPC200 SMX 1 EN en 0503b Contents and general instructions Contents Designated US s ubseentr ene mU Spb Se RR A UD SNO e UU Ri Ie e ed dnd t1 Tatget Sroll Do id6 ecd ques Sae hg e Rel e Sen And RR E eee D we aie robar st SETI tao Important userinstructions cesses ar VI Notes on software version 1 0 cece cece ccc
23. X FY FZ FU on positioning with GO1 is set too low increase Reduce motor current Increase maximum speed or ref erence speed factor With 2 phase stepping motors increase resolution that means operate the motor with step mode 1 2 or 1 4 instead of 1 1 note that torque will be re duced 5 Diagnosis and error treatment 5 12 Festo P BE SPC200 SMX 1 EN en 0503b Technical appendix Appendix A Festo P BE SPC200 SMX 1 EN en 0503b A 1 A Technical appendix Contents A Technical appendix peri e pr e ia Rem mer A A 1 Technical Specifications mini ama iria mre eee eem mee e 17 A 2 internal CIECUILEY aise ot hue eee en o wan A 3 Index ioc tba hte eG ds Shaded elec erc pel EC dd i ee T A 2 Festo P BE SPC200 SMX 1 EN en 0503b A Technical appendix A 1 Technical specifications Type SPC200 SMX 1 Temperature range Operation 5 4 50 C Storage transport 20 70 C Weight 69g Relative humidity 95 96 non condensing Connection SIGNALS X31 External supply pin 4 pin 5 Sensor inputs pin 1 3 Current consumption at 24 V Reference potential 24V DC 15 96 D Inputs based on IEC 1131 2 type 2 24 V DC positive switching PNP Typ 8 mA 0v Connection AMPLIFIER X30 2 Input READY Outputs DIRECT PULSE ENABLE F H STEP Step frequency Frequency ramp Positioning range Resolution
24. ase note Check within the framework of your EMERGENCY STOP concept to ascertain the measures necessary for putting your machine system into a safe state in the event of an EMERGENCY STOP e g switching off the load supply operating voltage for the stepping motor controller switching offthe compressed air The status of the limit switches connected to the sensor plug is evaluated by the operating system of the SPC200 Warning The limit switches connected to the sensor plug are not suitable for implementing an EMERGENCY STOP function Use additional separate safety limit switches if an ap propriate EMERGENCY STOP circuit is required for your application 1 12 Festo P BE SPC200 SMX 1 EN en 0503b Chapter 2 Festo P BE SPC200 SMX 1 EN en 0503b 2 1 2 Fitting Contents 2 dun lt lt 2 2 1 Fitting and removing the stepping motor indexer module 2 2 2 Fitting the electric axis and the stepping motor controller T 2 2 4 Arrangement of the sensors cece cee eee eee eee 2 87 2 2 Festo P BE SPC200 SMX 1 EN en 0503b 2 Fitting AN Festo P BE SPC200 SMX 1 EN en 0503b Warning Before carrying out installation and or maintenance work switch off the following in the sequence specified 1 the compressed air supply 2 all load and operating voltage supplies on the SPC200 and the connected components of the positioning system You can thereby avo
25. ation commissioning and type P BE SPC200 COM diagnosis ofthe relevant field bus module Stepping motor indexer module Installation commissioning and type P BE SPC200 SMX 1 diagnosis with a stepping motor Electric positioning system Further information on electric type P BE ATP positioning systems Special information on commissioning programming and diagnosing the SPC200 with the WinPISA software package can be found in the appropriate manual for WinPISA X Festo P BE SPC200 SMX 1 EN en 0503b Contents and general instructions Festo P BE SPC200 SMX 1 EN en 0503b Information on the electric axes drive packages with step ping motors and stepping motor controllers as well as sen sors can be found in the documentation supplied with the product Caution If the permitted operating conditions of the components used are not observed faults may occur during operation Consider in particular the specifications for the permitted operating conditions of the motors and drives used in the documentation enclosed manufacturer data e g for the permitted start stop frequency or the minimum positioning speeds XI Contents and general instructions List of abbreviations Term abbreviation Drive package The following product specific terms and abbreviations are used in this manual Meaning Stepping motor controller in some cases with gear Electric axis Combination of motor coupling coupling housing with c
26. ation and the axis set up Program some positioning movements Proceed as described in the section Commissioning in the SPC200 manual or in the WinPISA manual The test program for a stepping motor axis can contain e g the following records NC record NO00 G74 Y1 0 2 Description Reference travel in negative direction to reference switch REF N001 G04 100 Dwell time of 1 s N002 G01 Y100 FY10 2 Move at 10 96 of the defined maximum speed to Y 100 mm N003 G01 Y500 FY50 D Move at 50 of the defined maximum speed to Y 500 mm N004 G04 100 Dwell time of 1 s N005 M30 Program end with repeat 1 Use the axis identifier of the stepping motor axis 2 Reference travel mode appropriate for the axis Then check the program sequence as described in the SPC200 manual or in the WinPISA manual Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 4 6 Instructions on operation Take the following instructions and recommendations into account when programming positioning systems with electric axes Please note gt Make sure that all stepping motor axes always lie within the positioning range defined by the limit switches when they are switched on and before the start of reference travel carry out reference travel when the SPC200 or the step ping motor controller is switched on or if applicable after faults Stepping motor axes are operated in an
27. cect heh Notes on the use of this manual seseeeeeeeeeeee ee Listof abbreviations 1 51 aethere dt deed Tel e A pe TER E eleg eee ad XI 1 System summary cc cece cece cece eee ehh 1 47 1 1 SYSTEM SIT CEUTE 06 A aem ce dea e ee edes 1 1 2 Basis structure for operating a stepping motor axis 14 1 2 1 Connecting and display elements of the stepping motor indexer module 222000 1T 1 3 Dilye DackdBe5 co con esee bx e uera eti Rada A ble aud etes 187 1 3 1 Stepping motor controller ooooooooccoooommmomo 1 87 1 4 Electromechanical linear drive 0 cece ce eee eee e ne eeee 1 17 1 5 ACCOSSOL BS sre is E TE aaa 1 1 1 6 EMERGENCY STOP concept cece eee e eee eee cc 13 2 FittifiB 4 0o oeste A NN 2 2 1 Fitting and removing the stepping motor indexer module 2 47 2 2 Fitting the electric axis and the stepping motor controller 2 2 2 1 Arrangement of the sensors cece cece eet eee 2 87 3 Installation sesser irune ne nn En E ER TEONE 3 3 1 General instrUCtIONS seoseis erem ote eee E E S 3 3 1 1 OverviewofelectricalinstallatiON oooooooo o o o 3 3 2 Connecting the sensors eee cece ect eee e eet eee eeee 3 3 3 Connecting the stepping motor controller and the stepping motor 3 3 4 Connecting the control cable cece cc cee ec eee eee 3 8 Festo P BE SPC200 SMX 1 EN en 0503b Hl Con
28. cena 272 Emergency travel erret erem eee 381 End SWitch8s 5 2 nee rete EU EE E wile egit tad F FAULT LED tm he nm em t em eae Eja Functional check of the stepping motor axes REPE H Half step Licence emm errem EFE l Important user instructions llle wg Instructions on operation 0 cece eee eee hea Internal circuitry eek hrb Re bes e e Af J Judging the positioning behaviour DT L Hl spere EIE Eja Length of drive cee cee eee ee eens KELLA Limit switches 2477 2HE 8 Lower software end position 4E P7 Festo P BE SPC200 SMX 1 EN en 0503b A Technical appendix Festo P BE SPC200 SMX 1 EN en 0503b M Maximum acceleration oo oooooooo oo d E TP Maximum speed 0s eee eee eee ee eed BTE Micro step cssassesse errem hee ned eid P Pictogtams iiie roads rre Aff Positioning behaviour cece cece ee eens Cry Program example sie 6 dd idad dea ex eere e gee E Project zero point eee eee eee ee ee eee ETT R Reference points of the positioning system 48 Reference position ee eee eee eee eee eee Reference speed factor 22 ee eee Aia Reference switch ooooooooommmmmmmmm mA Reference travel ccc cece cece eee ee nee e eens EE Reference travel mode cece eens 287 Resolutio vacios a Creer 287 S Sensor pl g eere re mn
29. diagram and carefully pull out the module If necessary seal the unused slots with blanking plates Festo P BE SPC200 SMX 1 EN en 0503b 2 Fitting 2 2 Fitting the electric axis and the stepping motor controller Notes on fitting the electric axis and the stepping motor controller can be found in the following documentation the documentation supplied with the stepping motor controller the pneumatics manual for the positioning system type P BE ATP the operating instructions for the electric linear axis used the instructions for the components used gt Please note By the arrangement of the limit switches and by additional appropriate mechanical stops make sure that the axis always lies within the positioning range limited by the hardware limit switches Use the correct type of switch for the necessary reference and limit switches Sensor Contact Reference switch N O normally open Limit switches N C normally closed Festo P BE SPC200 SMX 1 EN en 0503b 2 7 2 Fitting 2 2 1 Arrangement of the sensors Please note gt Please note that the axis must be in the positioning range in order to carry out reference travel the complete ranges outside the permitted positioning range are covered by limit switches the slide must never stand between the switching range of the hard ware limit switch and the mechanical limit stop the switching range of the hardware limit switch e g
30. ecifications Festo P BE SPC200 SMX 1 EN en 0503b 1 9 1 System summary The control connection of the stepping motor indexer module possesses the following inputs and outputs for connecting a stepping motor controller Outputs push pull control electric as per RS 485 Pulse Direction Enable Full half step not used with SEC ST Input relay contact in the stepping motor controller Ready bridged in the connecting cable for the SEC ST Festo P BE SPC200 SMX 1 EN en 0503b 1 System summary 1 4 Electromechanical linear drive Linear drives are used for the electric axes These drives con vert the rotary movement of the stepping motor into a linear movement of the slide If the linear drives do not have an inte grated guide an additional guide must be provided Two different types of guides are available axes with spindle drive e g DGE L SP axes with toothed belt drive e g DGE L ZR Please note gt The maximum length of the linear drives is determined by technical reasons As from a certain length spindle drives may only be operated at limited speed and toothed belt drives may only be operated with limited drive torque 1 5 Accessories For the positioning systems Festo offers accessories suited to the drive packages and linear drives see Festo delivery pro gram or catalogue Festo P BE SPC200 SMX 1 EN en 0503b 1 11 1 System summary 1 6 EMERGENCY STOP concept gt Ple
31. ency travel the button Start changes to Stop With Stop you can interrupt the current emergency travel 5 Diagnosis and error treatment Carry out emergency travel with the control panel as follows 1 In order to carry out emergency travel select the com mand AXIS in the menu TEST DIAG 2 Then select the axis identifier of the stepping motor axis with TT or Accept this with the Enter key 3 Now select the command EXIT FROM LIMIT with gt Start emergency travel with the Enter key The current emergency travel can be interrupted with the Esc key or with the Enter key 5 10 Festo P BE SPC200 SMX 1 EN en 0503b 5 Diagnosis and error treatment 5 6 Notes on judging the positioning behaviour Resonance effects can lead with stepping motor axes to step losses and or uncontrolled positioning behaviour Deter mined by their principle 2 phase stepping motors are more susceptible to resonance effects than 3 or 5 phase stepping motors The following table contains notes on judging the positioning behaviour as well as on the possible remedy Effect Actual position moves with positioning in both directions Possible cause Loss of steps by resonance ef fects Motor runs roughly and or produces untypical noises Festo P BE SPC200 SMX 1 EN en 0503b Drive operates in the range of the resonance Possible remedy Increase acceleration Increase start stop frequency e Speed F
32. eset on the step mode 1 2 as well as on a start stop frequency of 400 Hz Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 4 3 2 Configuration of the axis parameters Check and if necessary correct the settings in the register card Axis parameters in accordance with your system Description of the parameters under Axis parameters The axis parameters are configuration data which describe the composition the properties and the components of the axis used When an axis is inserted from the Planning Tool the appropri ate information on the linear drive is shown in the display fields After an upload these fields appear empty as this in formation is not saved in the SPC200 Designation The designation of the linear drive used for the electric axis display field Length The length of the linear drive used for the electric axis see type plate Permitted 50 10 000 mm Diameter The size of the linear drive used for the electric axis see type plate parameter only for information Permitted 8 320 mm Motor The designation of the stepping motor used for the electric axis display field Steps turn The number of steps per turn of the stepping motor used for the electric axis display field Gear The designation of the gear used for the electric axis display field Festo P BE SPC200 SMX 1 EN en 0503b 4 11 4 Commissioning 4 3 3 Configuration of the application parameters Check and
33. h describe activities with electrostatically sensitive compo nents Electrostatically sensitive components may be damaged if they are not handled correctly Festo P BE SPC200 SMX 1 EN en 0503b VII Contents and general instructions Marking special information The following pictograms mark passages in the text contain ing special information Pictograms Information Recommendations tips and references to other sources of information Accessories Information on necessary or sensible accessories for the Festo product Environment Rift Information on environment friendly use of Festo products Text markings e The bullet indicates activities which may be carried out in any order 1 Figures denote activities which must be carried out in the numerical order specified Hyphens indicate general activities VIII Festo P BE SPC200 SMX 1 EN en 0503b Contents and general instructions Notes on software version Please note gt This manual refers to stepping motor indexer modules type SPC200 SMX 1 with software version as from 1 42 Observe the different positioning speeds depending on the software version of the stepping motor indexer module Function Range Software version 1 Axis moves with Reference Switching ranges of the as from 1 42 Start Stop frequency travel limit switches or the refer ence switch depending on the reference travel mode as from 1 0 1 4 Start Stop frequency or afte
34. h WinPISA Menu APPLIC PARAM application parameters RESOLUTION Resolution START STOP FREQ Start stop frequency POS BASEPOINT Project zero point LOWER END POS Lower software end position UPPER END POS Upper software end position REFER POSIT Reference position REFER SPEED Reference speed factor MAX SPEED Maximum speed MAX ACCELER Maximum acceleration MODE OF REFER Reference travel mode MICRO HALF STEP Step mode Micro Half step with SEC ST always O with MRC O or 1 see following sections Festo P BE SPC200 SMX 1 EN en 0503b 4 29 4 Commissioning On the control panel display the parameter MICRO HALF STEP corresponds to the step mode see sectiom 3 3 Ifstepping motors type MTR ST with the corresponding power unit type SEC ST are used or the integrated motor unit MTRE ST the value 0 will always be shown It must not be modified with the control panel Jfstepping motors type VRDM are used and with the corresponding power unit type WS5 the stepper mode can be modified with the control panel 0 or 1 With the parameter RESOLUTION the resulting resolution will be displayed and can be modified 4 4 2 Functional check of the stepping motor axes When the axis and application parameters have been set check that the axes function correctly 1 Preparations for the functional check Check to see if the coupling between the motor and the
35. he aid of the Planning Tool PtTool Information on further necessary entries can be found in the following sections Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning gt Please note The SPC200 with stepping motor indexer module can be used with various stepping motor controllers By selecting an appropriate specification for the axis you determine the following the calculation of the resulting resolution the support of the control output F H STEP of the step ping motor indexer module Select the specification for the axis as follows 1 Press the button Select in the dialogue window Para meter set for the axis in order to select a specification 2 Inthe dialogue window Axis selection under Projected axes all the electric axes are displayed which exist in the standard directory for planned axes With Search you can also display axes from a different directory Axis selection Projected axes C AFESTONWINPISA 43 PTTOOL sm08_1 pta Mounting position 0 Max positioning speed 0 2 ms Max acceleration 2 m s Ok Cancel Search Help Fig 4 3 Axis selection stepping motor controller SEC ST Festo P BE SPC200 SMX 1 EN en 0503b 4 9 4 Commissioning 3 Select from the list Projected axes the axis which corre sponds to the actual axis of your positioning system see following table Accept the specification with Ok
36. id unexpected movements of the connected actuators uncontrolled movements of loose tubing undefined switching states 2 3 2 Fitting 2 1 Fitting and removing the stepping motor indexer module Caution Modules may be damaged if they are not handled cor rectly Do not therefore touch the contacts of the components Observe the regulations for handling electrostatically sensitive components components in order to protect the components against dis charges of static electricity A Discharge yourself electrostatically before fitting or removing Note the following when fitting the module The stepping motor indexer module can be fitted as de sired into any of the slots 2 to 6 Individual identification of all fitted modules takes place automatically The axis identifiers are assigned to the modules or the connected axes in ascending order from left to right with out gaps Maximum 3 stepping motor indexer modules can be fitted Ifa stepping motor indexer module is fitted next to the diagnostic module a control panel cannot be connected because of the plug for the cable to the stepping motor controller The modules are fastened on the rack with the aid of a lock ing lever A tool is not therefore required for fitting or remov ing a module 2 4 Festo P BE SPC200 SMX 1 EN en 0503b 2 Fitting Warning A Actuators may make sudden unexpected movements and the SPC200 will be damaged if modules
37. ite for commissioning a stepping motor axis is that the current hardware configuration of the SPC200 is saved see user manual for the SPC200 Proceed here as described in the following sections Festo P BE SPC200 SMX 1 EN en 0503b 4 27 4 Commissioning 4 4 1 Setting project specific parameters A 4 28 Cautio Incorrectly set parameters can lead to uncontrolled reac tions of the connected axes during operation The SPC200 must know the conditions of use in your project and the type of components used in your positioning system Undertake the necessary settings in the following menus Menu Description SPC200 READY Axis parameters AXIS PARAM gt Specifications on the axes used SPC200 READY Application parameters APPLIC PARAM gt Specifications on the conditions of use When you have selected a menu use the arrow buttons to set the axis identifiers of the stepping motor axis to be confi gured and confirm this with the ENTER key AXIS PARAM gt gt X You can then set the parameters described below Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Menu AXIS PARAM Menu APPLIC PARAM Axis parameters Set the following parameters description of the parameters see section Commissioning with WinPISA Menu AXIS PARAM axis parameters CYL LENGTH Length of drive Application parameters Set the following parameters description of the parameters see section Commissioning wit
38. ition refers to the ma chine zero point and represents the lower limit of the posi tioning range Permitted 0 0 10 0000 mm Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Upper software end position Reference position Reference speed factor A Defined end position on the side opposite the machine zero point which is monitored by the SPC200 and which must not be overrun The upper software end position refers to the machine zero point and represents the upper limit of the positioning range Permitted 0 0 10 0000 mm If both software end positions are set to 0 their function will have no effect Coordinate of the reference point related to the machine zero point The machine zero point is defined by this value based on the switching point of the reference switch Permitted 0 0 10 0000 mm The exact position of the switching point of the reference switch depends on the selected reference travel mode With this factor the positioning speed Vref of the reference travel related to the configured maximum speed is deter mined see Fig 4 6 Permitted 0 01 1 00 Caution By unfavorable choice of the reference speed factor reson ance effects can occur with the reference travel of the axis Consider the manufacturer data for the permitted operat ing conditions of the used motors and drives e g for the permitted speeds Recommendation Do not set the reference speed less than
39. l E G 9 1 z Nod a E Qi JOC ol ELO z HIHN 1 AMPLIFIER connection Fig 3 4 Control plug AMPLIFIER X30 Pin assignment of control plug AMPLIFIER X30 Pin Signal SEC ST Pin Signal SEC ST 1 PULSE Clk 5 9 PULSE Clk 2 DIRECTION Dir 4 5 10 DIRECTION Dir 3 ENABLE En 4 5 11 ENABLE En 4 Not connected 12 Not connected 5 F H STEP full half step 1D 13 Not connected 6 F H STEP full half step 1 14 Not connected 7 Not connected 15 READY 02 8 READY 02 1 Notused with stepper motor controller SEC ST 2 Connections bridged in the connecting cable Festo P BE SPC200 SMX 1 EN en 0503b 3 9 3 Installation Meaning of the signals on the control plug Signal Meaning READY Input Readiness ofthe stepping motor controller via relay contact PULSE Output Step control for the motor each rising signal edge corresponds to a step DIRECTION Output Determines the direction of rotation of the motor ENABLE Output Enable signal for the stepping motor controller F H STEP Output Defines whether the motor is controlled for full or half step 3 10 Festo P BE SPC200 SMX 1 EN en 0503b Commissioning Chapter 4 Festo P BE SPC200 SMX 1 EN en 0503b 4 1 4 Commissioning Contents 4 Commissioning 22 x rit ERES Wa e E Re we aga 4 4 1 Procedure for commissioning essel 3 4 2 Preparations for commissioning o
40. ler Stepping motor in some cases with brake gears if necessary The drive package must be suited to the requirements of the positioning system moveable mass positioning time etc as well as to the electromechanical linear axis used A stepping motor controller with a 5 V signal level must be used for operating the SPC200 see Technical specifica tions 1 3 1 Stepping motor controller 1 8 The stepping motor controller forms the link between the SPC200 as positioning controller and a stepping motor The signals from the positioning controller are converted by the stepping motor controller in accordance with the motor dependent and drive dependent settings e g phase current Festo P BE SPC200 SMX 1 EN en 0503b 1 System summary 1 Power unit 2 Stepping motor controller 3 Stepping motor 4 SPC200 positioning controller D ME A YN v7 DS VAN NS VAS SS NN OTF an AAA Fig 1 4 Control connection of the stepping motor controller The control connection of the stepping motor indexer module type SPC200 SMX 1 has been optimized for the stepping motor controllers offered with the Festo drive packages Other stepping motor controllers can only be used providing the necessary inputs and outputs are compatible with the control output of the stepping motor indexer module AMPLIFIER connection see Technical sp
41. mergency travel under Activity and start this with Start The axis moves in the reverse direction towards the posi tioning range providing the limit switch is connected cor rectly until the limit switch is left Travel is interrupted if the limit switch is not left within 2 seconds or if the button Stop is actuated Select the option Reference travel under Activity Check the mode displayed for reference travel Start reference travel with the button Start During reference travel the button Start changes to Stop With Stop you can interrupt the current reference travel The relevant position of the axis related to the position of the machine zero point is shown under Procedure After successful reference travel the functional check of the axis is completed Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 4 4 Commissioning with the control panel If you wish to carry out commissioning with the control panel type SPC200 MMI 1 you should be familiar with the functions of the control panel Leave the power supply for the stepping motor controller if necessary also the compressed air sup ply switched off An overview of the menu system on the control panel can be found in the user manual for the SPC200 Please note gt The control panel type SPC200 MMI does not support all new or extended functions of the SPC200 with firmware as from version 4 6 The prerequis
42. nts During reference travel the axis moves according t fig 4 6 The mechanical arrangement of the reference or limi switches clearly determines the reference point of an axis In each case the position accepted as reference point is that at which the slide leaves the switching range of the sensor Caution If an incorrect reference travel mode is set this can lead to collisions as all positions of the axis refer to the reference point When carrying out reference travel make sure that the correct mode is used 4 20 Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 1 Starting position 2 Position accepted as reference point 3 Switching ranges of end and reference switches Speeds during reference travel Vref Reference speed factor maximum speed SS Start stop fre quency LIM REF LIM 2 D O0O0000 o o 0 jo o LR E yy Glide vo piarum C Pri La Mode 0 e Modei EN v MEM d Casea B Vee Case b Ba 2 SS SS Mode2 SS 7 D m Fig 4 6 Reference travel modes Festo P BE SPC200 SMX 1 EN en 0503b After a limit switch fault the axis loses the reference point When the fault has been eliminated new reference travel must be carried out with the axis If reference travel is started after a limit switch fault without Power off on the axis will try to leave or find the last act
43. olution 625a 10005 0 22 60 5 275 turns 2004 min Example Revolution Run up period Time in which the drive with the max acceleration configured reaches the maxi mum speed Maximum velocity Maximum acceleration Run up period m Example Run up period 5 0 1s 203 Reference travel mode Mode with which reference travel is to be carried out This pre setting applies to reference travel which has been started in the dialogue window Commissioning the stepping motor Command Online Commission Stepping motor or with the control panel Permitted 0 4 With command G74 the reference travel mode in the NC pro gram will be defined individually Festo P BE SPC200 SMX 1 EN en 0503b 4 19 4 Commissioning Reference travel modes see also fig 4 6 Mode Description Accepting the current axis position as reference point Reference travel in negative direction to reference switch REF with acceptance as reference point Reference travel in negative direction to negative limit switch LIM with acceptance as reference point Reference travel in positive direction to reference switch REF with acceptance as reference point Reference travel in positive direction to positive limit switch LIM with acceptance as reference point Note that reference travel with modes 1 and 3 will result in different reference poi
44. on Emergency travel is started the axis moves out of the range of the actuated limit switch in the direction of the positioning range of the axis The axis moves until the switching range of the limit switch is left however for max 2 s e g in the event of cable fracture in the limit switch cable Please note Before starting emergency travel make sure you under stand the function of the limit switches Note that the limit switch opposite cannot be recognized during emergency travel Festo P BE SPC200 SMX 1 EN en 0503b 5 Diagnosis and error treatment Festo P BE SPC200 SMX 1 EN en 0503b Carry out emergency travel with WinPISA as follows 1 Select the command Stepping motor in the menu Online Commission 2 Selectthe axis identifier of the stepping motor axis in the dialogue window Commission stepping motor If necessary check the displayed status of the relevant inputs Commission stepping motor Axis selection 5 Gv s c Status of the inputs E 2 E z Activity Reference travel Negative reference switch mode 1 Emergency travel Procedure lt lt 99 95 mm gt gt negative Actual position positive Exit Help Fig 5 3 Commissioning the stepping motor 3 Inorder to carry out reference travel select the option Emergency travel under Activity Start emergency travel with Start The axis moves from the limit switch into the positioning range During emerg
45. oooccoooocccnonoccnonccnoono 4 3 Commissioning with WinPISA else T 4 3 1 Selecting a specification for the axis oooooooommm m 4 87 4 3 2 Configuration ofthe axis parameters e eee eee 4 17 4 3 3 Configuration of the application parameters 44r 4 3 4 Configuration of the settings for analogue reference value Specificato zs ui exte nne pte egi RR ee el agn ny 4 2 4 3 5 Loading the axis configuration into the SPC200 4 27 7 4 3 6 Functional check of the stepping motor axes 4297 4 4 Commissioning with the control panel eee eee ee eee eee 4 2 4 4 1 Setting project specific parameters see eee eee 4 287 4 4 2 Functional check of the stepping motor axes 4307 4 5 Program example eere erexit hex e nh eee e e mace i Rs 4 3 4 6 Instructions on operation Lecce cee eee n 4387 4 2 Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 4 1 Procedure for commissioning For user friendly commissioning and programming of an SPC200 with stepping motor indexermodule you will require the WinPISA software package as from version 4 3 However commissioning can also be carrried out by means of the control panel The following list provides an overview of the steps required for commissioning 1 Checkthe stepping motor controller Set the necessary parameters on the stepping motor controller Check the f
46. open control loop Modifications to the position of the axis when the holding torque is switched off e g stepping motor controller switched off by EMERGENCY STOP or lost steps e g collision overload cannot therefore be taken into account gt Please note Take into account any functions implemented within the framework of the EMERGENCY STOP concept in the NC programs Note that not all programming commands of the SPC200 are valid for electric axes and that individual programming com mands for electric and pneumatic axes differ from each other in their function see SPC200 manual or WinPISA manual Follow the maintenance instructions for the components used Festo P BE SPC200 SMX 1 EN en 0503b 4 35 4 Commissioning Caution A By positioning the axis with unfavorable positioning speeds resonance effects can occur which can lead to step losses Consider the manufacturer data for the permitted operat ing conditions of the used motors and drives e g for the permitted start stop frequency or for the permitted posi tioning speeds Factors of influence for the positioning speeds Factors of influence Observe with Start Stop frequency Parametrizing Reference speed factor Commissioning Maximum speed Maximum acceleration Speed factor FX during positioning Operation with GO1 Acceleration factor G08 during posi tioning with G01 Recommendation Make sure du
47. osis on the control panel eee e eects 5 17 Emergency travel 22 zebltenbsede ent ER were orien DU alae eed S 5 Notes on judging the positioning behaviour cece e neces 51F Technical appendix eerte rr hen rmn rh ren A Technicalspecifications ccc cece cc eee cee ee A intemal CITCUltry i cic x ree ds ede oU eet X ede es A 4 lS EEEE EET E E EEE A T Festo P BE SPC200 SMX 1 EN en 0503b Contents and general instructions Designated use Festo P BE SPC200 SMX 1 EN en 0503b The stepping motor indexer module type SPC200 SMX 1 has been designed for coupling a suitable stepping motor con troller to the SPC200 With this stepping motor controller the SPC200 can control a stepping motor axis Maximum 3 step ping motor indexer modules can be fitted in a rack Basic components and modules for the SPC200 are described in the user manual type P BE SPC200 The safety instruc tions specified in the manuals must always be observed and the relevant components and modules must only be used as intended Please observe also the safety instructions in the operating instructions for the pneumatic components used The SPC200 and the modules and cables to be connected are only to be used as follows As specified in industrial applications Without any modifications by the user Only the conversions or modifications described in the documentation supplied with the product are permitted
48. oupling and flange electromechanical linear axis as well as the necessary cables and sensors Electromechanical Linear guide with spindle or toothed belt drive Linear drive Digital input 1 Os Digital inputs and outputs Modules Function cards which can be plugged into the rack of the SPC200 Q Digital output Record Select mode Operating mode of the SPC200 which supports close coupling with a higher order PLC IPC Resolution Steps per mm positioning path depends on the motor used the drive as well from the configured step mode see sectioj 73 3 Start stop frequency Frequency with which the stepping motor can start and stop reliably at the required rotational speed without loss of step Start Stop mode Operating mode of the SPC200 which supports both autonomous operation and control by a higher order PLC IPC Step mode The step mode defines the step width rotary angle of the motor per impulse Therefore the steps per turn are defined too XII Festo P BE SPC200 SMX 1 EN en 0503b System summary Chapter 1 Festo P BE SPC200 SMX 1 EN en 0503b 1 1 1 System summary Contents 1 System SUMMA c s lx RE ta EE SEE 1 1 1 Systemistr CLUre isse meme E IR e MS a ng 1 1 2 Basis structure for operating a stepping motor axis suse 1 47 1 2 1 Connecting and display elements of the stepping motor indexer module eee eee eee eee 1 77 1
49. r a limit switch fault Outside the switching all Reference speed ranges of the limit or refer ence switches Emergency Switching range of the limit as from 1 43 Start Stop frequency travel switches and movement in preparation before reaching the limit switch up to 1 42 1 2 Start Stop frequency 1 Determining the software version see sectio r5 3 Festo P BE SPC200 SMX 1 EN en 0503b IX Contents and general instructions Notes on the use of this manual Type System manual This manual contains basic general information on fitting installing and commissioning the SPC200 as well as a de scription of its method of operation as a stepping motor con troller The manual deals with the SPC200 Smart Positioning Controller with operating system version as from 4 6 and fitted stepping motor indexer module with firmware version as from 1 42 see sectiom 5 3 Status display as well as WinPISA as from version 4 3 Manuals on the SPC200 Smart Positioning Controller Title SPC200 Smart Positioning Controller user manual type P BE SPC200 Contents Installation commissioning and diagnosis with SPC200 standard components and modules Software manual WinPISA software package type P SW WIN PISA Functions of the WinPISA software package Help system Help system for WinPISA contained WinPISA help system in WinPISA Manuals Field bus module Install
50. remains at 0 integrated 1 2 0 irrespective of mode controller The control panel always shows 0 see section 4 1 VRDM MRC WS Full step 0 With half step the output F H STEP or MTR Half step 1 will be set on the stepping motor VRDM indexer module of the SPC200 New as from WinPISA 4 3 The resulting resolution will be calculated automatically as per formula see Resolution With the control panel the step mode can be modified 0 or 1 see section 14 Please note gt The parameter Stepper mode will be saved together with the resulting Resolution in the SPC200 4 14 Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning The specifications for the axes in the delivery scope of WinPISA are usually preset on the step mode 1 2 as well as on a start stop frequency of 400 Hz Recommendation In order to achieve smaller susceptibility for resonance ef fects operate 2 phase stepping motors with step mode 1 2 Note that the torque of the motor is thereby reduced Resolution Steps per mm positioning path resulting from the resolution with full step 1 1 and the selected step mode The following applies 1 1 1 2 1 2 F si ERIS A s 1 4 Resolution resolution with full step lt 5 with step mode 4 1 5 8 1 8 10 1 10 Accuracy 0 01000 9999 99999 1 mm Start stop frequency Frequency with which the stepping motor can start and stop reliably at the required rotational speed without loss of s
51. ring operation that the minimum positioning speed is never less than the start stop frequency set see manufacturer data of the components used Note that due to too small accelerations resonance effects can occur The resonant frequency is for drives with 2 phase stepping motors usually between 50 and 250 Hz 4 36 Festo P BE SPC200 SMX 1 EN en 0503b Diagnosis and error treatment Chapter 5 Festo P BE SPC200 SMX 1 EN en 0503b 5 1 5 Diagnosis and error treatment Contents 5 Diagnosis and error treatment leeeeeeeeeee een 5 5 1 General instructions on diagnosis 0 cece ec cece eee eee e eens f 5 2 On the spotdiagnosis eee eee eee eee naco 5 5 3 Diagnosis with WinPISA cece cece cece hn 5 8 5 4 Diagnosis on the control panel eee cece eect ee eee eee 5 17 5 5 A E EBD UR EOS 5 87 5 6 Notes on judging the positioning behaviour oooooooooommmmoo 51F 5 2 Festo P BE SPC200 SMX 1 EN en 0503b 5 Diagnosis and error treatment 5 1 Festo P BE SPC200 SMX 1 EN en 0503b General instructions on diagnosis Information on general diagnosis and fault treatment can be found in the manual for the SPC200 type P BE SPC200 or in the WinPISA manual This chapter contains special information on diagnosing the stepping motor indexer module General diagnostic possibilities The SPC200 offers extensive and user friendly possibilities of diagnosis and fault treatmen
52. sary switch this off e When the axis moves in accordance with the functions in the dialogue window Commission stepping motor it moves in each case at the set reference speed If necessary set a lower reference speed factor during the functional check of the axes Proceed with the functional check as follows 1 Select the command Stepping motor in the menu Online Commissioning in active online mode The dialogue window Commission stepping motor will be displayed Festo P BE SPC200 SMX 1 EN en 0503b 4 23 4 Commissioning Checking the inputs 4 24 Commission stepping motor Axis selection i5 Gv i5 ij Status of the inputs r r r r Activity Reference travel Negative reference switch mode 1 C Emergency travel Procedure lt lt 99 95 mm gt gt negative Actual position positive Exit Help Fig 4 7 Dialogue window Commission stepping motor 2 Make sure that the end and reference switches function correctly In order to do this you can move the axis by hand when the stepping motor controller is switched off Select the desired stepping motor axis under Axis selection Check the checkboxes of the relevant inputs under Status of the inputs Note the different designs of sensors Limit switches end switches N C normally closed Reference switch N O normally open Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Checking the direction of rotation
53. ssary check the status of the limit switches on the control panel command STEPMOTOR INPUT see Step 2 Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning Reference travel Festo P BE SPC200 SMX 1 EN en 0503b With the function Emergency travel you can move into the positioning range again after a limit switch has been actuated In order to do this select the command EXIT FROM LIMIT in the menu TEST DIAG AXIS with and confirm this with the Enter key EXIT FROM LIMIT Y 0326 88 f Start emergency travel with the Enter key The axis moves in the reverse direction towards the posi tioning range providing the limit switch is connected cor rectly until the limit switch is left Travel is interrupted if the limit switch is not left within 2 seconds or if the Esc or Enter key is pressed during reference travel If necessary check again the configured mode for refer ence travel Select the command REFERENCE TRAV in the menu TEST DIAG AXIS with gt Start reference travel with the Enter key The relevant position of the axis related to the position of the machine zero point is displayed REFERENCE TRAV Y 0100 00 The current reference travel can be interrupted with the Esc key or with the Enter key After successful reference travel the functional check of the axis is completed 4 33 4 Commissioning 4 5 4 34 Program example Enter a simple test program in order to check the configur
54. ssible e g in cable channels with in termediate walls Use only screened cables for connection to the motor Twist the control cables in pairs In this way you can avoid electromagnetic interference which might impair reliable operation of the system Please note gt Lay all moveable motor and sensor cables free of bends and free of mechanical stress if necessary in a drag chain 3 4 Festo P BE SPC200 SMX 1 EN en 0503b 3 Installation 3 1 1 Overview of electrical installation 1 Motor N Electromechanical linear drive Motor cable Im 4 Sensor cable reference and limit switches lo Control cabinet Fig 3 1 Overview of electrical installation Festo P BE SPC200 SMX 1 EN en 0503b SPC200 with stepping motor indexer module Control cable e g KSPC SECST Stepping motor controller e g SEC ST Main switch Power unit 3 5 3 Installation 3 2 Connecting the sensors Warning A Use only PELV circuits as per IEC DIN EN 60204 1 Pro tective Extra Low Voltage PELV for the electrical supply Consider also the general requirements for PELV circuits in accordance with IEC DIN EN 60204 1 Use power supplies which guarantee reliable electrical isolation of the operating voltage as per IEC DIN EN 60204 1 By the use of PELV circuits protection against electric shock protection agains
55. stepping motor controller 1 4 Festo P BE SPC200 SMX 1 EN en 0503b 1 System summary Module Description Power supply module Enables the power supply and the axis interface designed as a field device to be connected Diagnostic module Enables the control panel to be fitted and a PC to be connected 1 0 or field bus module Enables control of the I Os or communication via the field bus Stepping motorindexer Enables a stepping motor controller to module be controlled A system structure with the modules shown above offers the followingfacilities One or two pneumatic axes can be controlled Control of one stepping motor axis Programming and diagnosis via a PC or a control panel Coordination via I Os or via the field bus Providing a sufficient number of unused locations are avail able up to 3 stepping motor indexer modules can be fitted in the SPC200 for controlling 3 electric axes The SPC200 can be controlled via I Os or via the field bus in the operating mode Start Stop or in the Record Select mode The address range required for this is provided by the I O module or the field bus module Festo P BE SPC200 SMX 1 EN en 0503b 1 5 1 System summary 1 6 For setting up a stepping motor axis with the SPC200 you will require the following components The SPC200 Smart Positioning Controller with stepping motor module type SPC200 SMX 1 The control cable from the SPC200 to the stepping motor
56. t The following possibilities are available The LEDs on the stepping motor module display informa tion on the operating status of the connected stepping motor axis The LEDs on the SPC200 and on the connected field de vices show directly configuration faults hardware faults string faults bus faults etc The control panel shows detailed fault messages coded in the form of an 8 figure hexadecimal number In online mode WinPISA shows the 8 figure fault message as well as a description of the fault in clear text The output bit READY of the SPC200 shows the basic readiness of the system to operate 5 3 5 Diagnosis and error treatment 5 2 On the spot diagnosis The two LEDs on the stepping motor indexer module enable a speedy on the spot diagnosis to be made FAULT LED red STATUS LED green FAULT LED STATUS LED Operating status red green is off is off Operating voltage not applied lights up is off Function card has not started SPC200 defective or function card defective servicing required lights up flashes fora Limit switch actuated short circuit or incorrect polarity at sensor longtime input or internal fault is off flashes briefly Initialization phase Reference travel not carried out or reference travel no longer valid Servo Ready interrupted is off flashes fora Operating status normal no axis movement positioningtask long time is off lights up Axis moves
57. t direct and indirect contact is guaranteed in accordance with IEC EN 60204 1 Electrical equipment for machines General requirements gt Please note Check within the framework of your EMERGENCY STOP circuit to ascertain the measures necessary for putting your machine system into a safe state in the event of an EMERGENCY STOP e g switching off the operating volt age switching off the compressed air 3 6 Festo P BE SPC200 SMX 1 EN en 0503b 3 Installation 1 LIM Positive limit switch 2 REF Reference switch 3 LIM Negative limit switch 4 24 V Supply 5 OV Supply 6 Earth ground connection z 1 0 i E T 3 2 5 T e E Es 3 p t di lit C pe a 0 5 al IT IS ME 6 Fig 3 2 Pin assignment of sensor plug SIGNALS X31 Use the correct type of switch for the necessary limit and reference switches see section Fitting When selecting the sensors note that the accuracy of the switchover point of the sensors determines the accuracy of the reference point You must make sure that the switchover point always lies within a step resolution The following diagram shows as an example the connection of the sensors
58. tents and general instructions 4 1 4 2 4 3 4 4 4 5 4 6 5 1 5 2 5 3 5 4 5 5 5 6 A 1 A 2 A 3 Commissioning 4 vr e e rr p E REESE EE E RET ET 4 Procedure for commissioning essel T Preparations for commissioning eee 4 47 Commissioning with WinPISA cece cece ee cee eh T 4 3 1 Selecting a specification for the axis o ooooooooommooo 4 87 4 3 2 Configuration of the axis parameters 2 eee eee eee ee 4 1 4 3 3 Configuration of the application parameters 44r 4 3 4 Configuration of the settings for analogue reference value specifiCatiOIn ue ean eme ec e OO e or rre me Pens 4 27 4 3 5 Loading the axis configuration into the SPC200 4 27 4 3 6 Functional check of the stepping motor axes 4 287 Commissioning with the control panel eee eee cece eee eee 4 2 4 4 1 Setting project specific parameters 0c eee eee eee 4287 4 4 2 Functional check ofthe stepping motor axes 4307 Program examples 2 ira dig ere wA Ne gp aes eid aud en 4 3 Instructions on operation cee eee cee cee e 4 35 Diagnosis and error treatment ssssssesesssssosesesssseoee 5 General instructions on diagnosis 0 0 cece cece ee eee eee eens 5 7 On the spotdiagnosis tt stien eee eee eee eee RRN 5 Diagnosis with WinPISA 0 cece cece hme 5 8 Diagn
59. tep Permitted 80 5000 Hz Caution By unfavorable choice of the start stop frequency reson ance effects can occur with positioning the axis which can lead to step losses Consider the manufacturer data for the permitted operat ing conditions of the used motors and drives e g for the permitted start stop frequency Festo P BE SPC200 SMX 1 EN en 0503b 4 15 4 Commissioning 1 Machine zero point 2 Reference and limit switches 3 Reference position 4 Lower software end position 5 Upper software end position 6 Project zero point Fig 4 5 Reference points Project zero point Lower software end position 4 16 With the following parameters 3 to 6 seg fjs 4 5 you can specify the reference points of your positioning system The machine zero point is defined by the coordinate of the reference point All further positions refer to the thus defined machine zero point 2 2 1 E LIM 6 Ee HE LIM Pod 3 i s __ 6 IL e Point related to the machine zero point All positions in posi tion registers and programs refer to the project zero point Permitted 0 0 10 0000 mm Defined end position on the side of the machine zero point which is monitored by the SPC200 and which must not be overrun The lower software end pos
60. the first tests as follows with the compressed air switched off providing pneu matic axes are connected to the SPC200 without work load with disconnected coupling If the motor continues to run when the power supply for the stepping motor controller is switched on switch off the power supply immediately and check the signal connections as well as the earth and power cables System inputs for commissioning With some commissioning steps e g the signals ENABLE START and STOP are required for controlling the axes For commissioning stepping motor axes e g with the steps Move to reference point In some cases emergency movement diagnosis and fault treatment Test and start program Instructions on providing the signals can also be found in the SPC200 or WinPISA manuals in some cases also in the man ual for the field bus module Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 4 3 Commissioning with WinPISA Configuring the axis A For commissioning with WinPISA you must simulate the existing hardware configuration in WinPISA Refer here to the WinPISA manual for the necessary steps With the existing stepping motor indexer module there are one or several stepping motor interfaces in the project win dow under the SPC200 A stepping motor axis is assigned to each stepping motor interface Project c festo winpisa projects festo_01 prj SEI Eg E Project Commisioning 2 3 Hardware
61. the input shaft linear axis Transmissionratio Transmission ratio i of the gear see type plate D Example Steps turn step angle 1 8 200 1 turn Feed constant 32 mm turn Transmission ratio 1 no gears 200 Steps turn 32 mm turn 1 6 25000 Steps mm Resolution with full step Please note The parameter Resolution with full step us only used to determine the final resolution but not saved in the SPC200 Only the parameters Resolution and Step mode are saved Festo P BE SPC200 SMX 1 EN en 0503b 4 13 4 Commissioning Stepper mode New as from WINPISA 4 3 MICRO HALF STEP Step mode of the stepping motor controller The parameter Stepper mode replaces the parameter Micro half step control panel MICRO HALF STEP of previ ous WinPISA and operating system versions Function and setting possibilities of the parameter depend on the selected axis and on the stepping motor controller see following table and sectiomz 3 1 Selected Stepping motor Step Output Meaning motor controller mode F H STEP MTR ST SEC ST 1 1 0 The setting of the step mode must 1 2 0 correspond to the DIL switch settings 1 4 0 on the controller 1 5 0 The resulting resolution will be 1 8 0 calculated as per formula see 1 10 0 Resolution The output F H STEP on the stepping motor indexer module ofthe SPC200 MTRE ST Motor with 1 1 0 is not supported it
62. u ated switch with the start stop frequency SS Ifthe switch is neither left nor found the axis will move to the opposite limit switch 4 21 4 Commissioning 4 3 4 Configuration of the settings for analogue reference value specification The settings for analogue reference value specification in the register card Analogue reference value are identical to the settings for pneumatic axes Information on the settings can be found in the WinPISA manual 4 3 5 Loading the axis configuration into the SPC200 Providing the hardware configuration of the SPC200 corre sponds to the project you can load the configured values into the SPC200 in the dialogue window Parameter set for the axis The online mode must be active for this purpose If necessary close the dialogue window Parameter set for the axis and activate the online mode While the online mode is active load the relevant data in the individual register cards into the SPC200 with the button Download 4 22 Festo P BE SPC200 SMX 1 EN en 0503b 4 Commissioning 4 3 6 Functional check of the stepping motor axes When the axis and application parameters have been set check that the axes function correctly Preparations for the functional check e Check to see if the coupling between the motor and the linear axis has been loosened If this is not the case loosen the coupling e Leave the stepping motor controller switched off If neces
63. unction and arrangement of the limit switches Provide the necessary system inputs on the SPC200 see Preparing commissioning General commissioning of the SPC200 2 First check and save the hardware configuration of the SPC200 see WinPISA or SPC200 manual Commissioning the stepping motor axes 3 Set the axis and application parameters for the stepping motor axes to be used 4 Check the function of the stepping motor axes Inputs reference and limit switches Rotational direction of the stepping motor Positioning the axis Reference travel 5 Checkthat each axis has been correctly commissioned by means of a simple test program Festo P BE SPC200 SMX 1 EN en 0503b 4 3 4 Commissioning 4 2 Preparations for commissioning 4 4 Check the connection to the mains power supply Make sure that the stepping motor controller and the SPC200 are disconnected from the power supply Check the voltage for the stepping motor controller and the 24 V power supply Check that the stepping motor controller is correctly installed e Check the installation of the stepping motor controller in accordance with the accompanying documentation Set the parameters of the stepping motor controller Caution The stepping motor and the stepping motor controller may be damaged when under tension if the pre settings are incorrect Leave the main switch switched off until all the parameters have been set correctly e

Manual - Festo

Contents

Download Pdf Manuals

Related Search

Related Contents