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1. The controller reacts with a falling edge at Acknowledge start 5 As soon as Acknowledge start is recognized by the PLC the next record number may be started A currently running positioning task can be stopped with STOP 5 3 Sequence diagram for start stop record Festo GDCP SFC LACI DN EN en 0812NH 5 63 5 Commissioning Stop record with HALT and continue Setpoint record number Output data 9 Halt 4 CPOS BO HALT E a Start CPOS B1 START T 2 Pre D Confirm Halt SPOS BO HALT 1 im a Acknowledge start ma 0 SPOS B1 ACK x 1 Motion complete a SPOS B2 MC dal i Axis is moving SPOS B4 MOV i 0 Actual record number Input data 0 1 Record is stopped with HALT the 2 Rising edge at START starts record N actual record number N is retained again Confirm Halt is set Motion Complete remains reset Fig 5 4 Sequence diagram Stop record with HALT and continue 5 64 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Stop record with HALT and delete remaining path Setpoint record E Output data o Halt CPOS BO HALT Start CPOS B1 START N Ay 0 Clearremaining path CPOS B6 CLEAR x 7 Confirm Halt fi fa SPOS BO HALT 0 Acknowledge start U Us S
2. Max Velocity PNU 502 uint32 Description Max permitted speed in Inc s Cl 607Fh 00h uint32 DeviceNet C 105 A 4 ld uint32 Max Acceleration PNU 503 uint32 Description Max permitted acceleration in Inc s Cl 60C5h 00h uint32 DeviceNet C 105 A 5 I 1 uint32 Motion Profile Type PNU 506 int16 Description Ramp profile Fixed 1 linear ramp Cl 6086h 00h int16 DeviceNet C 105 A 8 l 1 int16 B 80 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing vi Stroke Limit PNU ia field bus Force mode 510 uint32 Description Stroke limitation Maximum permitted stroke with force control The distance of the actual position from the start position must not be more than the amount specified in this parameter In this way you can ensure that if force control is activated by mistake e g missing work item the axis will not perform an uncontrolled movement This parameter is taken into account in all control modes in which the position controller is not active in the status Operation enabled Monitoring can be deactivated when bit RCB1 B5 is set Cl 60F6h 01h uint32 rw DeviceNet C 105 A 10 I 1 uint32 rw Min Torque Force PNU 511 uint16 r Description The lowest permitted torque of the motor in per mill of the rated value 6076h PNU 1036 Fixed 300 Cl 60F6h 05h uint16 r DeviceNet C 105 A 11 1 1 uint
3. Scaling A ee Cl 20D0h 01h 02h Array uint8 r Description Units of measurement and decimal places on the control panel See Cl object 20FFh PNU 126 Measuring Unit 01h Definition of unit of measurement The setting for the unit of measurement system only affects the display All parameters are converted to the given unit of measurement only during writing orreading Note The SFC LACI operates internally with metric units the Cl interface with increments Value fixed 1 millimetres e g mm mm s mm s Scaling Size 02h no of places after dec point Number of places after the decimal point Fixed 2 C 24 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Record Table Element Cl Cl 20E0h 01h OBh Record Various rw Description Editing the entries in the positioning record table 1 Selection of line with object 2032h record pointer 2 Selection of column under subindex 20E0 01 OBh 20E0 01 20E0 02 20E0 03 20E0 04 20E0 05 20E0 Record RCW Target Velocity Acceler Jerk number position ation 02 2032h gt 03 wb 4 The values are only saved in the position record table with this command no movement is made Record Control 20EOh 01h uint16 Word RCW Record control word RCW Corresponds to 20EAh and 20EBh Bit 0 0 absolute position specified 1 relative position specified Bit 1 2 00 Stand
4. T Internal conditions Actions of the user T1 SFC LACI was switched on An error cannot be ascertained T2 Load voltage applied ENABLE 1 drive enabled Field bus master must be higher order CCON xxx0 xxx1 controller T3 STOP 1 CCON xxx0 xx11 T4 STOP 0 CCON xxx0 xx01 T5 ENABLE 0 CCON xxx0 xxx0 T6 ENABLE 0 CCON xxx0 xxx0 T7 Fault detected T8 Reaction to fault completed drive stopped T9 There is no longer a fault RESET 0 1 acknowledge fault It was a Serious error CCON xxx0 Pxxx 10 There is no longer a fault RESET 0 1 acknowledge fault It was a simple error CCON xxx0 Pxx1 T11 Fault is still present RESET 0 1 acknowledge fault CCON xxx0 Pxx1 Key P positive edge N negative edge x any E B 26 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 3 2 Positioning Fundamentally the following applies Transitions T4 T6 and T7 always have priority TA Internal conditions Actions of the user Se TA1 Referencing is running START 0 1 Start positioning HALT 1 CCON xxx0 xx11 CPOS Oxx0 00P1 TA2 Motion Complete 1 HALT status is any The current record is completed The next CCON xxx0 xx11 record is not to be carried out automatically CPOS Oxxx xxxx TA3 Motion Complete 0 HALT 1 gt 0 CCON xxx0 xx11 CPOS Oxxx xxxN TA4
5. B 56 PNU 304 T2 uint32 Description Mapping the digital outputs Local Digital 304 1 Outputs Bit O Status of brake Bit1 15 reserved Bit 16 MC Bit 17 READY Bit 18 EA_ACK Bit 19 ERROR Bit20 24 reserved Bit 25 Status Out1 Bit 26 Status Out2 304 2 reserved Cl 60FEh 01h 02h uint32 DeviceNet C 103 A 20 21 1 1 uint32 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Cycle Number PNU 305 uint32 r Description Number of positioning records executed homing runs etc Cl 2FFFh 00h uint32 r DeviceNet C 103 A 30 1 1 uint32 r Velocity Monitoring PNU 310 1 4 2 int32 r Description Velocity Monitoring Velocity 1 Actual Value Actual speed value in Inc s Velocity 2 Demand Value Speed setpoint value in Inc s Cl 2802h 01h 02h int32 r DeviceNet C 103 A 36 37 1 1 int32 r FHPP Status Data PNU 320 1 2 Record uint32 r Description FHPP input data 8 bytes of status data 4 bytes each consistent 1 FHPP status bytes 1 4 SCON SPOS u 2 FHPP status bytes 5 8 actual position Cl 20A0h 01h 02h uint32 r DeviceNet C 103 A 60 61 1 1 uint32 r Festo GDCP SFC LACI DN EN en 0812NH B 57 B Parametrizing via field bus FHPP Control Data PNU 321 1 2 Record uint32 r Description FHPP output data 8 byt
6. O data 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43 data 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43 Step 7 After receiving the input data with ResID 0x8 send output data with ReqID 0x0 and wait for input data with ResID 0x0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex ReqID ResID PNU Parameter value O data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43 data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43 Festo GDCP SFC LACI DN EN en 0812NH B 23 B Parametrizing via field bus B 3 T7 always has the FHPP finite state machine Switched off From all statuses highest priority T7 S1 S5 Controller Reaction to fault switched on f T8 52 S6 gt Drive locked T9 Malfunction T5 T2 T10 S4 Dri bled T6 rive enabled la A T4 T3 y SA5 TA9 SA1 Jog mode lt positive a TA10 TA7 SA4 BA Homing run Ready e is performed SA6 TA11 TAS Jog mode a negative Me ee lt q TA12 mf E SA2 TA5 Positioning rt job active TA6 mf je SA3 S4 Operation enabled Intermediate stop Fig B 1 B 24 Finite state machine Festo GDCP SFC LACI DN EN en 0812NH T11 B Parametrizing via field bus Notes on representing the finite status machine The transition T3 changes to state S4 whi
7. El Bl 6 4 5 Encoder Resolutio PNU 1001 iz uint32 rw 6 Description Encoder resolution in increments revolutions The encoder resolution is fixed and cannot be modified by the user The calculated value is derived from the fraction encoder increments motor revolution Encoder Increments 1001 1 0 Value range 0 232 1 Default 500 Motor Revolutions 1001 2 1 Fixed 1 8 Tal 608Fh 01 02h uint32 rw 9 DeviceNet C 107 A 2 ki rw Fe 1 Name of the parameter 2 Parameter number PNU 3 Subindices of the parameter the object has no subindex simple variable 1 30 the object has subindices from 1 30dec 4 Variable type 5 Read write permission r read only w write only rw read and write 6 Description of the parameter 7 lf applicable Explanation of the subindices 8 Corresponding Cl object see section1 9 Access via Explicit messaging class C attribute A instance I Fig B 3 Representation of the parameter entries B 40 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 4 4 Device data Manufacturer Hardware Version BCD PNU 100 uint16 Description Hardware version in BCD binary coded decimals xxyy xx main version yy secondary version Cl 2069h 00h uint16 D
8. Tab 5 17 Additional parameters for switching to next record The remaining parameters and sequences reflect the record selection gt section 5 6 4 Festo GDCP SFC LACI DN EN en 0812NH 5 67 5 Commissioning 5 6 6 Direct mode Specification of a position or force In the status Operation enabled a positioning task is formulated directly in the I O data which are transmitted via the field bus The setpoint values for position or force torque are managed in the PLC The function is used in the following situations moving to any position the target positions are unknown during planning or change frequently several different work item positions A positioning profile using chained records can be externally implemented by the master Procedure for specifying a position 1 The user sets the desired setpoint values into the PLC output data CDIR B1 2 Positioning mode control mode possibly energy optimised CDIR BO Setpoint position absolute relative FHPP control byte 4 Velocity setpoint value FHPP control bytes 5 8 Position setpoint value 2 With arising edge at START CPOS B1 the controller accepts the setpoint position and starts the positioning job 3 After the start you must wait for MC SPOS B2 before a new start can be made 4 When the setpoint position is reached MC is set 5 68 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Procedure for specifying a force
9. 1 H rail 4 2 3 O 2 Tension springs wo Distance between housing web and H rail 3 3 mm rail 35x7 5 Fig 2 3 H rail mounting 2 6 Festo GDCP SFC LACI DN EN en 0812NH Installation Chapter 3 Festo GDCP SFC LACI DN EN en 0812NH 3 1 3 Installation Contents 3 1 Installati n overview canas al AS A aeees 3 3 2 POWER SUPPLY sore anet ane aei an aee A AE E AERE E E NE EE 3 47 3 2 1 Function of the hardware enable o ooooooccmomoo 3 3 3 A AN 3 10 3 4 Motor conectivo el a a E a e a 3 1 3 5 Parameterising interface cece cece cece eee eet ee eees 3 1 3 6 Controllerinterad ondaa aa ios 3 1 3 7 Connecting the field bus cece cece cee eee e eee e eee e eens 3 18 37 1 Field bus Cabl isuuccexsas sratine ana i e eke ee ae ee 3 18 3 7 2 Field bus baud rate and field bus length oooo o 3 19 3 7 3 BUS POWEF SUPPLY vsocincrorsr en enews eve gees 3 20 3 7 4 Connection with field bus plugs adapters from Festo 3217 3 7 5 Connection with other Sub D plugs IP20 o o o oo ooo 3 257 3 8 Bus termination with terminating resistors ccc eee ee ee eeee 3 2 3 9 Local digital inputs and outputs cece cece eee eee 3 27 3 9 1 Specifications of the outputs eee eee eee eee eee oo 3 28 3 9 2 Specifications ofthe inputs eee eee eee eee eee eee 3 29 3 2 Fe
10. Tab B 4 Structure of parameter identifier ParlD B 16 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 2 2 Task identifiers response identifiers and error numbers Task identifiers Tab B 5 Task identifiers Festo GDCP SFC LACI DN EN en 0812NH ReqID Description Reply identifier Positive Negative 0 Nojob 0 E 1 Request parameter 1 1 2 7 2 Modify parameter value word D 1 7 3 Modify parameter value double word Y 2 7 6 Request parameter array 4 5 7 7 Modify parameter value array word 4 7 8 Modify parameter value array double word 5 7 11 Modify parameter value byte Y 11 7 12 Modify parameter value array byte 12 7 1 When using task numbers for simple variables to access parameters implemented as an array the subindex is ignored or set to 0 This means that the first element of an array is always addressed 2 Jobs with non supported job numbers ReqID will be answered with Response identifier 7 and error number 22 B 17 B Parametrizing via field bus B 18 If the task cannot be carried out reply identifier 7 as well as the appropriate error number will be transmitted Reply identifiers ResID Description 0 No reply 1 Parameter transferred word 2 Parameter transferred double word 4 Parameter value transferred array word 5 Parameter value transferred array d
11. oooooooo B 65 B48 Project data sac a a a B 79 B 4 9 Axis parameters for electric drives 1 ooooooommomm m B 8 B 4 10 Supplementary objects eee cece cece eee eee eee B 10117 Festo GDCP SFC LACI DN EN en 0812NH VII Contents and general instructions C 2 C 3 VIII Cl interface oia it E E RE A C The Clinterface si isa beds cea teii niin Enei eee CF C 1 1 Using the parameterising interface oo ooooooommoom CH C 1 2 Accessing the Cl ObjectS cece eee cece eee e neces Cr C 1 3 Access via a terminal program eee eee eee eee eee Cr C 1 4 Composition of the Clcommands eee ee eee CF C15 Checking the data session la eee sede ai Cry Referente Cl cs ici dt doe wide Soe are doe wed asd sed Sadan Sue a eas C 147 C 2 1 Object overview Index Subindex o o ooooooooooo o c1 Description of additional Cl objects o ooooooooccoronnoro mmm c 2 C 3 1 Communication Profile Area 00 cece eee eee eens C 2 C 3 2 Manufacturer Specific Profile Area 2 eee eee ee ee eee C287 C 3 3 Standardised Device Profile Area o o oooooommmmoo o C297 A O D Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Intended use The single axis field controller Single Field Controller type SFC LACI is used as a position controller and position servo for the electric drives types DNCE LAS
12. Tab 5 9 Control and status bytes Positioning mode Direct mode Festo GDCP SFC LACI DN EN en 0812NH 5 51 5 Commissioning 5 52 Description of direct mode positioning mode step 6 1 6 4 conditional sequence When the readiness to operate is created and the reference travel has been carried out a setpoint position must be preselected 6 1 The setpoint position in increments is transferred to bytes 5 8 of the output word The setpoint speed is transferred in of the base value in byte 3 0 no speed 100 base value 6 2 With CPOS B1 START the preselected positioning task will be started The start is confirmed with SPOS B1 Acknowledge start as long as CPOS B1 START is set 6 3 Movement of the axis is shown with SPOS B4 MOV 6 4 At the end of the positioning task SPOS B2 MC Motion Complete will be set If there are faults during positioning gt Fault handling see example 35 TPP 5 6 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 7 Direct mode Force mode requires status 1 3 2 3 and 4 Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 7 1 Specify setpoint 4 not relevant 4 Actual value in of the rated value force 5 8 Setpoint value in of the 5 8 Actual position in increments rated force 7 2 Prepare force Byie1 OPM2 OPMI LOCK RESET BRAKE STOP ENABL Bytet OPMZ OPR HMI 24VL
13. Start FHPP CDIR B3 CONT 1 CPOS B1 START positive edge must remain set while the setpoint specification is active CDIR B4 CONTT 0 lt gt 1 Toggle Bit CCON B1 STOP stops the setpoint specification CPOS BO HALT has no intermediate stop function and behaves in a similar manner to the CCON B1 STOP bit Anegative edge at CPOS B1 START also stops the setpoint specification Feedback FHPP SDIR B3 CONT 1 Prerequisites Device control by PLC field bus Controller must be in status Operation enabled E a Tab 5 19 Parameters used for continuous setpoint specification Festo GDCP SFC LACI DN EN en 0812NH 5 73 5 Commissioning 5 6 8 Standstill monitoring Target position o Actual position wo Standstill monitoring SPOS B6 e Motion Complete SPOS B2 5 Standstill position window Target position window 7 Damping time Position window time 8 Standstill monitoring time With the standstill monitoring it is clear that the target position window is exited at a standstill When the target position has been reached and MC is signalled in the status word the drive switches to the standstill state and bit SPOS B6 STILL standstill monitor is reset If in this status the drive is removed from the standstill position window for a defined time due to external forces or other influences the bit
14. The homing run has been carried out successfully The axis zero point and the software end positions have been set correctly Enter the positioning records as follows gt Settings 1 Activate the desired positioning record 1 31 with pio ES Settings Position set Position nr NM Position nr Pos set mode nae A cab A Position 2 Add or correct the positioning mode of the positioning Velocity record H Acceleration H Deceleration Jerk Acc e Select Pos set mode and use the arrow buttons to po GEES bass select the positioning mode H Work load ae wis A Time MC absolute a absolute position specification SAVE at the project zero point relative r relative position specification at the current position energy optimised e higher dynamic with less heating but the parameterised positioning profile trapezoid is not exactly maintained e Accept the value with OK Enter Note gt If the positioning mode is modified e Inthe next step check an already existing target position for plausibility 5 20 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 3 Teach the target position of the position record e Select Position e Move the drive manually to the desired target position with the arrow keys e Accept the position reached with OK Enter The setting of the target position and the positioning mode will then take effect in the drive 4 Set
15. 4 6 Menu command HMI control To select the menu commands Positioning and Settings the HMI on setting is required Only then is the SFC LACI ready to process user entries on the control panel Caution A When control via the control panel or FCT is activated HMI on the drive cannot be stopped with the STOP bit of the control interface When selecting the menu commands you will be prompted to modify the HMI setting as necessary You can also modify the setting directly with the menu command HMI control HMI Device control on The parameterising interface is activated Operation and parameterisation can be performed manually via the control panel or via FCT The control interface is deactivated The actual status of all the inputs then has no effect The state of the outputs is unimportant off Device control is done via the control interface 1 Human Machine Interface Access to the SFC LACI via the control panel and FCT can be locked out via the field bus HMlAccess locked see sectio 55 5 CCON B5 LOCK 4 20 Festo GDCP SFC LACI DN EN en 0812NH Commissioning Chapter 5 Festo GDCP SFC LACI DN EN en 0812NH 5 1 5 Commissioning Contents 5 1 Preparations for commissioning eee eee eee ee eee 5 5 1 1 Checking the drive cee ccc cece eee eee eens 3 F 5 1 2 Checking the power supply 2 cece eee eee eee eee 5 97 5 1 3 Before Sw
16. Assembly Instance 129 131 DeviceNet Force mode Festo Handling and Positioning Profile FHPP 1 25 1 System summary 1 3 Commissioning options You can parameterise and commission the SFC LACI as follows with the Festo Configuration Tool FCT gt section 5 3 atthe control panel HMI nur Typ SFC LACI H2 gt chapters 4 and 5 via DeviceNet DN gt section 54 1 Functions HMI FCT DN Parameterisation Choice Drive and associated parameters x x x Uploading downloading of configuration data x x Saving different configurations in projects z x x Creating a position set table x x x Configuration of a chained record x x Parameterising force mode x x Parameterising jog mode x x Commissioning Homing run limited selection with HMI x x x Teaching of positions x x X Testing position sets x x x Testing set chaining x x x Testing force mode x x Testing jog mode x x Testing continuous setpoint specification x Diagnostics Service Reading and displaying diagnostic data x x x Oscilloscope function trace Graphic presentation of x positioning procedures Parameterisation can also be done via the parameterisation interface with Cl commands gt section B 2 Only experienced users may operate the module by means of Cl commands 1 26 Festo GDCP SFC LACI DN EN en 0812N
17. TA2 The condition that no new record may be processed no longer applies TAS A new record can be started at any time Festo GDCP SFC LACI DN EN en 0812NH B 29 B Parametrizing via field bus B 4 Reference FHPP Parameters B 4 1 FHPP parameter groups Electric drives 2 Group PNU Description Device data 100 199 Device identification and device specific settings version numbers identifier words etc Diagnosis memory 200 299 Memory for diagnostic events Fault numbers fault time incoming outgoingevent Process data 300 399 Current setpoint and actual values local I Os status data etc Position record 400 499 A record contains all the setpoint value parameters required table record list fora positioning procedure Project data 500 599 Basic project settings Maximum speed and acceleration project zero point offset etc These parameters form the basis of the position set table Factor group 600 699 Reserved Axis data 1000 1099 All axis specific parameters for electric drives Gear factor Electric drives 1 feed constant reference parameter etc Axis data 1200 Enhancements Tab B 9 B 30 Parameter groups FHPP Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 4 2 Overview of parameter numbers PNU The following overview shows the avaiilable FHPP parameters arranged according to the parameter number P
18. There is no voltage Tab 6 3 LED Power Malfunction indicator ERROR Status o y Error ANY The SFC LACI is not ready for operation Red A Warning g Check cause and rectify if necessary see sectio T8 3 Flashing O No internal malfunction indicated off Tab 6 4 LED Error Festo GDCP SFC LACI DN EN en 0812NH 6 5 6 Diagnosis and fault display Bus status 1 F Bus status 1 ON Off The device is not online The Dup_MAC_ID test is not yet O ol concluded Possibly missing logic voltage SY or EAN Flashes The Dup_MAC_ID test has been successfully concluded and e OFF green the device is online But the device is not yet assigned to a i master ly ON Green The device is online and assigned to a master o i DIN vi IN Flashes For at least one I O connection the time was exceeded T OFF red 2 status Timed Out os ON Red A critical error has occurred duplicate MAC ID or bus gt onl switched off PEN uly ON Flashes The device has ascertained a network access error and is in E Ok redand the status Communication Failed In addition the device e green received and answered a communication fault request Identify Communication Faulted Request Long Protocol 1 Display as per DeviceNet specification During start up the LED is switched off when valid bus parameters are present otherwise there is a me
19. 0D Tab C 3 Festo GDCP SFC LACI DN EN en 0812NH Syntax elements of a Cl command Cl reply C Clinterface C 8 Data type The transmitted value 1 2 or 4 data bytes as hex number depends on the data type of the object to be read or written The following data types are supported Type Hex Format eee UINT8 2H 8 bits without sign 0 255 INT8 8 bits with sign 128 127 UINT16 4H 16 bits without sign O 65535 INT16 16 bits with sign 32768 32767 UINT32 8H 32 bits without sign 0 232 1 INT32 32 bits with sign 231 231 1 V string Corresponds to the preset string Tab C 4 Data types All values are transferred in hexadecimal figures one char acter represents 4 bits and is known as a tetrad lt Tn The first tetrad transferred contains the higher value bits of the value Generally Tetrad lt Tn gt contains the bits by bn 3 Example UINT8 0 1 0 be b2 Tetrad Ty Tetrad To Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Note gt All length specifications also velocities and similar are saved in millimetres in the controller and are not converted into the relevant unit of measurement system until they are written or read Values must be converted to increments before being transmitted over the Cl interface see sectiorA 3 C 1 5 Checking the data Permitted value ranges Tra
20. Cl 20F3h 00h Var uint8 rw Description When checksum checking is activated the Cl commands to the SFC LACI must be provided with a checksum sep Thb C 2 The checksum is calculated as per b C 5 ample Deactivate checksum 20F300 0012 12 checksum The Cl terminal integrated into the FCT automatically uses checksums Values 0x00 deactivated default 0x01 activated FCT Password Cl 20FAh 01h 02h Array V String rw w Description Management ofthe passwords FCT Password 01h rw Password for the FCT software Value ici gt fixed 8 characters ASCII 7 bit Default 00000000 status upon delivery and after reset Super Password 02h w Entering the super password Resets all passwords FCT password and HMI password object 20FB Contact Festo Service if you require the super password Festo GDCP SFC LACI DN EN en 0812NH C 27 C Clinterface Local Password Cl 20FBh 00h Var V String rw Description Manages the local HMI password for enabling particular functions which are carried out via the control panel Value C gt fixed 8 characters ASCII 7 bit Only the first 3 characters are evaluated Default lt 00000000 gt status upon delivery and after reset Communication Error Cl 2FFOh 00h Var uint16 r Description Special object see sectioT 1 5 DeviceNet Address DeviceNet address Cl 2FF3h 00h Var uint8 rw Description
21. 2 The drive moves at speed v_zp from the reference point to the axis zero point AZ The offset must be 0 3 Externally fitted fixed stop Tab 1 3 Homing to the stop Festo GDCP SFC LACI DN EN en 0812NH 1 17 1 System summary 1 2 Communication 1 2 1 Data exchange via DeviceNet Explicit Messages Explicit Messaging 1 18 DeviceNet was developed by Rockwell Automation and the ODVA Open DeviceNet Vendor Association as an open field bus standard based on the CAN protocol DeviceNet belongs to the CIP based networks CIP Common Industrial Protocol forms the user interface of DeviceNet and defines the exchange of 1 0 messages e g time critical processing data and explicit messages with low priority e g for configuration or diagnosis The Open DeviceNet Vendor Association ODVA is the user organisation for DeviceNet Publications on the DeviceNet CIP specification can be found under ODVA Open DeviceNet Vendor Association http www odva org Cl ControlNet International http www controlnet org Explicit messages consist of a request and an answer This way services can be directly requested from or ex ecuted by a station Explicit messages contain target address class instance attribute and value of the attribute as well as a service identifier Service code for data use Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 0 Mes
22. 2h Local Password 20FBh User Device Name 20FDh 121 HMI Parameter 20FFh 1 4h 126 Jerk Deceleration incl Jog Mode 21E1h 1 21h 417 Direct Mode Jerk Deceleration 22h 547 Project Zero Point 21F4h 500 Direct Mode Base Velocity 21F8h 540 Teach Target 21FCh 520 Homing Required 23F6h 1014 C 14 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Name Cl Object FHPP Index Sub PNU Homing Max Torque Force 23F7h 1015 Local Digital Output 1 Function 2421h th 1240 Local Digital Output 1 Trigger ON 2h 1241 Local Digital Output 1 Trigger OFF 3h 1242 Local Digital Output 1 Value ON 4h 1243 Local Digital Output 1 Value OFF 5h 1244 Local Digital Output 1 Direction Value ON 6h 1245 Local Digital Output 1 Direction Value OFF 7h 1246 Local Digital Output 1 Delay 8h 1247 Local Digital Output 1 Inverted 9h 1248 Local Digital Output 2 Function 2422h 1h 1250 Local Digital Output 2 Trigger ON 2h 1251 Local Digital Output 2 Trigger OFF 3h 1252 Local Digital Output 2 Value ON 4h 1253 Local Digital Output 2 Value OFF 5h 1254 Local Digital Output 2 Direction Value ON 6h 1255 Local Digital Output 2 Direction Value OFF 7h 1256 Local Digital Output 2 Delay 8h 1257 Local Digital Output 2 Inverted 9h 1258 Local Digital Output 2 PWM V
23. 3 Installation 3 3 Earthing 3 10 Note e Connect one of the earth terminals of the SFC LACI at low impedance short cable with large cross section to the earth potential You can thereby avoid interference from electromagnetic sources and ensure electromagnetic compatibility in accordance with EMC directives To earth the SFC LACI use one of the following terminals seg Tpb 3 3 Earth terminal on the housing of the SFC LACI or Earthing strip with cable lug on the plug housing Note Note that only one of the three earth terminals may be used to avoid earth loops When using the earth terminal on the housing of the SFC LACI e Use a Suitable earthing cable with an M4 cable lug together with the accompanying nut and toothed washer e Tighten the nut with max 1 7 Nm Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 4 Motor connection The linear motor is controlled via the motor connection and the signals from the displacement encoder are transmitted via the motor connection Tab 3 5 Motor connection to the SFC LACI Festo GDCP SFC LACI DN EN en 0812NH Pin Colour Function Plug on the SFC LACI 1 White Motor String U 2 Brown Motor String V 3 Green Motor String W 4 1 Yellow Motor String U y 2 Grey Motor String V 3 Pink Motor String W i 4 z Black plug B
24. 5 Commissioning Overview of parameters involved see also section 8 4 9 Parameters involved Description FCT PNU Cl Offset axis zero point x 1010 607Ch Homing method x 1011 6098h Homing speeds x 1012 6099h Homing required 1014 23F6h Maximum homing current x 1015 23F7h Start FHPP CPOS B2 positive edge Start Referenzfahrt Feedback FHPP SPOS B1 positive edge Acknowledge start SPOS B7 drive is referenced Prerequisites Device control by PLC field bus controller in the Operation enabled status no jogging command is present Tab 5 11 Parameters involved in homing Homing methods 2 Hex Dec Description A A 01h 1 Search for limit switch in negative direction with index search 02h 2 Search for limit switch in positive direction with index search 07h 7 Search for reference switch in positive direction with index search OBh 11 Search for reference switch in negative direction with index search EFh 17 Search for stop in a negative direction The point found is the reference position As the axis must not stand still at the stop the offset axis zero point must be 0 EEh 18 Search for stop in a positive direction The point found is the reference position As the axis must not stand still at the stop the offset axis zero point must be 0 1 Fora detailed description of the reference travel methods see sectio r1 1 6 Tab
25. DD day M month YY year 8 bit 0x01 Ox1F 4bit 0x1 OxC 8 bit 0x00 0x63 SSS serial no 12 bit 0x001 OXFFF Festo GDCP SFC LACI DN EN en 0812NH C 31 C Clinterface C 32 Festo GDCP SFC LACI DN EN en 0812NH Index Appendix D Festo GDCP SFC LACI DN EN en 0812NH D 1 D Index Contents D Index D 2 Festo GDCP SFC LACI DN EN en 0812NH D Index A Absolute position specification 5 20 30 Access Procedure CE Adapter Screw terminals 3 24 Adjusting mode 5 7 Applied load Definition x Automatic brake 5 86 Axis zero point AZ Default values 5 1 Definition 1 1 Teach 5 1 B Baud rate 5 10 BCD x Brake 5 84 Bus terminal 3 24 C Cable 3 Field bus 3 1 Cables Overview 3 CCON 5 36 CDIR 5 38 Checksum C E F10 CI XT Clamping unit 5 84 Classes 1 27 Commissioning Options 1 267 Festo GDCP SFC LACI DN EN en 0812NH D 3 D D 4 Index Overview Commutation point search With controller enable Components Connect Field bus Connection Continuous setpoint specification Control Control panel Diagnostic menu Positioning menu Settings menu Access the main menu Key functions Menu system Controller Dimensions Conversion factors CPOS D Data types Demo mode Device control Device profile DeviceNet Classes Object Directory Diagnosis FPC Diagnosis memory Dimensions of the controller Direct mode Continuous setpoint specificat
26. FHPP FPC Festo Parameter Channel Optionally an additional 8 I O bytes can be used for parameterisation via FPC The additional bytes can be configured via the 1 0 data length HMI FCT software Assembly Object Data Tele Input Output Byte grams FHPP standard 128 130 8 1 FHPP standard 129 131 16 3 FPC 1 Setting the data length see Cl object 2FF5 Tab 1 4 Data length Ifthe FPC is not needed in normal operation the data length can be reduced to 8 bytes FHPP standard in order to optimise the PLC access in cyclic data transfers Instead of 3 telegrams only one more telegram is then transmitted Parameter modifications can still be carried out with Explicit Messaging Detailed information on the FHPP FPC can be found starting in the section 8 2 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary Param Group 293 Process control Process data i 1 0 Messaging cyclic data channel 8 bytes Tx Rx Assembly Instance 128 130 FHPP standard CON B6 B7 Record selection Direct mode TJ S C DIR an Positioning mode Positioning mode Fig 1 3 Festo GDCP SFC LACI DN EN en 0812NH FHPP standard FHPP FPC DIR B1 B2 Parameterising Service data we 1 0 Messaging cyclic data channel Explicit Messaging acyclic data channel 16 bytes Tx Rx 8 bytes Tx Rx
27. The record number is transferred in the cyclic I O data Direct mode The task is transferred directly in the I O telegram Only the most important setpoint values target position speed are thereby transferred Supplemen tary parameters e g acceleration are defined via the parameterisation Tab 5 2 Overview of FHPP operating modes The operating mode is switched by the control byte CCON see below and indicated in the status byte SCON Definition by means of parameterising is not possible Switching between modes is only permitted in the Drive disabled or Drive enabled status Record selection Preset operating mode when the SFC LACI is started up The SFC LACI has 31 records 1 31 which contain all the information necessary for a positioning task record O homing run The record number which the SFC LACI is to process at the next start is transferred in the output data of the master The input data contains the record number that was processed last The positioning job itself does not need to be active 5 30 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Positioning mode Force mode FHPP Continuous Mode The SFC LACI cannot function autonomously i e it does not have its own user program However record switching can be used to define a sequence of records There are also 3 records with special functions which cannot be executed in Record selection mode Record
28. The settings in this menu will be saved directly in EEPROM where they are safe from poweer failures after confirmation with OK Enter Note gt The set field bus parameters first become effctive after Power off on or after a software reset object 20F1 03h Festo GDCP SFC LACI DN EN en 0812NH 4 17 4 Control panel only type SFC LACI H2 4 5 7 Settings Password edit Access via the control panel can be protected by a local password in order to prevent unauthorized or unintentional overwriting or modification of parameters in the device No password has been preset at the factory presetting 000 e Keep the password for the SFC LACI in a suitable place e g in the internal documentation for your system If the active password in the SFC LACI is lost The password can be deleted by entering a master password To do this contact your Festo service partner Setting up a password Select Password edit in the menu Settings New Password Enter a password with 3 digits The current input position is 4335130 marked with a question mark ESC lt Menu gt e EDIT lt gt SAVE lt Enter gt 1 Usethe arrow keys to select a digit 0 9 2 Confirm your input with lt Enter The next entry position will be displayed 3 After entering the third digit save your setting with SAVE Enter 4 18 Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 Enter Password
29. main version yy secondary version Manufacturer Firmware Version Cl 100Ah 00h Var V String r Description Firmware version in the format V xx yy xx main version yy secondary version C 22 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface C 3 2 Manufacturer Specific Profile Area Record Number Cl cl 2032h 01h Array 2 uint8 rw Description Selection of a positioning record record pointer from the Cl object for the position record table 20EOh or from the individual objects 607Ah Target Position 6081h Profile Velocity speed 6083h Profile Acceleration 6084h Profile Deceleration Record Number 2032h 01h uint8 Read or write record number O 0x00 reserved do not use Direct mode 1 0x01 reserved do not use FCT position record 2 0x02 Homing position record 0 3 0x03 Position record 1 default 4 0x04 Position record 2 wise Position record 33 0x21 Position record 31 1 Pseudo array for compatibility Festo GDCP SFC LACI DN EN en 0812NH C 23 C Clinterface Version FCT Plugin Min Cl 2067h 00h Var V String r Description Minimum required FCT Plugin version Format xx yy xx main version yy secondary version Version FCT Plugin Opt Cl 2068h 00h Var V String r Description Optimum FCT Plugin version Format xx yy xx main version yy secondary version
30. 204 1 rw 1 0x01 Record incoming and outgoing faults default 2 0x02 Log only incoming faults Outgoing fault Acknowledge the fault Resolution 204 2 rw 1 0x01 Resolution time stamp 10 ms default 2 0x02 Resolution time stamp 1 ms Clear Memory 204 3 rw Clear diagnostic memory by writing value 1 Reading is always answered with value 1 Number of Entries 204 4 r Number of entries in the diagnostic memory Cl 20CCh 01h 04h uint8 rw r DeviceNet C 102 A 1 4 1 1 uint8 rw r B 50 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Device Errors PNU 205 uint16 rw Description Reading or deleting the error message s Explanations of the error messages can be found in chapt 3 Diagnosis Writing lt 0 gt Delete all error messages in 2FF1h 2FFAh 2FFBh and 2FFCh Read Bit O 0x1 HARDWARE ERROR SFC LACI Bit 1 0x2 CAN COMMUNICATION ERROR Bit 2 0x4 ELGO SENSOR COMMUNICATION ERROR Bit 3 0x8 HARDWARE ERROR DRIVE Bit 4 0x10 ERROR MOTOR HOT Bit 5 0x20 ERROR SFC LACI HOT Bit 6 0x40 DIGITAL POWER DOWN Bit 7 0x80 LOAD POWER DOWN Bit 8 0x100 HOMING ERROR Bit 9 0x200 PLEASE ENFORCE HOMING RUN Bit 10 0x400 POSITION ERROR following error Bit 11 0x800 TARGET POSITION OUT OF LIMIT Bit 12 0x1000 I2t ERROR Bit 13 0x2000 MOTOR STOP ERROR Bi
31. 5 12 Overview of homing methods Festo GDCP SFC LACI DN EN en 0812NH 5 57 5 Commissioning 5 6 2 5 58 Jog mode In the Operation enabled status the drive can be jogged to the left right This function is usually used for Moving to teaching positions Moving the drive out of the way e g after a system fault Manual movement as the normal operating mode Sequence 1 When one of the signals Jog left Jog right is set the drive starts to move slowly Due to the slow speed a position can be defined very accurately If the signal remains set after the time Duration Phase 1 has passed the speed will be increased until the maximum configured speed is reached In this way large strokes can be traversed quickly When the signal changes to O the drive is braked The drive stops automatically if it reaches a software end position if the drive is referenced otherwise no test of the software end positions The software end position is not exceeded the path for stopping is taken into account according to the ramp set The jog mode can be exited here with Jogging 0 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning slow travel 2 Max speed for phase 2 Acceleration delay 4 Duration of phase 1 Low speed phase 1 Speed v t CPOS B3 or negative A l LA Fig 5 1 Sequence diagram for jog mode Overview of parameters
32. Homing Record 417 positioning record Jerk for deceleration of position record 1 30 Record 31 417 32 20h positioning record 31 Jerk for deceleration of position record 31 Jog Mode 417 33 21h Jerk deceleration in jog mode Cl 21E1h 01h 22h uint32 rw Subindex 21E1 22h PNU 547 Jerk when braking in direct mode Note The object 20EOh OBh is provided for access via Cl DeviceNet C 104 A 16 1 1 33 uint32 rw B 78 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 4 8 Project data General project data Project Zero Point PNU 500 int32 rw Description Offset of axis zero point to project zero point Reference point for target positions with absolute positioning compare PNU 401 and 404 Cl 21F4h 00h int32 rw DeviceNet C 105 A 1 1 1 int32 rw Software End Positions PNU 501 1 2 int32 rw Description Software end positions in increments Plausibility rule Min limit lt Max limit Factory settings see sectio T5 2 6 Lower Limit 501 1 Lower software end position Offset from axis zero point Upper Limit 501 2 Upper software end position Offset from axis zero point Cl 607Bh 01h 02h int32 rw DeviceNet C 105 A 2 3 I 1 int32 rw Festo GDCP SFC LACI DN EN en 0812NH B 79 B Parametrizing via field bus
33. Ox001F Start ABSOLUTE movement Ox005F Start RELATIVE movement Ox010F Stop movement 0x008F Reset error ENABLE OPERATION Ox004F Set target position as RELATIVE Tab B 11 Typical values control word only for access via Cl Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Status Word PNU 331 uint16 r Description Status word Reading the controller state Bit assignment Sep Tpb B 12 Note for access via the Cl interface If this object is accessed via the Cl interface the following special features must be observed compared with access via the field bus interface Bit 4 in Cl reversed polarity relative to DS402 Inthe FAULT state when power is applied to the axis the state is indicated not as xxx8 but as xxxA i e Switched on is set Cl 6041h 00h uint16 r DeviceNet C 103 A 71 l 1 uint16 r Festo GDCP SFC LACI DN EN en 0812NH B 61 B Parametrizing via field bus Bit Value Description A A LL ho QQ 0 0x0001 Ready to switch on Bits 0 3 5 and 6 show the status of the device x irrelevant for this status 1 0x0002 Switched on Value binary Status 2 0x0004 Operation enabled XXXX XXXX XOXX 0000 Not ready to switch on XXXX XXXX X1xx 0000 Switch on disabled 3 0x0008 Fault XXXX XXXX x01x 0001 Ready to switch on XXXX XXXX x01x 0011 Switched on 4 0x0010 Voltage enabl
34. and 5 8 Byte 5 8 new Byte 5 8 new Set Setpoint position Actual Actual position point increments position increments target position 6 2 Start task Byte 1 OPM2 OPM1 LOCK gt RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON 0 1 ix x 0 0 1 1 SCON 01 0 10 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 1 0 00 0 0 0 1 1 Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S 6 3 Order runs Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON 0 1 ix x 0 0 1 1 SCON 01 0 10 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x jo0 j0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1 6 4 Job finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON 0 1 ix x 0 0 1 1 SCON 611 10 11 9 00 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 0 1 SPOS 1 0 00 0 0 1 0 1 0 0 signal 1 1 signal x Not relevant optional F Positive edge S Positioningcondition 0 absolute 1 relative
35. for syntax see Lipp C 2 If the SFC LACI detects a deviation in the checksum then instead of the usual response the value lt OxFFFF gt will be transferred see Object 2FFOh The checksum of the command is calculated based on the case upper lower case The checksum of the response is always based on upper case Checksum lt PS gt Calculation Sum ofall ASCII characters sent reduced to 1 byte W PS 1115S lt Value modulo 256 R lt PS gt 11115S modulo 256 Example Command illlSS lt ValuexCR gt 20F300 00 ASCII gt 20TF300 0 0 HEX 3D 32 30 46 33 30 30 3A 30 30 Sum 212h Mod 256 212h mod 100h 12h Response 20F300 0012 Format 2 Hexadecimal numbers UINT8 Tab C 5 Checksum Festo GDCP SFC LACI DN EN en 0812NH C Clinterface C 2 Reference Cl C 2 1 Object overview Index Subindex The following overview shows all Cl objects where appropriate with the corresponding FHPP parameter numbers Note gt The following table contains an overview of the Cl objects Some of the objects may be used only for certain product variants or only with limitations e g writing only for service purposes Note the detailed descriptions of the object A detailed description of the Cl objects can be found in the FHPP parameter number PNU in the sections 5 4 4 to 3 4 10 _ifthere is no PNU under the object number in sectiorg 3 Festo GDCP SFC LACI
36. things a risk assessment by the user ambient conditions free of interference and reliability of data transmission e g via the control program of the higher order control system e Note that control of the SFC LACI via the RS232 does not comply with designated use e Use the connection only for parameterising commis sioning and diagnosis C 3 C Clinterface C 1 2 Accessing the Cl objects Cl objects are accessed via FCT or a terminal program Caution Faulty parameterisation can cause personal injury and material damage Incorrect parameterisation of the Cl objects can cause the controller to react unexpectedly and the motor may start uncontrolled C 4 It is preferable to use the FCT or the control panel for parameterising and commissioning The FCT and control panel take into account mutual dependencies between the objects and in part prevent incorrect parameter settings Use Cl commands only if you already know their effects and if they are permitted for your SFC LACI Note that some commands reorganise or delete parts ofthe memory Select the commands in accordance with the object list in sectiomg 2 Observe the associated detailed descriptions Use the Cl commands only in special cases which require direct access to the controller Festo GDCP SFC LACI DN EN en 0812NH C Clinterface C 1 3 Access via a terminal program For data transmission you will require a commercially avail able terminal
37. 1 uint8 r B 46 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Data Memory Control PNU 127 1 2 uint8 w Description Commands for EEPROM Subindex 03 See 20F1h Delete EEPROM 127 1 Fixed 16 0x10 Delete data in EEPROM Once the object has been written and after power off on the data in the EEPROM are reset to the factory settings Save Data 127 2 The data in EEPROM will be overwritten with the current user specific settings Fix 1 0x01 Save data cl 20F1h Oth 02h uint8 w DeviceNet C 100 A 20 21 1 1 uint8 w Note gt All user specific settings will be lost on deletion except for cycle number The status after deletion corresponds to the standard factory setting e Always carry out a first commissioning after deleting the EEPROM e When the EEPROM is deleted the field bus address is also reset Festo GDCP SFC LACI DN EN en 0812NH B 47 B Parametrizing via field bus B 4 5 Diagnosis e Description of the method of operation of the diagnostic memory see section 6 4 2 Diagnostic Event PNU 200 1 164 uint8 r Description Type of fault or diagnostic information saved in the diagnostic memory Displays whether an incoming or outgoing fault is saved Value Type of diagnostic event 0 0x00 No fault or diagnostic message deleted 1 0x01 Incoming fault 2 0x02 Outgoing fault 3 0x0
38. 103 114 1 1242 0 Value ON 103 115 1 1243 0 Value OFF 103 116 1 1244 0 Direction Value ON 103 117 1 1245 0 Direction Value OFF 103 118 1 1246 0 Delay 103 119 1 1247 0 Inverted 103 120 1 1248 0 Local Digital Output 2 Function 103 128 1 1250 0 DOUT2 Trigger ON 103 129 1 1251 O Trigger OFF 103 130 1 1252 0 Value ON 103 131 1 1253 0 Value OFF 103 132 1 1254 0 Direction Value ON 103 133 1 1255 0 Direction Value OFF 103 134 1 1256 0 Delay 103 135 1 1257 0 Inverted 103 136 1 1258 0 PWM Value 103 137 1 1259 0 B 8 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Festo GDCP SFC LACI DN EN en 0812NH Record Sets FHPP Class 104 0x68 CLS _ ATTR INST PNU SI Record Control Byte 1 Record Sets 104 1 Oth 20h 401 1532 Direct Mode 104 1 22h 401 34 Record Control Byte 2 Record Sets 104 2 Oth 20h 402 1 32 Target Position Record Sets 104 4 01h 20h 404 1 32 Jog Mode 104 4 21h 404 33 Direct Mode 104 4 22h 404 34 Record Delay Record Sets 104 5 Oth 20h 405 12 32 Velocity Record Sets 104 6 Oth 20h 406 12 3532 Jog Mode 104 6 21h 531 0 Acceleration Record Sets 104 7 Oth 20h 407 1432 Jog Mode 104 7 21h 532 0 Direct Mode 104 7 22h 541 0 Deceleration Record Sets 104 8 Oth 20h 408 1 232 Jog Mode 104 8 21h 408 33 Direct Mode 104 8 22h 542 0 Jerk Acceleration Re
39. 11 2 Digital signal display Ste FCT 3 Output Compare see FCT Out1 Setting condition 1241 x 2421 02h Value The output is set dependent upon 1 Position comparison 2 Force comparison 3 Speed comparison 4 Record number comparison 10h Ready 11h Motion complete 12h Error 13h Sample in 14h reserved 15h ON during setting of this bit the output is set immediately Out1 Resetting condition delay see 2421 08h 1242 x 2421 03h Value The output is reset dependent upon 1 Position comparison delay 2 Force comparison delay 3 Speed comparison delay 4 Record number comparison delay 10h Ready delay 11h Motion complete delay 12h Error delay 13h Sample in delay 14h Delay 15h OFF during setting of this bit the output is reset immediately Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Parameter Description PNU FCT Cl Out1 Value for setting condition 1243 x 2421 04h The saved value that when reached means that the comparison condition is considered fulfilled in accordance with 2421 02h With record number comparison bit number 4 record number bit 1 record 1 bit 0 do not use Example 0x6 in record1 and also in record2 the condition is considered fulfilled and the output is set Out1 Value for resetting condition 1244 x 2421 05h As above but in accordance with 2421 03h for the resetting condition Out1 Setting condition rising
40. 32 contains the parameters for the Jog mode Record 33 contains the parameters for Direct mode Record 34 is the direct set for the FCT software Direct mode In direct mode also called direct order positioning tasks are formulated directly in the output data of the master The typical application dynamically calculates the target setpoint values for each job or just for some jobs Adaptation to different workpiece sizes is therefore possible It is not sensible here to parameterise the record list again each time The positioning data are managed completely in the PLC and sent to the SFC LACI Operating modes of the SFC LACI Profile Position Mode Alternatively setpoint values relative to the rated motor current can be specified in direct mode With linear motors this results in a force force control Operating modes of the SFC LACI Profile torque mode Continuous setpoint specification Specification of changeable position values at millisecond frequency typically 4 10 ms Operating modes of the SFC LACI FHPP Continuous Mode Festo GDCP SFC LACI DN EN en 0812NH 5 31 5 Commissioning 5 5 2 Structure of the cyclic I O data FHPP standard FHPP standard contains 8 bytes of input and 8 bytes of 5 32 output data data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output Bytes 1 and 2 fixed Bytes 3 to 8 depend on the operating mode selecte
41. 9 4 1 4 2 4 3 4 4 4 5 4 6 Installation ois 0 653 aana bebe a oie dadd Celeeeud S A 3 Installation overview cece ccc cee etn eee eee eeenes 3 8 POWER SUPPLY amm e lA A 3 3 2 1 Function of the hardware enable oo ooooooommmoo 3 97 A olde dda Re ee 8G Solan acahebianddu Mia wean E D 3 10 Motor conecta a 3 1 Parameterising interface cee cece cece eee ete o 3 1 Controller interface soeces ccc cece cece ene e eee e eee e eens 3 1 Connecting the field DUS ccc cece cece cence teen eens 3 18 3 41 Field p s cables reacio kea EEE E AES 3 18 3 7 2 Field bus baud rate and field bus length ooo o 3 19 3 7 3 BUS POWEer SUPplY socio coke c oe aa A a 3 20 3 7 4 Connection with field bus plugs adapters from Festo 3 21 3 7 5 Connection with other Sub D plugs IP20 o o o oooo 3 257 Bus termination with terminating resistors cee cece eens 3 2 Local digital inputs and outputs eee cece 3 21 3 9 1 Specifications of the outputs eee eee eee eee ee eee 3 28 3 9 2 Specifications of the inputs cece ee eee eee eee eee 3 29 Control panel only type SFC LACI H2 o oooooooommmm r r o 4 Design and function of the control panel oocooooooooooo ooo 4 4 The MENU System irc e a e AA e 4 67 Diagnostic MENU 1 1 ccc cece cece eee e eee e ee nees 4 Positioning MENU eo noria Ge Ss dk wns os
42. A 52 1 1 uint16 rw Force Target Damping Time PNU 553 uint16 rw Description Damping time of the force If the actual force has been in the target window this amount of time the Motion Complete bit will be set in the status word Value range 0 30000 ms Default 100 ms Cl 60F6h 04h uint16 rw DeviceNet C 105 A 53 1 1 uint16 rw B 86 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Speed Limit PNU 554 uint32 rw Description Maximum permitted velocity with active force control In this way you can ensure that if force control is activated by mistake e g work item missing the axis will not undergo uncontrolled acceleration and move at high speed against a stop This parameter is taken into account in all control modes in which the position controller is not active in the status Operation enabled Cl 60F6h 02h uint32 rw DeviceNet C 105 A 54 l 1 uint32 rw Direct mode FHPP Continuous Mode Interpolation Time PNU 570 uint16 rw Description Time gap between two position specifications in FHPP Continuous Mode in 1 10 ms Value range 0 65535 See sectio T5 6 7 Cl 20B6h 00h uint16 rw DeviceNet C 103 A 48 l 1 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 87 B Parametrizing via field bus B 4 9 Axis parameters for electric drives 1 Mechanical parameters Polarit
43. Check Messages CANID Connection ID DeviceNet XXXXXX MAC ID Destination yyyyyy MAC ID Source Service Code Service Name ee nna 14 0x0E Get Attribute Single 16 0x10 Set Attribute Single 75 0x4B Allocate Group 2 Identifier Set 76 0x40 Release Group 2 Identifier Set Festo GDCP SFC LACI DN EN en 0812NH 1 21 1 System summary 1 22 DeviceNet Standard Classes Class Management and reply messages for receipt acknowledge ments timeouts for acknowledgements and limit values for repeat attempts etc Festo specific classes Identity Objects 001 e g manufacturer identifier device type etc Message Router 002 for forwarding of Explicit Messages to other objects DeviceNet Objects e g MAC ID baud rate etc 003 Assembly Objects 004 Summary of the attributes of a number of objects so that the data to or from all the objects can be sent or received over a single connection Connection Objects 005 Management of resources for Explicit Messaging and 1 0 Messaging Acknowledge Handler 043 Diagnostic memory 101 Diagnostic memory administration 102 Process data 103 Record list 104 Project data 105 Factor group 106 Axis data electric drives 1 107 System errors 108 Field bus diagnosis 109 Hybrid parameter only for Festo Service 110 Test commands only for Festo Service 111 Data Trace Administration on
44. DN EN en 0812NH B Parametrizing via field bus Limit Switch Polarity Festo GDCP SFC LACI DN EN en 0812NH PNU 1300 int16 rw Description Limit switch type 0 no limit switch 1 N C contact 2 N O contact Cl 6510h 11h int16 rw DeviceNet C 103 A 74 1 1 int16 rw Limit Switch Selector PNU 1301 int16 rw Description Input for limit switch 0 none 1 INO limit switch negative IN1 limit switch positive 2 INO limit switch positive IN1 limit switch negative 3 INO limit switch negative 1N2 limit switch positive 4 INO limit switch positive IN2 limit switch negative 5 IN1 limit switch negative IN2 limit switch positive 6 1N1 limit switch positive IN2 limit switch negative Cl 6510h 12h int16 rw DeviceNet C 103 A 75 l 1 int16 rw Homing Switch Selector PNU 1302 int16 rw Description Input for reference switch O none 1 INO 2 IN1 3 IN2 Cl 6510h 13h int16 rw DeviceNet C 103 A 76 l 1 int16 rw B 113 B Parametrizing via field bus Homing Switch Polarity Limit Switch Deceleration PNU 1303 int16 rw Description Reference switch type 0 N C contact 1 N O contact Cl 6510h 14h int16 rw DeviceNet C 103 A 77 Bal int16 rw Sample Input PNU 1304 int32 rw Description Limit switch deceleration Braking in m s2 with limit switch signal Cl 6510h 15h int32 rw
45. Demo posit tab Test of all positioning records in the position set table operating mode Demo mode Parameterising and referencing must have been completed There must be at least two positioning records in the memory Tab 4 4 Positioning menu Cancelling a positioning movement EMERG You use Menu to interrupt a positioning task STOP Error mode EMERG STOP DEMO STOP With lt Enter gt you can interrupt the Demo mode Demo posit tab The current positioning record will be executed before the axis stops If you restart the run will begin with positioning record 1 Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 4 5 Settings menu Settings Axis type Jog mode Axis parameter Homing paramet Position set For parameterising the axis system and the positioning records 1 Select the entry Settings in the main menu lt En 2 Select a menu command lt Enter BUS parameter Password edit ter Settings Description Section Axis type The axis controlled by the SFC LACI 4 1 Axis parameter Teach mode for setting the axis parameters 5 2 Homing paramet Setting the homing travel method and the speed during homing travel 75 3 Position set Teach mode for programming the position record table 5 4 Jog mode Jog mode Continuous manual travel 5 5 BUS
46. DeviceNet C 103 A 78 l 1 int32 rw B 114 Festo GDCP SFC LACI DN EN en 0812NH PNU 1305 uint32 rw Description Input for on the fly measurement position sampling Value 1 Sampling at IN1 Value 2 Sampling at IN2 See sectio T5 6 12 Cl 6510h 16h uint32 rw DeviceNet C 103 A 79 151 uint32 rw Sample Switch Polarity PNU 1306 uint8 rw Description Type of proximity switch used for position sampling 0 N C contact 1 N O contact Cl 6510h 1Ch uint8 rw DeviceNet C 103 A 84 l 1 uint8 rw B Parametrizing via field bus Brake Delay Time Switch ON PNU 1310 uint16 rw Description Brake Switch on delay see sectiof5 6 11 Cl 6510h 17h uint16 rw DeviceNet C 103 A 80 I 1 uint16 rw Brake Delay Time Switch OFF PNU 1311 uint16 rw Description Brake Switch off delay see sectio T5 6 11 Cl 6510h 18h uint16 rw DeviceNet C 103 A 81 l 1 uint16 rw Automatic Brake Time PNU 1312 uint16 rw Description Activation time of the automatic brake See sectio 5 6 11 Cl 6510h 19h uint16 rw DeviceNet C 103 A 82 l 1 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 115 B Parametrizing via field bus B 116 Festo GDCP SFC LACI DN EN en 0812NH Cl interface Appendix C Festo GDCP SFC LACI DN EN en 0812NH C 1 C Clinterface Contents C 1 The Clint ade inci iio Cry C 1 1 Using the paramete
47. Double MAC address recognized Bit2 1 Receive queue overrun Bit3 1 Transmit queue overrun Bit4 1 CAN bus off complete bus failed Bit5 1 CAN controller queue overrun Bit6 0 DeviceNet is reset Bit7 0 Faulty bus supply Cl 2FFAh 00h uint16 rw DeviceNet C 108 A 10 I 1 uint16 rw Extended Device Errors B PNU 208 uint16 rw Description Reading or deleting the active device fault s Explanations of the error messages can be found in chapt 3 Diagnosis Writing lt 0 Delete all error messages in 2FF1h 2FFAh 2FFBh and 2FFCh Read BitO ERROR INTERPOLATION CYCLE TIME with FHPP continuous mode missing position specification missing toggle bit Bit1 OVERCURRENT POWER STAGE Bit 2 LIMIT SWITCH ACTIVATED Bit 3 BLOCK DURING JOG MODE Cl 2FFBh 00h uint16 rw DeviceNet C 108 A 11 I 1 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 53 B Parametrizing via field bus Extended Device Errors C PNU 209 uint16 rw Description reserved Cl 2FFCh 00h uint16 rw DeviceNet C 108 A 12 1 1 uint16 rw Device Warnings PNU 215 uint16 rw Description Reading or deleting the active warning s Explanations of the error messages can be found in chaptgre 3 Diagnosis Writing lt 0 Delete all warnings Reading Bit 0 INDEX WARNING Bit 1 WARNING MOTOR COLD Bit 2 WARNING MOTOR HOT Bit 3 WARNING SFC LACI COLD Bit 4 WARNING SFC LACI HOT Bit 5 STANDSTILL
48. ERES OSO ESC lt Menu gt EDIT lt gt OK lt Enter gt Enter Password RO ESC lt Menu gt EDIT lt gt OK lt Enter gt New Password A O ESC lt Menu gt EDIT lt gt SAVE lt Enter gt Enter password As soon as a password is active it will be scanned automatically when the menu commands Positioning Settings or HMI control are accessed 1 Use the arrow keys to select a digit 0 9 2 Confirm your entry with OK lt Enter gt The next entry position will be displayed 3 Repeat the entry for the remaining entry positions When the correct password is entered all parameterising and control functions of the control panel are enabled until the power supply is switched off Changing deactivating the password If the password has not yet been entered since the unit was switched on e Select the menu item Settings Password edit and enter the existing 3 digit password 1 Use the arrow keys to select a digit 0 9 2 Confirm your entry with OK lt Enter gt The next entry position will be displayed 3 Repeat the entry for the remaining entry positions If the password has already been entered since the unit was switched on 4 Enter the new password with 3 digits If you wish to deactivate the password enter 000 5 After entering the last digit save your setting with SAVE Enter Festo GDCP SFC LACI DN EN en 0812NH 4 19 4 Control panel only type SFC LACI H2
49. FAULT WARN OPEN ENABL control CCON O 1 x x 0 0 1 1 SCON O 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT cPOS x O 0 O0 O0 0 O 1 SPOS 110 0 0 0 1 0 1 Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS CDIR O 0 S x 0 0 1 O SDIR 0 0 0 x 0 0 0 0 73 Start task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON O 1 x x 0 0 1 1 SCON O 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 00 O O IF 1 SPOS 1 0 0 0 0 0 1 1 Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS CDIR O0 0 S x O 0 1 O SDIR O0O 0 0 0 0 0 1 0 7 4 Job running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL setpoint value not CCON O J 1 x x 0 0 1 1 SCON O 1 0 1 0 0 1 1 reached Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte2 REF STILL DEV mov Teach mc ack HAUT CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 1 0 0 x 1 Bytes Func rast xum conr com2 com1 ABS Byte3 Func FAST xum vum CONT COM2 com ABS CDIR O 0 S x 0 0 1 O SDIR O 0 0
50. Field bus address of the SFC LACI Values 0 63 0x00 Ox3F Default 63 0x3F DeviceNet Baudrate DeviceNet transmission rate Cl 2FF5h 00h Var uint8 rw Description Baud rate Values 0 2 4125 250 500 kBaud DeviceNet Datalength cl 2FF6h 00h Var uint8 rw Description 0x10 8 byte 0x11 16 byte C 28 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface C 3 3 Standardised Device Profile Area Position Window Time Cl 6068h 00h Var uint16 r Description Damping time of the relevant active record in ms See PNU 415 Velocity Demand Value Cl 606Bh 00h Var int32 r Description Setpoint speed value of speed regulator in Inc s Velocity Actual Value Cl 606Ch 00h Var int32 r Description Actual speed value of speed regulator in Inc s Target Torque Force Cl 6071h 00h Var int16 rw Description Setpoint value for force control Specified in 1 1000 of rated value PNU 512 Transferred in the cyclic I O data Actual Torque Force Cl 6077h 00h Var int16 r Description Actual value in force mode Specified in 1 4999 of nominal value PNU 512 Festo GDCP SFC LACI DN EN en 0812NH C 29 C Clinterface Target Position Cl 607Ah 00h Var int32 rw Description Target position in Increments This position will be saved in the positioning record table in the line addressed by object 2032h in the column intended No movement is made at this point See 20E0 02h Pr
51. Identifier see Slave address MSB Most significant byte higher value byte Object Data attributes are summarised in an object These attributes describe various properties of a DeviceNet device and can be read and written via the bus Access see Object Directory Object Directory The Object Directory contains all device parameters and current processing data which are directly accessible via FHPP field bus or Cl The Object Directory is divided into a range which contains general specifications on the device device identification manufacturer name etc and communication parameters as well as a range which describes the specific device functions The identification of an entry object of the object directory takes place depending on access via FHPP FPC Parameter number PNU Cl Index and Subindex DeviceNet Class Instance Attribute PNU Parameter number as per FHPP FPC Slave address node address Each of the up to 64 stations in a DeviceNet network has its own MAC ID Media Access Control Identifier component of the CAN identifier Terminating resistor Resistor for minimising signal reflections Terminating resistors must be installed or switched in at the end of bus segment cables Tab 0 2 Index of terms and abbreviations for the field bus XX Festo GDCP SFC LACI DN EN en 0812NH System summary Chapter 1 Festo GDCP SFC LACI DN EN en 0812NH 1 1 1 System summa
52. LACI you need the following components Motor controller optionally with control panel Electric drive DNCE LAS or DFME LAS with accessories and mounting attachments for logic voltage supply for load voltage supply for supplying the SFC LACI with logic and load voltage gt section 3 2 for connecting the drive to the SFC LACI gt section 3 4 for information transfer between the PC and the SFC LACI gt section 5 5 for information transfer between the higher level controller and the SFC LACI 4 section 46 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 1 2 Operating principle 1 RI B a 5 6 Reference gt variable input y State FONS PLA AM 7 L observer 77 Fig 1 2 Simplified diagram of control structure No Block Task VE 1 Setpoint Generates executable position and velocity curves generator 2 Reference Uses desired position velocity and acceleration curves to calculate a force variable input curve and from that a current curve which is then directly input as the current setpoint value Permits drive with minimum contouring error 3 State vector Controls position and speed feedback 4 PI current Makes sure that all three strings have the correct current values regulator 5 Output stage The three strings are supplied with current
53. OPNA LOCK RESET BRAKE STOP ENABL Byte1 OPMZ OPMI HMI 24VL FAULT WARN OPEN ENABL CCON O x x x 0 0 1 1 SCON O x 0 1 0 0 1 1 Bez cuear reacn joen joe vom START HAT Byte2 rer smu DEV mov TEACH me ack HAL CPOS x 0 0 0 0 1 0 1 SPOS O 0 0 1 0 0 1 1 4 3 Homing finished Bel OPMZ OPML LOCK RESET BRAKE STOP ENABL Byte1 OPMZ OPMI HMI 24VL FAULT WARN OPEN ENABL CCON O x x x 0 0 1 1 SCON O x 0 1 0 0 1 1 Bez cuar recu joen joe HOM START HAT Byte2 REF smu DEV mov TEACH MC ack HAL CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 O 1 0 O signal 1 1 signal x not relevant optional F Edge positive Tab 5 7 Control and status bytes Homing run 5 48 Description on 4 Homing run 4 1 4 2 4 3 A positive edge at CPOS B2 HOM starts the reference travel The start is confirmed with SPOS B1 CK Acknowledge start as long as CPOS B2 HOM is set Movement of the axis is shown with SPOS B4 MOV After successful reference travel SPOS B2 MC Motion Complete and SPOS B7 REF will be set If there are faults during homing gt Fault handling see example 3 Tpb 5 6 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 Positioning Record select requires status 1 3 2 3 and 4 Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 5 1 Preselect Byte 3
54. Output 1 Direction Value OFF PNU 1246 uint8 rw Description Out1 Edge type for resetting condition See sectio T5 6 10 Cl 2421h 07h uint8 rw DeviceNet C 103 A 118 l 1 uint8 rw Local Digital Output 1 Delay PNU 1247 uint16 rw Description Out1 Delay time for resetting See sectio T5 6 10 Cl 2421h 08h uint16 rw DeviceNet C 103 A 119 l 1 uint16 rw Local Digital Output 1 Inverted PNU 1248 uint8 rw Description Out1 Invert See sectio T5 6 10 Cl 2421h 09h uint8 rw DeviceNet C 103 A 120 l 1 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B 109 B Parametrizing via field bus Local Digital Output 2 Function PNU 1250 uint8 rw Description Out2 Use See sectio T5 6 10 Cl 2422h 01h uint8 rw DeviceNet C 103 A 128 El uint8 rw Local Digital Output 2 Trigger ON PNU 1251 uint8 rw Description Out2 Setting condition See sectio T5 6 10 Cl 2422h 02h uint8 rw DeviceNet C 103 A 129 El uint8 rw Local Digital Output 2 Trigger OFF PNU 1252 uint8 rw Description Out2 Resetting condition See sectio 5 6 10 Cl 2422h 03h uint8 rw DeviceNet C 103 A 130 1 1 uint8 rw Local Digital Output 2 Value ON PNU 1253 int32 rw Description Out2 Setting with record number comparison See sectio T5 6 10 Cl 2422h 04h int32 rw DeviceNet C 103 A 131 ES int32
55. PNU 205 1 HOMING RUN Possible causes 0x0200 Valid homing run has not yet been carried out Due toa logic voltage failure the reference position has been lost e Carry out a homing run TARGET POSITION The specified target position is outside the PNU 205 2 OUT OF LIMIT permitted positioning range 0x0800 e Check software end positions target position and reference absolute or relative INTERPOLATION For FHPP Continuous Mode missing position PNU 208 7 CYCLE TIME specification s or missing toggle bit 0x0001 LIMIT SWITCH A limit switch has been actuated PNU 208 8 ACTIVATED e Check the positioning dynamics overswing 0x004 e g using trace diagrams in the FCT e Check switches and cables Fault number in the diagnostic memory see Seco ras Festo GDCP SFC LACI DN EN en 0812NH 6 9 6 Diagnosis and fault display 6 10 Error Possible cause and remedy PNU Fault no BLOCK DURING A fixed stop was reached in job mode PNU 208 9 JOG MODE 0x008 POSITION ERROR Drag error Possible causes PNU 205 31 The drive is blocked 0x0400 Speed acceleration or jerk is too great HOMING ERROR Error during homing PNU 205 32 Possible causes 0x0100 Homing run interrupted Reference switch defective e lfnecessary check the function of the reference switch e Repeat the homing run e Contact Festo service POSITION Error while searching for the commutation
56. PNU 207 122 0x0010 RX_QUEUE_ More PDOs were received than could be processed PNU 207 123 OVERRUN stack fault 0x0004 TX_QUEUE_ Not all the PDOs to be sent could be sent PNU 207 OVERRUN Bus load too high stack fault 0x0008 CAN_CONTROLLER CAN controller fault PNU 207 _QUEUE_OVERRUN 0x0020 DUP_MAC_ERROR Double MAC ID recognized PNU 207 124 0x0002 DN_RESET DeviceNet has been reset PNU 207 0x0040 BUS_SENSE_ Faulty bus supply PNU 207 122 ERROR 0x0080 Fault number in the diagnostic memory see sans ie Tab 6 6 Fault messages Festo GDCP SFC LACI DN EN en 0812NH 6 13 6 Diagnosis and fault display 6 4 Diagnostics via field bus 6 4 1 Overview FHPP status bytes see section 5 5 2 SCON B2 WARN Warning SCON B3 FAULT Fault SPOS B5 DEV Drag error SPOS B6 STILL Standstill monitoring DeviceNet classes DeviceNet class INST ATTR PNU 2 See 101 Diagnosis Diagnostic event O1h 10h 01h 200 Sections 65h memory 4 2 Fault number 01h 10h 02h 201 4 5 Time stamp 01h 10h 03h 202 102 Diagnostic Record faults 01h 01h 204 Section 66h memory Resolution 01h 02h 945 administration Clear buffer 01h 03h Number of entries 01h 04h 108 Current faults Device faults 01h 01h 205 Section 6Ch 54 5 Warnings 01h 02h 215 Extended device faults 01h OAh 207 01h OBh 208 109 Field bus Bus status 01h 01h 206 Sectio
57. Read the number of entries in the diagnostic memory 0 0 16 Tab 6 9 Diagnostic memory configuration Festo GDCP SFC LACI DN EN en 0812NH 6 15 6 Diagnosis and fault display The faults are divided into logical groups according to the fault numbers Group Name Comment E 0 No fault active Lo 19 Processing error Examples No homing run setpoint position outside software end positions setpoint value calculation not possible Although the system is OK a user command cannot be processed In most cases there is an error in operation Source Sequence control controller 20 29 Parameter error Example Software end positions outside the working stroke A parameter lies within the limit values so that it can be written by the user During the new calculation of the controller it was ascertained that it is not permitted in the context of the other parameters Note Non permitted parameters are rejected by the parameter protocol and do not generate a fault in the controller 30 49 Controller Examples Positioning timeout homing run not successful drag error too large The task could not be processed correctly No hardware fault is recognized here Source controller 50 69 Initialisation Error in initialising the controller 70 79 Run time of controller Error in controller run time undervoltage checksum 80 89 Reserved 90 99 Reserved 100 109 Run time of mo
58. Record number Byte 3 Record number record number Record Record no 1 31 Record Previous record no 1 31 control byte 3 No No 5 2 Start task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON O O x x 0 0 1 1 SCON 0 O 0O 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 O O O F 1 SPOS 1 0 0 0 0 0 1 1 5 3 Job running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON O O x x 0 O0 1 1 SCON 0 O 0O 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 O O0 O0 1 1 SPOS 1 0O 0O 1 0 0 1 1 Byte 3 Record number Byte 3 Record number Record Record no 0 31 Record Current record no 0 31 No No 5 4 Job finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON OO x x 0 0 1 1 SCON O O 0O 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 O O0 0 0 1 SPOS 1 O 0O 0 0 1 0 1 Byte 5 8 Reserved Byte 5 8 new Reserv
59. SFC LACI DN EN en 0812NH 5 69 5 Commissioning Start the task Setpoint values Output data START CPOS B1 Acknowledge start SPOS B1 1 4 ane Motion Complete SPOS B2 0 4 y Fig 5 6 Start the task The sequence of the remaining control and status bits as well as the functions HALT and STOP react as with the function Record select se Fig 5 3 Fis 5 4 ang Fig 5 5 Causes of errors No referencing carried out When specifying a position Target position outside the software end positions 5 70 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Overview of parameters involved see section 8 4 8 Description FCT PNU Cl Positioning mode Basic velocity x 540 21F8h Acceleration x 541 20EE 22h Deceleration x 542 20EF 22h Acceleration jerk x 543 20E7 22h Applied load Xx 544 20E8 22h Deceleration jerk x 547 21E1 22h Damping time Xx 1023 20E6 22h Force control Stroke limitation X 510 60F6 01h Minimum force fix 30 of the rated value x 511 60F6 05h Maximum force x 512 6072h Force target window tolerance x 552 60F6 03h Force damping time in ms x 553 60F6 04h Max permitted speed x 554 60F6 02h Start FHPP CPOS B1 START positive edge Feedback FHPP SPOS B2 0 Motion complete SPOS B1 positive edge Acknowledge start SPOS B4 1 Drive moving Prerequisites Device control by PLC field bus Controller must b
60. Voltage connection with 2 high current contacts and 5 low current contacts separate load and logic voltage supply gt sectio 3 2 4 Earth terminal Stud bolt M4 Connection for functional earth gt sectio T313 5 Local digital M8 socket 3 pin Local digital inputs and outputs gt sectio T3 9 I Os 6 Motor Plug connector Power supply for linear motor and sensor signals connection type ITT Cm3 gt sectio 5 4 Tab 3 1 Overview of connections 3 4 Festo GDCP SFC LACI DN EN en 0812NH 3 Installation La Connection 1 Parameterising interface If unused plug connectors are touched there is a danger that damage may occur to the SFC LACI or to other parts of the system as a result of ESD electrostatic discharge Place protective caps on unused terminal connections in order to prevent such discharges Overview of cables and plugs Cable plug Type Programming cable KDI MC M8 SUB 9 2 5 2 Controller interface Field bus plug FBS SUB 9 BU 2x5POL B Field bus adapter FBA 2 M12 5POL 3 Voltage supply Power supply cable KPWR MC 1 SUB 15HC 5 Local digital I Os Connecting cable KM8 M8 or NEBU M8 6 Motor connection Motor cable NEBM T1G6 T1G6 Encoder cable NEBM T1G12 T1G12 Tab 3 2 Festo GDCP SFC LACI DN EN en 0812NH Overview of cables and plugs accessories For complying with the IP protection cla
61. WARNING Bit 6 ILLEGAL RECORD WARNING Bit7 15 reserved Cl 2FF2h 00h uint16 rw DeviceNet C 108 A 2 I 1 uint16 rw B 54 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 4 6 Process Data Position Monitoring Torque Force Monitoring PNU 300 1 2 int32 Description Position Monitoring Position 1 Actual Value Actual position in Increments Position 2 Demand Value Controller setpoint position in Increments Cl 2800h 01h 02h int32 DeviceNet C 103 A 1 2 Ia int32 PNU 301 1 2 int16 Description Force Monitoring Torque 1 Actual Value Actual force in permil of rated force Values 0 65535 Torque 2 Target Value Actual force in permil of rated force Values 1000 1000 Cl 2801h 01h 02h int16 DeviceNet C 103 A 4 5 l 1 int16 Festo GDCP SFC LACI DN EN en 0812NH B 55 B Parametrizing via field bus Digital Inputs Digital Outputs PNU 303 uint32 Description Mappingthe digital inputs Bit O Negative limit switch Bit 1 Positive limit switch Bit 2 Reference switch Bit3 15 reserved 0 Bit 16 20 Current record number compare control byte 3 Bit 21 STOP CCON B1 Bit 22 ENABLE CCON BO Bit 23 START CPOS B1 Bit 24 Sample input Bit25 31 reserved 0 Cl 60FDh 00h uint32 DeviceNet C 103 A 10 I 1 uint32
62. and DFME LAS This manual deals with the basic functions of the SFC LACI and the DeviceNet interface of the SFC LACI DN The drives DNCE LAS and DFME LAS and additional components are documented in separate operating instructions The SFC LACI and the connectable modules and cables may only be used as follows Festo GDCP SFC LACI DN EN en 0812NH as designated only in industrial applications in faultless technical condition in original condition without modification only the conversions or modifications described in the documentation supplied with the product are permitted Follow the safety instructions and use all the components and modules as described in the documentation Observe also the standards specified in the relevant chapters as well as national and local laws and technical regulations Observe the maximum values of all additional components e g sensors actuators Contents and general instructions Safety instructions When commissioning and programming positioning systems the safety regulations in this manual as well as those in the operating instructions for the other components used should be observed unconditionally The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system Access to the possible danger area must be prevented by suitable measures such as protective screens and warning signs Warning Electric axes move with h
63. and detection of undervoltage in the load voltage supply 12t monitoring overload protection Contouring error monitoring e g in the event of sluggishness or overloading of the drive Software end position detection Limit switch detection Note Check within the framework of your EMERGENCY STOP procedures to ascertain the measures that are necessary for switching your machine system into a safe state in the event of an EMERGENCY STOP If an EMERGENCY STOP circuit is necessary for your application use additional separate safety limit switches e g as normally closed limit switches wired in series Use hardware limit switches or if required mechanical safety limit switches and fixed stops or shock absorbers as appropriate in order to make sure that the axis always lies within the permitted positioning range 1 7 1 System summary Remedy Cancelling the ENABLE signal at the controller interface e Note also the following points Reaction Without brake clamping unit The controller end stage is switched off The effective load on the drive will continue to move due to inertia or it will fall if mounted in a vertical or sloping position When using a brake clamping unit If the drive moves when ENABLE is cancelled then it will initially be brought to a standstill using quick stop deceleration As soon as the drive is standing still the configured brake output Out1 or Out2 is reset The brake clampin
64. are no objects in its path Note gt e Before starting the reference run make sure that The positioning system is set up and wired completely and is supplied with power The parameterising is completed e Only start a positioning run after The reference system has been defined by a reference run You have checked that the software end positions are far enough away from the mechanical end positions fixed stops at least 1 mm Note gt Note that positioning records with speed v 0 or invalid target positions gt error TARGET POSITION OUT OF LIMIT cannot be executed Festo GDCP SFC LACI DN EN en 0812NH 4 11 4 Control panel only type SFC LACI H2 gt Positioning Homing Positioning Homing Move posit Demo posit tab The Positioning menu includes entries for starting a homing run or a positioning run set Note Carry out the homing run and the positioning runs as described in the following sections Homing sectiong 52 2 to 5 2 4 Positioning runs test runs section 52 9 Description Starting a homing run with the set homing method Note Setting the parameters see Settings Homing paramet Move posit set Starting a defined positioning record from the position set table or for parameterised record chaining start of a record chain Parameterising and referencing must have been completed
65. arises if the switching point of the proximity sensor and the index pulse lie very close to one another Should the switching point move e g due to temperature influence such that it then lies behind the index pulse then the SFC LACI will use the index pulse after that as a reference point The entire measuring reference system would then be offset by 2 mm in DFME LAS in DNCE LAS by 5 mm Remedy 1 Check the distance of the switching point to the index pulse See FCT Homing page Homing register or Cl 2FFE ODh see appendix B 2 Then move the proximity sensor a few tenths of a mm Festo GDCP SFC LACI DN EN en 0812NH Technical appendix Appendix A Festo GDCP SFC LACI DN EN en 0812NH A 1 A Technical appendix Contents A 1 Technical data A 2 Accessories 0 eee eee eee eee A 3 Converting the units of measurement A 2 Festo GDCP SFC LACI DN EN en 0812NH A Technical appendix A 1 Technical data General Protection class of the entire system according to EN 60529 IP54 plug connector inserted or fitted with protective cap Relative air humidity at 25 C 0 95 non condensing Temperature range 0 40 C 20 60 C Operation Storage transport SFC LACI temperature monitoring Warning message at temperature gt 80 C Shutdown at temperature gt 85 C restart only when temperature falls bel
66. as reference switches or as limit switches This means homing either runs to the reference switch or to the limit switch If a proximity switch is configured both as a reference switch and as a limit switch then its signal during homing is interpreted as a reference signal and afterwards as a limit switch signal in the referenced state of the drive 1 14 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary Homing methods to switch with index search Switch negative at the retracted end position 1 Offsetref Switch positive at the extended end position 1 gt k Offsetref The drive here DFME LAS moves at search speed v_rp to the switch and reverses After leaving the switching range the drive moves to the next index signal of the displacement encoder The reference point REF is there Then the drive moves at speed v_zp from the reference point REF to the axis zero point AZ N Tab 1 2 Homing to switch with index search 1 15 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary To reference switch To limit switch gt 1 16 Special features of homing Ifa reference signal is not found when homing to the reference switch before the drive reaches a fixed stop or a limit switch then the drive will reverse and search for the switch in the o
67. blow external as an option Local outputs OUT1 2 Supply via logic supply pins 1 2 Max 1 A permissible per output Hardware enable pins 3 5 Minimum switching current Total current consumption 24 V Dependent on the system architecture up to 3 8 A Tab 3 4 Requirements to be met by the power supply Connect the earth terminals of the two power supply units Example of a power supply connection Power Un Al 12345 A2 t 1 2 IB 4 3 2 Power supply connection example 2 External fuses as an option 3 Switch for hardware enable 4 Earth terminals only use one see sectio r3 3 Fig 3 8 Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 2 1 Function of the hardware enable Application of 24 VDC to pin 3 relative to pin 5 of the power supply connection is essential for operation of the SFC LACI In a similar fashion to the relay Hardware Enable switches the load voltage on and off whereby the voltage of the hardware enable represents the control voltage Hardware enable applied the load voltage is switched through Hardware enable missing the load voltage is blocked Switching the voltage on or off of the Hardware Enable is thus equivalent to switching the load voltage on or off The Hardware Enable is electrically isolated Use of the Hardware enable is described in section 56 9 Festo GDCP SFC LACI DN EN en 0812NH 3 9
68. bus parameters first become effctive after Power off on or after a software reset object 20F1 03h PNU 127 Festo GDCP SFC LACI DN EN en 0812NH 5 9 5 Commissioning gt Settings BUS parameter I MAC ID DeviceNet MAC ID 06 dec 06 hex ESC lt Menu gt lt gt OK lt Enter gt Settings BUS parameter I Baudrate BUS Baudrate 125 kBd ESC lt Menu gt lt gt OK lt Enter gt gt Settings BUS parameter I 1 0 Datalength I O Datalength 08 byte ESC lt Menu gt lt gt OK lt Enter gt 5 10 Station number MAC 1D Permitted station numbers 0 63 An invalid station number is preset shown on control panel as This is to make sure that a correct address is set during commissioning or exchange Baudrate baud rate Possible baud rates 125 250 500 kBd An invalid baud rate is preset shown on control panel as 222 This is to make sure that a correct baud is set during commissioning or exchange I O Datalength data length The following settings are possible 8 bytes FHPP standard control of the SFC LACI takes place according to Festo Handling and Positioning Profile 16 bytes FHPP standard and FHPP FPC additional use of the FPC for parameterising the SFC LACI It is transmitted in 3 telegrams An invalid data length is preset displayed as on the control panel This is to make sure that the correct data length i
69. certain time for this reason COS and Cyclic are often treated as a single message type EDS Electronic Data Sheet contains the specific properties of the slave e g number of I Os parameters etc Explicit Messaging Direct connection Explicit Messaging constitutes an acyclic point to point communications connection with low priority between two devices and is typically used for configuration and diagnostic purposes Explicit messages contain the address and value of an attribute and a Service Code that describes how these data are to be treated 1 0 messaging implicit messaging 1 0 data transfer I O Messaging is used for the exchange of time critical data e g process data An I O message contains exclusively data All information about how the data are to be treated are stored in the Connection object that is assigned to this message 1 0 polling The slaves are interrogated by the master The master sends a polling command to a slave data for the slave are transmitted together with this If the slave has on its part any data for the master then it sends them to the master If a slave does not answer a polling request from a master then this results in a timeout INST INSTance number Festo GDCP SFC LACI DN EN en 0812NH XIX Contents and general instructions Term abbreviation Meaning LSB Least significant byte lower value byte MAC ID Media AccessControl
70. deactivates the automatic brake 1312 6510 19h PWM value Duty cycle during a period of time sef Fis 5 9 Values 1 100 Value 0 deactivates the pulse width modulation 1259 2422 09h Display of brake status Bit 0 1 0 The configured brake output is set not set 304 60FE O1h Tab 5 22 Parameters when using a brake clamping unit Festo GDCP SFC LACI DN EN en 0812NH 5 85 5 Commissioning Example of an automatic brake Drive moves 0 LI MC 17 a START al f i l i D l y WM prake eee o 7 1 1 7 T Record aa chaining o TAutomatic 0 TSwitch on 1 f 0 T Switch off f 0 Controller 1 7 a energised 0 l Record j Start of new completed position record Fig 5 10 Pulse time diagram automatic brake In this example both the time for switching to the next record and the activation time of the automatic brake T Automatic starts to run after the completion of a positioning record MC After the activation time has expired the brake is closed and the switch off time runs simultaneously After the switch off time has expired the controller end stage is switched off less warming After the time for switching to next record has expired there is a new internal START signal the drive however does not start to move until the switch on delay has expired 5 86 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 6 12 Position sampling on the fly
71. eee eee eee eee eee 5 2 6 Teach software end positions css eee eee ee eee eee 5 2 7 Settingthetool mass cece ccc e eee eee eee eeeee 5 2 8 Teaching positioning records cece cece eee eens 52 9 TESTUN A car E E EE ES Commissioning with FCT cece cece ccc e ee eee eee e eee e eens 5 3 1 Installing the FCT v 24 noceceew ote dead id 5 3 2 POCO US ocene nied ese A a E ad Commissioning on a DeviceNet maSter 0 0c eee eee eee eee 5 4 1 Overview of commissioning on the field bus 5 4 2 Configuration of the DeviceNet master I O configuration Festo Handling and Positioning Profile FHPP ooooooooo o 5 5 1 FHPP operating modes cece cece eee eens 5 5 2 Structure of the cyclic I O data FHPP standard 5 5 3 Description of the I O data Record select 5 5 4 Description of the I O data Direct mode o o o 5 5 5 Description of the control bytes CCON CPOS CDIR 5 5 6 Description of the status bytes SCON SPOS SDIR RSB 5 5 7 Examples of control and status bytes FHPP standard Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions 5 6 5 7 6 1 6 2 6 3 6 4 6 5 6 6 Vi DriVeTUNCHIONS lt 2ccscce intel cee A 5 5 561 HOMING escritas 5 58 56 2 JOS MOE mision weee eevee se 5 58 5 6 3 Teaching via field bus cece cece eect ee
72. error status if the error still exists it will be displayed again Applied load Additional load The mass of a workpiece Applies only to a single positioning record sef Ts 0 1 AZ axis zero point Axis zero point see sectio T11 5 EMC Electromagnetic compatibility FCT Festo Configuration Tool Software with uniform project and data management for all supported device types The special requirements of a device type are supported with the necessary descriptions and dialogues by means of plug ins FHPP Festo Handling and Positioning Profile Uniform field bus data profile for positioning controllers from Festo sep 112 2 FHPP standard FHPP sequence control sef 112 2 FPC Festo Parameter Channel for parameter access See sectio T1 2 2 HALT With a HALT signal a running positioning movement is interrupted and the drive stops The positioning record remains active i e with a new START signal the record will be continued Compare STOP HMI Human Machine Interface refers to the control panel on the variant SFC LACI H2 HMI on means that parameterisation and operation can begin using the control panel or FCT The control interface is then deactivated Homing run See overview of measuring reference system in sectio TT1 5 1 0 Input and or output Jog mode Manual positioning in positive or negative direction XVI Festo GDCP SFC LACI DN EN en 0812N
73. field bus Name PNU SI Project Data General Project Zero Point offset project zero point 0500 Software End Positions 0501 11 22 Max Velocity max speed 0502 Max Acceleration 0503 Motion Profile Type ramp profile 0506 Project Data Force Control Force Control Stroke Limit 0510 Force Control Min Torque Force 0511 Force Control Max Torque Force 0512 Force Control Torque Force Profile Type 0513 Project Data Teach Teach Target 0520 Project Data Jog Mode Jog Mode Velocity Phase 2 0531 Jog Mode Acceleration 0532 Jog Mode Time Slow Motion time phase 1 0534 Project Data Direct Mode Positioning Mode Direct Mode Base Velocity 0540 Direct Mode Acceleration 0541 E Direct Mode Deceleration 0542 Direct Mode Jerk Acceleration 0543 Direct Mode Work Load direct mode applied load 0544 Direct Mode Jerk Deceleration 0547 B 34 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Name PNU SI Project Data Direct Mode Force Mode Torque Force Slope change of force 0550 Force Target Window 0552 Force Target Damping Time 0553 Speed Limit 0554 Project Data Direct Mode FHPP Continuous Mode Interpolation Time interval specification 0570 e Axis Data Electric Drives 1 Mechanical Polarity reversal of
74. gt In the following cases it is not permitted to use the FCT to access the SFC LACI for purposes of writing data e g downloading parameters or for control e g Move manually or starting a homing run While the SFC LACI is executing a positioning motion or when a motion is started during access e g via the control interface or via the control panel If parameterisation or operation is carried out on the SFC LACI with the control panel Note e Control by the FCT must not be activated while the drive is in motion or when control is being carried out via the field bus Festo GDCP SFC LACI DN EN en 0812NH 5 7 5 Commissioning 5 2 5 8 Commissioning with the control panel only SFC LACI H2 Information on the button functions and the menu structure of the control panel can be found in chapter 4 Overview of initial commissioning Commissioning steps 1 Before switching on make sure that there is no active ENABLE signal on the controller interface Section 413 N Switch on the SFC LACI configure the field bus interface then Reset pP w Set the parameters for the homing run Homing method Search speed to reference point Positioning speed to axis zero point 92 4 Activate control panel device control HMI on 2 3 5 Carry out homing run 2 4 6 Teach the axis zero point 2 5 7 Teach software end positions gt 2 6 8 Set the t
75. gt Notes on force control Control of the motor force occurs indirectly via current regulation All force specifications refer to the rated motor force relative to the rated motor current The actual force at the axis should be calculated checked and then set with external measuring devices during commissioning Force control is prepared when the control mode is switched over The drive stands with the position controlled The signal MC Motion Complete is used in this control mode to mean Force value reached After the setpoint value has been specified the force is built up by the start signal START bit in the direction of the sign of the setpoint value The speed is limited to the value in the parameter Speed limit Once this speed has been reached the bit Speed limit reached is set in the status byte SDIR When the setpoint value has been reached taking into account the target window and the time window the MC signal is set The force continues to be controlled If the path set in the path stroke monitoring relative to the starting position is exceeded the bit Stroke limit reached is set in the status byte SDIR The drive is braked with the emergency stop ramp held with the position controlled at the current position and the MC signal is set The smallest permitted force setpoint value is 30 of the rated force If smaller values are specified these will be raised to 30 Festo GDCP
76. interrupted with the lt Menu gt button STOP If a reference signal is not found when homing to the drive s integrated reference switch before the drive has reached a fixed stop or a limit switch then the drive will reverse and searches for the switch in the opposite direction see section 111 6 If a reference signal is still not found the SFC LATT stops and reports an error HOMING ERROR The homing run must be repeated after the error message has been acknowledged 1 Acknowledge the error message with Enter 2 If necessary check the functioning of the reference switch 3 Check the settings of the parameters 4 If required use the arrow keys to move the drive into a different position Menu Settings Jog mode 5 Repeat the homing run Festo GDCP SFC LACI DN EN en 0812NH 5 15 5 Commissioning 5 2 5 Teach the axis zero point Factory setting A gt Settings Axis parameter Zero point PT SW 1imit neg SW 1imit pos SAVE 5 16 Axis zero point with Homing to reference switch 0 mm Homing to negative fixed stop 1 mm Homing to a positive fixed stop 1mm Note Risk of overloading when homing to stop The drive must not press continuously against a mechanical stop excessive warming e Make sure that the axis zero point is at least 1 mm away from the mechanical stop This causes the drive to leave the mechanical stop after recognising the
77. measured unit of feed Position fact or encoder resolution gear ratio feed constant 1004 1 Position fact or numerator 1004 2 Position fact or denominator Cl 6093h 01h 02h uint32 r DeviceNet B 90 C 107 A 8 9 I 1 uint32 r Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Axis Parameter PNU 1005 1 6 uint32 rw Description Axis parameter Axis Length 1005 1 Axis length in increments 1005 2 reserved 1005 3 reserved Axis Type 1005 4 0x10 DFME 32 100 0x11 DFME 32 200 0x12 DFME 32 320 0x13 DFME 40 100 0x14 DFME 40 200 0x15 DFME 40 320 0x16 DFME 40 400 0x20 DNCE 32 100 0x21 DNCE 32 200 0x22 DNCE 32 320 0x23 DNCE 40 100 0x24 DNCE 40 200 0x25 DNCE 40 320 0x26 DNCE 40 400 1005 5 reserved Axis Installation 1005 6 5 Position Mounting position of the axis 0 horizontal 1 vertical Cl 20E2h 01h 06h uint32 rw DeviceNet C 107 A 10 13 1 1 uint32 rw 15 Festo GDCP SFC LACI DN EN en 0812NH B 91 B Parametrizing via field bus Parameter homing run Offset Axis Zero Point B 92 PNU 1010 int32 rw Description Offset of the axis zero point AZ to the reference point REF in Increments distance from the reference point Factory
78. measurement A local digital input IN1 or IN2 not occupied by the reference or limit switch can be used as a fast sample input With a falling depending on configuration a rising edge at the configured sample input the current position value is written in 204A 05h or 06h into a tab of the SFC LACI and can afterwards be read out by the higher level control system PLC IPC PNU 350 or PNU 351 Overview of parameters for position sampling on the fly measurement Value 1 Value 2 Value 3 Writing 0 resets both edge events to 0 A falling edge has occurred and a new position value was stored Arising edge has occurred and a new position value was stored Arising and a falling edge have occurred the respective position values were stored Parameter Description PNU FCT Cl Input that is going to be used for the position sampling 1305 x 6510 16h value 0 none value 1 IN1 value 2 IN2 Trigger mode 352 x 204A 01h Value 1 cyclic continuous record position for every rising depending on configuration and or falling edge Value 2 single one time record position only for the first rising depending on configuration and or falling edge Edge status 353 204A 02h Value 0 An edge was not registered Festo GDCP SFC LACI DN EN en 0812NH 5 87 5 Commissioning Parameter Description PNU FCT Cl Transfer e
79. parameterisation can cause injury to people and material damage if you enable the controller with ENABLE e Make sure that there is no active ENABLE signal when switching on the SFC LACI on the controller interface e Parameterise the entire system completely before activating the controller with ENABLE or HMI on Caution A The SFC LACI does not carry out any positioning tasks if it is not referenced In the following cases carry out a homing run to reference the SFC LACI Every time the logic voltage supply is connected or after every failure When the homing method is changed When the axis zero point is modified Note gt When setting ENABLE for the first time after switch on or when activating the device control on the control panel for the first time using HMI on the SFC LACI carries out a commutation point search the drive vibrates gently If the drive is not freely movable and the commutation point search cannot be performed successfully then an error is reported and the SFC LACI will not carry out a homing run or any positioning tasks e Make sure that the drive can move freely when ENABLE is set 5 90 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Festo GDCP SFC LACI DN EN en 0812NH Note Damage to components Movement to the mechanical end positions is not permitted during operation Note Observe the instructions in the documentation for the drives and additional componen
80. point PNU 205 40 PLAUSIBILITY Acknowledge the error The search is restarted 0x4000 ERROR If several drives are fitted in a vibration free system Carry out commutation point search one after the other see PNU 1072 2051h Fault number in the diagnostic memory see esa is face Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display Error COMMUTATION POINT ERROR Possible cause and remedy Commutation point is invalid Possible cause and remedy The drive is blocked Ensure freedom of movement Excessive load Reduce the load Controller parameter wrongly set Determine the relevant controller parameter and set it to the correct value To do this you may have to per form a commutation point search without a load remove the load correctly set the tool mass and applied load start the axis connect the load correctly set the tool mass and applied load determine the new controller parameters see FCT help on controller parameterisation reparameterise the drive and then restart the commutation point search with new controller parameters The drive remains directly at a hard end stop Vibration motion is therefore not possible in the direction of the end stop The following conditions are necessary in order to find the commuting point Cushion the end points make them soft e g rubber bumper The axis is not fastened stiffly enough Stiffen the axis mounting T
81. program or the integrated Cl terminal of the SFC LAC Plugin in the Festo Configuration Tool 1 Connect the SFC LACI to your PC see section 35 2 Configure your PC s COM interface Settings of the COM interface Transmission speed baud rate 38400 Baud Data format Asynchronous character frame 1 start bit 8 data bits No parity bit 1stop bit Tab C 1 Settings of the COM interface 3 You can use the following command to initialise data transmission and determine the SFC LACI s response readiness Command Reply 1 lt CR gt 11 lt CR gt Festo GDCP SFC LACI DN EN en 0812NH C 5 C Clinterface C 1 4 Composition of the Cl commands The Cl objects implemented in the SFC LACI are based on CANopen DS402 Group 1xxx Objects for device description Group 2xxx Festo objects Group 6xxx Objects as per CANopen The CiA Draft Standard 402 deals with the implementation of CANopen in drive controllers Access procedure Every object has a unique number index subindex which is used for accessing the object The higher order controller sends the controller either a write command WRITE to modify an object or a read command READ to read out an object For each command the higher order controller receives a response which either contains the value read or in the case of a write command serves as an acknowledgement The transmitted value 1 2 or 4 data bytes depends on the data
82. r Standstill Position Window PNU 1042 uint32 rw Description Standstill position window in Increments Amount by which the drive may move after Motion Complete until the standstill monitoring responds Cl 2040h 00h uint32 rw DeviceNet C 107 A 70 I 1 uint32 rw Standstill Timeout PNU 1043 uint16 rw Description Standstill monitoring time in ms Time during which the drive must be outside the standstill position window before the standstill monitoring responds Value range 0 65535 OxFFFF Default 80 Cl 2041h 00h uint16 rw DeviceNet C 107 A 71 1 1 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 4 10 Supplementary objects Following Error Window PNU 1044 uint32 rw Description Permissible size of following error offset between actual position and setpoint position Write OxFFFFFFFF following error monitoring OFF Cl 6065h 00h uint32 rw DeviceNet C 107 A 72 I 1 uint32 rw Following Error Timeout PNU 1045 uint16 rw Description Time that a following error may remain larger than the value specified in PNU 1044 before a following error is reported Value range 1 60000 Default 80 ms Cl 6066h 00h uint16 rw DeviceNet C 107 A 73 I 1 uint16 rw Commutation Point PNU 1050 int32 r Description Commutation point is determined automatically Increments Cl 6410h 11h int32 r DeviceNet C 107
83. response identifier by evaluating the parameter number PNU if applicable by evaluating the subindex IND If applicable by evaluating the parameter value 5 The SFC LACI provides the reply until the master sends a new task 6 a Awrite task even with cyclic repetition of the same task will only be carried out once by the SFC LACI b Between two consecutive jobs with the same Job identifier AK parameter number PNU and subindex IND the Job identifier 0 no job must be sent and the Response identifier O no reply must be awaited This ensures that an old reply is not inter preted as a new reply Tab B 8 Rules for job reply processing B 20 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Sequence of parameter processing Caution A Observe the following when modifying parameters An FHPP write signal referring to a modified parameter may only occur when the Response identifier Parameter value transferred is received for the relevant parameter and if applicable for the index If for example a position value in a position set table is to be modified and if movement is then to be made to this position the positioning command must not be given until the SFC LACI has completed the modification of the position register and confirmed this Caution A In order to be sure that an old reply cannot be inter preted as a new reply the Job identifie
84. rw B 110 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Local Digital Output 2 Value OFF PNU 1254 int32 rw Description Out2 Resetting with record number comparison See sectio T5 6 10 Cl 2422h 05h int32 rw DeviceNet C 103 A 132 l 1 int32 rw Local Digital Output 2 Direction Value ON PNU 1255 uint32 rw Description Out2 Edge type for setting condition See sectio T5 6 10 Cl 2422h 06h uint8 rw DeviceNet C 103 A 133 l 1 uint8 rw Local Digital Output 2 Direction Value OFF PNU 1256 uint8 rw Description Out2 Edge type for resetting condition See sectiof 6 10 Cl 2422h 07h uint8 rw DeviceNet C 103 A 134 lo 1 uint8 rw Local Digital Output 2 Delay PNU 1257 uint16 rw Description Out2 Delay time for resetting See sectiof5 6 10 Cl 2422h 08h uint16 rw DeviceNet C 103 A 135 l 1 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 111 B Parametrizing via field bus Local Digital Output 2 Inverted PNU 1258 uint8 rw Description Out2 Invert See sectio T5 6 10 Cl 2422h 09h uint8 rw DeviceNet C 103 A 136 11 uint8 rw Local Digital Output 2 PWM Value PNU 1259 uint16 rw Description Out2 PWM value See sectio T5 6 10 Cl 2422h OAh uint16 rw DeviceNet C 103 A 137 ES uint16 rw B 112 Festo GDCP SFC LACI
85. standstill It must be opened before a new positioning mo tion begins The clamping unit must not be used to brake moving masses Braking masses in movement leads to increased wear and to the functional failure of the clamping unit 5 84 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Overview of parameters when using a brake clamping unit Parameter Description Out1 Use Value 1 Out1 is the defined brake output PNU 1240 FCT Cl 2421 01h Out2 Use Value 1 Out2 is the defined brake output 1250 2422 01h Switch on delay Time in ms between setting the enable ENABLE 1 or a START signal The brake can open completely in this period of time Values 0 500 ms if the automatic brake is activated and the start of a positioning motion 1310 6510 17h Switch offdelay Time in ms between the removal of the enable ENABLE 0 or the expiry of the activation time of the automatic brake and the switching off of the SFC LACI s output stage In this period of time the SFC LACI continues to control the position and the brake can close completely Values 0 500 ms 1311 6510 18h Activation time of the automatic brake Time in s between the completion of a positioning motion Motion Complete and the resetting of the brake output providing in this period of time there is no new START signal The switch off delay follows after the activation time Value 0
86. supply I F Communication via the controller interface Error Error message or warning Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 Operator keys Basic functions of the operator keys Key Function MENU Activates the main menu from the status display ESC Discards the current entry and switches back in stages to the higher order menu level or status display EMERG STOP If HMI on interrupts the current positioning procedure confirm with lt Enter then automatic return to the status display Error mode the EEPROM OK Confirms the current selection or entry SAVE Saves parameter settings permanently in START STOP Starts or stops a positioning procedure only in Demo mode After stop Display of current position use Menu to return to the higher order menu level gt Scrolls within a menu level in order to select a menu command GQ EDIT Sets parameters Tab 4 1 Key functions overview Festo GDCP SFC LACI DN EN en 0812NH 4 5 4 Control panel only type SFC LACI H2 4 2 The menu system DeviceNet INIT PARAMETER ERROR Diagnostic lt menu gt Config lt Enter gt SFCLACI D Xa 0 00 mm HMI off lt Menu gt Diagnostic Positioning Settings T ESC lt Menu gt lt gt OK lt Enter gt HMI control LCD adjustment ap ESC l
87. the active record relevant for record chaining Record Status Byte 400 3 r Contains FHPP status byte 4 with information on record chaining see sectio T5 5 2 Cl 2033h 01h 03h uint8 r w Note The object 2032h is provided for access via Cl DeviceNet C 103 A 32 34 1 1 uint8 r w B 66 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Record Control Byte 1 PNU 401 1 344 uint8 rw Description Record Control Byte 1 Settings for record selection Relative absolute positioning Path generator standard energy optimized 0x00 Target position is absolute standard path generator default 0x01 Target position is relative to last setpoint standard path generator 0x06 Target position is absolute energy optimised path generator 0x07 Target position is relative to last setpoint value energy optimised path generator Note The energy optimized path generator enables higher dynamics with less heat the parameterised positioning curve a trapezoid as e g iffF g 5 1 is not maintained exactly The parameterised maximum values peed and acceleration may be slightly exceeded Record 0 401 1 positioning record 0 Do not use Homing Record 1 401 2 positioning record 1 Record control byte 1 Positioning record 1 Record 401 positioning record Record control byte 1 Positioning record 2 30 Record 31 401 32 positioning
88. the hardware enable is removed the load voltage is switched off Caution If the drive is not under position control after the removal of Hardware enable this may cause injury to people and material damage If the hardware enable is removed during a current positioning procedure then the mass continues to move due to inertia With vertical or sloping drive mountings the moving mass will then slide down Also note When the hardware enable is removed the load voltage is switched off immediately However several seconds can pass before the SFC LACI reports the error Load Power Down and a brake closes if present Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 6 10 Using the local digital outputs Purpose The outputs can be used for the following Displaying an internal logical status of the SFC LACI e g occurrence of an error Displaying that certain values have been reached e g position valuese Controlling a brake clamping unit see section 5 6 11 Operating a fan DC motor or similar Switching logic Positive switching logic when the output is set switching state true logic 1 the output is set to 24 V If the output is not set to O V or in Out2 with PWM to high impedance Negative switching logic If the output is set the output is set to 0 V or in Out2 with PWM to high impedance If the output is not set to 24 V PWM only Out2 With pulse widt
89. the speed e Select Velocity e Set the nominal speed with the arrow keys e Accept the setting with OK lt Enter gt The setting will then take effect in the drive 5 Set the remaining parameters of this positioning record to appropriate values Note Jerk The jerk in m s3 is the first derivative of the acceleration Lower values result in gentler movement Jerk Acc Jerk acceleration Jerk Dec Jerk when braking Work load Mass of the individual workpieces see section 52 7 Time MC damping time The time between reaching the target position window and setting MC Motion Complete sef fjg 5 8 6 Save this position record in EEPROM with SAVE 7 Enter the next positioning record Festo GDCP SFC LACI DN EN en 0812NH 5 21 5 Commissioning 5 2 9 Test run Positioning M Homing Move posit set Demo posit tab 5 22 Enter several positioning records 4 section 52 8 e You may wish to set target positions at the limits of the positioning range in order to check the software end positions e You may wish to set various speeds for example Select Positioning Move posit set in order to process a certain positioning record or Select Positioning Demo posit tab in order to execute all position records At least two positioning records must be entered in the position set table in order that this function can be used In the D
90. to PNU 1034 6073h and 6510 41h Device Control 1026 6 Cl 06h A 54 rw Identical to PNU 125 207Dh Bit 0 0 Control interface OFF control via HMI or FCT ON Bit 0 1 Control interface ON To enable FCT control after the control interface has been switched off set ENABLE OPERATION in the control word as well object 6040h Controller Serial 1026 7 Cl 07h A 55 r Number Serial number of the controller Cl 6510h Various uint32 r w Further subindices of 6510h see section 43 DeviceNet C 107 A 49 55 I 1 uint32 r w 12t Value PNU 1027 uint32 r Description Current I t value See PNU 1025 4 Cl 6410h 04h uint32 r DeviceNet C 107 A 41 I 1 uint32 r Festo GDCP SFC LACI DN EN en 0812NH B 97 B Parametrizing via field bus Max Phase Current PNU 1028 uint32 rw Description Max string current Value range 0 20000 mA Default 15000 mA Cl 6410h 05h uint32 rw DeviceNet C 107 A 48 I 1 uint32 rw Quick Stop Deceleration PNU 1029 uint32 rw Description Deceleration during quick stop in Increments s Cl 6085h 00h uint32 rw DeviceNet C 107 A 42 ld uint32 rw Electronic type plate Motor Type PNU 1030 uint16 r Description Classification of the motor Fixed 0x0000 Cl 6402h 00h uint16 r DeviceNet C 107 A 60 I 1 uint16 r B 98 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Ma
91. type of the object to be read or written WRITE W Write commands W transfer a value in the specified format to the SFC LACI As a response write commands are echoed character by character from the SFC LACI A checksum PS is inserted in front of the lt CR gt Carriage Return READ R Read commands R transfer a value from the SFC LACI The response contains the read value A checksum lt PS gt is inserted in front of the lt CR All commands are entered as a character sequence without empty spaces A hex character is a Char character in hex format C 6 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Syntax of the read and write commands Acc 2 Command Reply WwW 1111SS valuexCR gt 11115S Value lt PS gt lt CR gt w2 II1ISS ValuexPSxCR gt R INISS lt CR gt 2 11115S Value gt lt PS gt lt CR gt R 2INSS PSxCR gt D Access W write R read 2 When checksum checking is activated Object 20F3h Tab C 2 Syntax of a Cl command Cl reply Syntax Explanation gt Initial character for write or read commands HH Index in 4 hexadecimal digits SS Subindex in 2 hexadecimal digits If the addressed object does not have subindices lt 00 gt is specified a Separating character lt Value gt Data in a format depending on data type lt PS gt Checksum in 2 hexadecimal digits lt CR gt End character lt Carriage Return gt
92. uint8 r DeviceNet C 107 A 25 l 1 uint8 r Homing Max Torque Force PNU 1015 uint8 rw Description Maximum force during homing in Value range 10 100 Cl 23F7h 00h uint8 rw DeviceNet C 107 A 26 I 1 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B 93 B Parametrizing via field bus Controller parameters B 94 Quick Stop Option Code PNU 1019 uint16 r Description Quick stop option Fixed 6 Remain in stop with fast stop ramp and in the status Fast stop active Cl 605Ah 00h uint16 r DeviceNet C 107 A 29 1 1 uint16 r HALT Option Code PNU 1020 int16 rw Description Describes the reaction to a HALT signal at the controller interface CPOS BO HALT 0x01 Braking using the ramp of the current positioning record default 0x02 Braking using quick stop deceleration as per PNU 1029 Cl 605Dh 00h int16 rw DeviceNet C 107 A 30 1 1 int16 rw Fault Reaction STOP Option Code PNU 1021 int16 rw Description Describes the reaction to an error or to a STOP signal at the controller interface CCON B1 STOP 0x01 Braking using the ramp of the current positioning record 0x02 Braking using quick stop deceleration as per PNU 1029 default Cl 605Eh 00h int16 rw DeviceNet C 107 A 31 I 1 int16 rw Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Target Position Window PNU 1022 uint32 rw Description Target position window To
93. zero point AZ offset of the project zero point The offset of the project zero point cannot be adjusted via the control panel limit the permitted positioning range effective stroke If the target position of a positioning command lies outside the software end positions the positioning command will not be processed and an error will be registered The distance between the two software end positions The maximum stroke which the axis can perform with the parameters currently set The distance of the reference point REF from the retracted end position tolerance 1 mm For reasons of technical control this has to be measured and parameterised See figures iq tpb 1 2 ang Tpb 1 3 Festo GDCP SFC LACI DN EN en 0812NH 1 11 1 System summary Measuring reference system 1 LSE USE gt REF Reference point a Offset axis zero point AZ Axis zero point b c Offset software end positions PZ Project zero point d Project zero point offset LSE Lower software end position e Effective stroke USE Upper software end position f Nominal stroke TP AP Target position Actual position g Offset TP AP to PZ 1 Represented using the example of a drive of the DFME LAS type and on the basis of the homing method Reference switch negative with index search Applies to other drives as appropriate Tab 1 1 Measuring reference system 1 12 Festo GDCP SFC LA
94. 0 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 3 Teaching takes place via the handshake of the bits in the FHPP control and status bytes CPOS SPOS o Ready for teaching Teach value 2 Value transferred CPOS B5 0 Acknowledgement SPOS B3 la la Fig 5 2 Handshake when teaching o The drive must not stand still for teaching However a speed of 1 m s means that the actual position changes by 1 mm every millisecond With the usual cycle times of the PLC field bus motor controller there will be inaccuracies of several millimetres even at a speed of only 100 mm s Overview of parameters involved see sections B 4 7 and B 4 8 Parametersinvolved Description FCT PNU Cl Teach target D 520 21FCh Record number D 400 2033h Start FHPP CPOS B5 falling edge Teach value Feedback FHPP SPOS B3 1 Value transferred Prerequisites Device control by PLC field bus Controller must be in status Operation enabled 1 Teaching is made possible in the Festo Configuration Tool by means of special functions Tab 5 15 Parameters involved in teaching Festo GDCP SFC LACI DN EN en 0812NH 5 61 5 Commissioning 5 6 4 Record selection Carrying out a record A record can be started in the Drive enabled state This function is usually used for moving to any position from positions in the record list processing a posit
95. 063 0 Output Stage Actual Temperature 107 86 1 1066 0 Temperature SFC LACI Max Temperature 107 87 1 1067 0 Lower Threshold Temp 107 88 1 1068 0 Upper Threshold Temp 107 89 1 1069 0 Measurement System Resolution 107 90 1 1051 0 Measurement System Pitch 107 91 1 1052 0 Offset Reference Point 107 92 1 1055 O Record Power Consumption 107 93 1 1057 0 Positioning Time 107 94 1 1058 0 Actual Current 107 95 1 1059 0 Festo GDCP SFC LACI DN EN en 0812NH B 13 B Parametrizing via field bus System Diagnosis FHPP Class 108 0x6C CLS _ ATTR INST PNU SI Device Errors 108 1 1 205 0 Device Warnings 108 2 1 215 0 Extended Device Errors A 108 10 1 207 0 Extended Device Errors B 108 11 1 208 0 Extended Device Errors C 108 12 1 209 0 Fieldbus Diagnosis FHPP Class 109 0x6D CLS _ ATTR INST PNU SI E SSS eee DeviceNet Diagnosis DeviceNet Network Status 109 1 1 206 1 StateByte DeviceNet Baudrate 109 2 1 206 2 DeviceNet MAC ID 109 4 1 206 4 DeviceNet I O Datalength 109 5 1 206 5 B 14 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 2 Parameterisation via FPC B 2 1 Structure of the Festo Parameter Channel FPC The Festo Parameter Channel is used for transmitting parameters It consists of 8 octets FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 O data 0 IND PKE ParlD PWE ParVal da
96. 0812NH 6 Diagnosis and fault display 6 1 Diagnostics options Overview organised according to the type of the diagnostic information Type of diagnostic Access via information General status display LEDs on the SFC LACI See Sectio Y8 2 FCT virtual LEDs in the Device status window Help for Plugin FHPP status bytes SCON and SPOS Sectio Y5 5 2 message in plain text The current error Control panel of the SFC LACI only type H2 Sectiof 3 FCT Text field in the Device status window Help for Plugin DeviceNet class 108 System diagnosis PNU 205 207 208 209 215 SectionB Bh 1 1 anf B4 Diagnostic memory FCT in the Diagnosis window the last 16 messages with existing device connection Help for Plugin FPC The second 8 bytes of the cyclic field bus communication can transfer the contents of the diagnostic memory pear de anos DeviceNet classes 101 102 SectionB Bh 1 1 anf B4 Parameterising Control panel in the Diagnosis menu Section 43 FCT Help for Plugin Tab 6 1 Diagnostic information according to type Festo GDCP SFC LACI DN EN en 0812NH 6 3 6 Diagnosis and fault display Overview organised according to the type of access to the diagnostic information operate positioning status errors and bus status Access Brief description Advantages Detailed features description LE
97. 0x0020 mechanical system e g for sluggishness e Reduce the ambient temperature e Improve the heat dissipation ELGO SENSOR Position sensor faulty PNU 205 82 COMMUNICATION Contact Festo service 0x0004 ERROR CAN CAN communication fault PNU 205 83 COMMUNICATION Contact Festo service 0x0002 ERROR 12t ERROR Current monitoring 12t PNU205 100 Possible cause The drive is blocked load dynamics 0x1000 too high e Check the drive mechanics e Reduce load dynamic response increase the pause times ERROR MOTOR Temperature of the linear motor gt 75 C PNU 205 101 HOT e Remain within all maximum values and check the 0x0010 mechanical system e g for sluggishness e Reduce the ambient temperature Improve the heat dissipation MOTOR STOP The positioning procedure is discontinued on the PNU 205 106 ERROR control panel with EMERG STOP Menu gt button 0x2000 e Acknowledge the error HARDWARE Wire break on temperature sensor PNU 205 107 ERROR DRIVE e Contact Festo service 0x0008 Fault number in the diagnostic memory see sector 5 2 6 12 Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display Error Possible cause and remedy PNU Fault no A a SE eS eee DeviceNet Init Incorrect configuration of the bus parameters PNU 207 121 Parameter 0x0001 CAN_BUS_OFF The CAN controller has detected a switched off bus
98. 1 Blue VCC 5 V DC 5 2 Red GND ae YE 3 White Temperature sensor 2 1 4 Brown Temperature sensor GND 5 orange Reference switch 24 V DC Yellow plug Sensors 6 Grey Reference switch input 1 Green Data serial 2 Yellow Data serial 3 Black GND 2 1 4 Brown VCC 5V DC 5 Red Pulse Red plug BiSS position measuring 6 orange Pulse system 3 Installation 3 12 Displacement encoder for BiSS interface The BiSS interface is a 2 wire interface for interference im mune sensor connection In contrast to the SSI interface the data transmission is bi directional which means for example that data can also be written into the sensor for parametrisa tion Data is transmitted via a pulse cable controlled by the master and a data cable controlled by the sensor as serial trans mission Data is written to the slave via the cycle s pulse width modulation in accordance with the BiSS B mode pro tocol specification http www biss ic de files BiSS_b3ds pdf the direction of the data cable is not switched Pulse and data are transmitted using RS485 tech nology which means a signal is sent not inverted as well as inverted and issued at the receiver as differential input This suppresses common mode interference The data are also secured by a CRC code The BiSS interface supports 2 read out modes The sensor data channel for fast pulse out pulse up to 10 MHz of the sensor information The param
99. 16 r Max Torque Force PNU 512 uint16 rw Description The highest permitted torque of the motor in per mill of the rated value 6076h PNU 1036 Values 0 1000 Cl 6072h 00h uint16 rw DeviceNet C 105 A 12 Ba uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 81 B Parametrizing via field bus Torque Force Profile Type PNU 513 int16 r Description Type of profile with which a force modification is undertaken Fixed 0 linear ramp Cl 6088h 00h int16 r DeviceNet C 105 A 13 Ba int16 r Teaching Teach Target PNU 520 uint8 rw Description Teach target The parameter that is described in the next teach command with the actual position see sectio T5 6 3 Values 1 0x01 Target position in positioning record default with Record selection Positioning record as per FHPP control bytes with Direct mode Positioning record as per PNU 400 2 0x02 Axis zero point 3 0x03 Project zero point 4 0x04 Lower software end position 5 0x05 Upper software end position Cl 21FCh 00h uint8 rw DeviceNet C 105 A 20 l 1 uint8 rw B 82 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Jog mode Jog Mode Velocity Phase 2 Festo GDCP SFC LACI DN EN en 0812NH PNU 531 uint32 rw Description Jog mode Speed in phase 2 fast travel in Inc s Cl 20EDh 21h uint32 rw Devic
100. 2NH C Clinterface C 3 Description of additional Cl objects Some objects cannot be accessed via the field bus but only via the Cl interface These objects are listed here Representation of additional Cl objects E Bl B uI 5 8 Password 6 cl 20FAh 01h 02h Array V String rw r E Description Managing the FCT password entering the super password 7 FCT Password 20FAh 01h V String Password for the FCT software Value Cu gt fixed 8 characters ASCII 7 bit Default lt 00000000 gt status upon delivery and after resetting Super Password 20FAh 02h V String Entering the super password Resets all passwords FCT password and HMI password object 20FB Contact Festo Service if you require the super password 1 Name of the object 6 Description of the object 2 Cl object number 7 If applicable description of the subindices 3 Subindices 8 Read write permission 4 Class r read only w write only rw read and write 5 Type Fig C 1 Representation of additional Cl objects Festo GDCP SFC LACI DN EN en 0812NH C 21 C Clinterface C 3 1 Communication Profile Area Device Type Cl 1000h 00h Var uint32 r Description Device type Fixed 0 Manufacturer Hardware Version Cl 1009h 00h Var V String r Description Hardware version in the format V xx yy xx
101. 3 reserved 4 0x04 Overrun time stamp Event 1 200 1 Active diagnostic event Event 2 200 2 Previous diagnostic event Event 200 Event16 200 16 Oldest saved diagnostic event Cl 20C8h 01 10h uint8 r DeviceNet C 101 A 1 1 1 16 uint8 r B 48 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Fault Number Festo GDCP SFC LACI DN EN en 0812NH PNU 201 1 164 uint16 r Description Fault number saved in the diagnostic memory serves for identifying the fault Fault numbers with descriptions see sectio T8 3 Event 201 See PNU 200 Cl 20C9h 01h 10h uint16 r DeviceNet C 101 A 2 1 1 16 uint16 r Time Stamp PNU 202 1 164 uint32 r Description Time stamp Time of the diagnostic event since device was switched on in the time unit as per PNU 204 2 Event 202 See PNU 200 Cl 20CAh Oth 10h uint32 r DeviceNet C 101 A 3 1 1 16 uint32 r Additional Information PNU 203 1 164 uint32 r Description Number of movement cycles at the time a fault comes or goes See PNU 305 Event 202 See PNU 200 Cl 20CBh 01h 10h uint32 r DeviceNet C 101 A 4 I 1 16 uint32 r B 49 B Parametrizing via field bus Diagnostic Memory Parameter PNU 204 1 4 uint8 r w Description Configuration ofthe diagnostic memory Fault Type
102. 50 204A 05h Position value for a falling edge in increments 351 204A 06h Tab 5 23 5 88 Parameters for position sampling on the fly measurement Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 7 Notes on operation Warning A Danger of injury Electric axes can move suddenly with high force and at high speed Collisions can lead to serious injury to human beings and damage to components e Make sure that nobody can reach into the operating range of the axes or other connected actuators e g with a protective grille and that no objects lie in the positioning range while the system is still connected to a power supply Caution Not using the parameterising interface as designated causes injury to people and material damage The parameterising interface RS232 is not electrically isolated and not real time capable It is not intended for permanent connection to PC systems or as a controller interface Controlling the SFC LACI via RS232 requires among other things a risk assessment by the user ambient conditions free of interference and reliability of data transmission e g via the control program of the higher order control system e Note that control of the SFC LACI via the RS232 does not comply with designated use e Use the connection only for parameterising commis sioning and diagnosis Festo GDCP SFC LACI DN EN en 0812NH 5 89 5 Commissioning Caution A Errors in the
103. 99 I uint8 rw B 64 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus B 4 7 Positioning record table Record list Parameteising With FHPP record selection for reading and writing is done via the subindex of the PNUs 401 417 Positio PNU 401 PNU 402 PNU 404 PNU 405 PNU 417 ning Sub RCB1 RCB2 Target Wait time record index position 0 00 Homing run 1 01 2 02 31 31 Tab B 13 Position set table structure record list Festo GDCP SFC LACI DN EN en 0812NH B 65 B Parametrizing via field bus Record pointer The active record for positioning or teaching is selected via PNU 400 Record Number FHPP A _ _ _____ _ zz See PNU 400 1 23 Array uint8 r w Description Record Number 400 1 rw Record pointer for positioning and teaching It is also valid when the drive is not in Record Select mode e g during teaching For record selection this parameter is transferred in the cyclic I O data Value range 0 34 0x00 0x22 Values O 0x00 Homing positioning record 0 1 0x01 Positioning record 1 2 0x02 Positioning record 2 ait Positioning record 31 0x1F Positioning record 31 32 0x20 Jog mode 33 0x21 Direct mode 34 0x22 FCT positioning record Active Record 400 2 r The number of
104. A 46 1 1 int32 r Festo GDCP SFC LACI DN EN en 0812NH B 101 B Parametrizing via field bus Measurement System Resolution PNU 1051 uint32 r Description Measurement resolution Number of increments between two index pulses fixed 2048 Cl 6410h 12h uint32 r DeviceNet C 107 A 90 Ef uint32 r Measurement System Pitch PNU 1052 uint32 r Description Measurement graduation Distance um between two index pulses Cl 6410h 13h uint32 r DeviceNet C 107 A 91 l 1 uint32 r Nominal Power PNU 1053 uint32 r Description Nominal power of the linear motor in W Cl 6410h 14h uint32 r DeviceNet C 107 A 47 l 1 uint32 r Actual Power PNU 1054 uint32 r Description Actual power of the linear motor in W Cl 6410h 15h uint32 r DeviceNet C 103 A 40 I 1 uint32 r B 102 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Offset Reference Point PNU 1055 int32 rw Description Distance in increments from the reference point to the retracted end position Must be stated when homing to a stop Sep Thb 1 3 Cl 6410h 16h int32 rw DeviceNet C 107 A 92 l 1 int32 rw Commutation Status PNU 1056 uint8 r Description State ofthe commutation point search 0x00 No commutation default 0x01 Commutation point search active 0x10 Commutation point
105. After 5 s the lower part of the display changes 4 8 Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 Diagnostic Description Axis parameter v max Maximum speed xneg Stroke limitation Software end position negative X pos Stroke limitation Software end position positive xzp Offset axis zero point Tool load Tool mass e g a gripper on the front plate piston rod System paramet Load Power Load voltage ok VDig Digital voltage Logic voltage V max Max phase current A P_Pos Average power during last positioning procedure W t_Pos Time taken for the last positioning procedure s Cycle Number of positioning movements Mode Unit of measurement mm Hom meth The parameterised homing method RefS n Reference switch in negative direction RefS p Reference switch in positive direction Bl pos Fixed stop in positive direction Bl neg Fixed stop in negative direction LimS p Limit switch in positive direction LimS n Limit switch in negative direction Ref switch Activated switching position of the parameterised reference switch Neg Lim Sw Activated switching position of the negative limit switch Pos Lim Sw Activated switching position of the positive limit switch T_Motor Temperature of the linear motor C T_LACI Temperature of the SFC LACI C Festo GDCP SFC LACI DN EN en 0812
106. BBh 1 3h e Diagnostic Event 20C8h 1 10h 200 Fault Number 20C9h 1 10h 201 Time Stamp 20CAh 1 10h 202 Additional Information 20CBh 1 10h 203 Diagnostic Memory Parameter 20CCh 1 4h 204 Scaling 20D0h 1 2h Record Table Element 20E0h 1 Bh Axis Parameter 20E2h 1 6h 1005 Controller Type 20E3h Record Delay 20E4h 1 20h 405 Following Record 20E5h 1 20h 416 Position Window Time incl Jog Mode 20E6h 1 21h 415 Direct Mode Position Window Time 22h 1023 Jerk Acceleration incl Jog Mode 20E7h 1 21h 409 Direct Mode Jerk Acceleration 22h 543 Work Load incl Jog Mode 20E8h 1 21h 410 Direct Mode Work Load 22h 544 Festo GDCP SFC LACI DN EN en 0812NH C 13 C Clinterface Name CI Object FHPP Index Sub PNU Jog Mode Time Slow Motion time phase 1 20E9h_ 21h 534 Record Control Byte 1 20EAh 1 22h 401 Record Control Byte 2 20EBh 1 20h 402 Target Position 20ECh 1 22h 404 Record Velocity 20EDh 1 20h 406 Jog Mode Velocity Phase 2 21h 531 Record Acceleration 20EEh 1 20h 407 Jog Mode Acceleration 21h 532 Direct Mode Acceleration 22h 541 Deceleration incl Jog Mode 20EFh 1 21h 408 Direct Mode Deceleration 22h 542 Data Memory Control 20Fih 1 3h 127 Trace Control 20F2h 1 Ah a Cl Receive Checksum Active 20F3h FCT Password 20FAh 1
107. BLE Operating mode HMI z Acknowl Clamping Stop Enable selection access error unit drive blocked CPOS B7 B6 B5 B4 B3 B2 F B1 F BO CLEAR TEACH JOGN JOGP HOM START HALT Clear re Teach Jog Jog Start Start Halt maining value negativ positiv homing position path task CDIR B7 B6 B5 B4 B3 B2 B1 BO FUNC FAST XLIM CONTT CONT COM2 COM1 ABS onl w Deactiv Contin Con Control mode Abso mode stroke mode tinuous Position force lute limit toggle mode relative reserved F edge sensitive Assignment of the status bytes overview SCON B7 B6 B5 B4 B3 B2 B1 BO OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABLED Acknowledgement of Control Load Error Warning Oper Drive operating mode hierarchy voltage ation enabled applied enabled SPOS B7 B6 B5 B4 B3 B2 B1 BO REF STILL DEV MOV TEACH MC ACK HALT Drive ref Down Contour Axisis Acknowl Motion Acknowl Halt erenced time error moving teachor complete edge monitor sample start SDIR B7 B6 B5 B4 B3 B2 B1 BO FUNC FAST XLIM VLIM CONT COM2 COM1 ABS onl Se Stroke Velocity Reply message con Abso mode limit limit trol mode position lute reached reached force relative reserved Festo GDCP SFC LACI DN EN en 0812NH 5 33 5 Commissioning 5 5 3 Description of the I O data Record select Description of the output data Record selection Byte EN Description 1 CCON Control bytes see sectio
108. C LACI DN EN en 0812NH Control panel only type SFC LACI H2 Chapter 4 Festo GDCP SFC LACI DN EN en 0812NH 4 1 4 Control panel only type SFC LACI H2 Contents 4 1 Design and function of the control panel ooooooooooooco ooo 4 2 The Menu Syst m 64 vices Lie ee te ta kirs disa eee 4 3 Diagnostic MENU uc aa 4 4 Positioning MENU s isse coed dae rca de la wa wae Le 4 5 SETS MET ssi se arses orate seu as duh seen adesnssdvee ocaesanas suse edad veveeussaiion edad aueyede 4 5 1 Settings Axis type 0 0 cee cc eee cece teen ees 4 5 2 Settings Axis parameter 0 cece cece eee e ee eee ees 4 5 3 Settings Homing paramet 0 cece cece eee eens 4 5 4 Settings Position Set 0 ccc cece cece 4 5 5 Settings Jog mode ce ccc cece eee eee eens 4 5 6 Settings BUS parameter 0 ccc e eee ee eee 4 5 7 Settings Password edit 0 0 ccc cece cee eee eens 4 6 Menu command HMI control 00 ccc cece eee eee teens 4 2 Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 The control panel of the SFC LACI H2 provides many functions for commissioning parameterisation and diagnostics An overview of the key and menu functions can be found in this chapter Commissioning with the control panel is described starting from section 5 2 With the SFC LACI HO without control panel you can commiss
109. CI DN EN en 0812NH 1 System summary Calculation rules Point Calculation rule ___RQRR _ A QIEE E Q_E E lt E __EQ2QeEPEO OQ O RTRJR A Axis zero point AZ REF a Project zero point PZ AZ d REF a d Lower software end position LSE AZ b REF a b Upper software end position USE AZ c REF a c Target actual position TP PZ g AZ d g AP REF a d g AAA A so Prefixed All points and offsets have a sign prefix Value Direction Positive values face from the basis point in the direction of the extended end position Negative values face from the basis point in the direction of the retracted end position Units of measurement Different units of measurement can be set in the FCT e g metric mm mm s mm s or imperial inch inch s inch s2 The Cl interface on the other hand works with increments For converting increments see section 3 Festo GDCP SFC LACI DN EN en 0812NH 1 13 1 System summary 1 1 6 Homing methods to switch with index search The following can be used for homing to a proximity sensor 1 The integrated reference switch of the drive recom mended It is located on the retracted negative end position and must not be moved exception minimum offset with an Index pulse warning see section 816 2 A proximity sensor to be externally attached by the user The proximity sensors can be configured
110. DN EN en 0812NH C 11 C Clinterface Name CI Object FHPP Index Sub PNU Group 1xxx Device Type 1000h Manufacturer Device Name 1008h 120 Manufacturer Hardware Version 1009h Manufacturer Firmware Version 100Ah Group 2xxx Record Number Cl 2032h 1h Record Number FHPP 2033h 1 3h 400 Standstill Position Window 2040h 1042 Standstill Timeout 2041h 1043 Position Sampling Trigger Mode 204A 1h 352 Position Sampling Status 2h 353 Position Sampling Status Mask 3h 354 Position Sampling Control Byte 4h 355 Position Sampling Position Rising Edge 5h 350 Position Sampling Position Falling Edge 6h 351 Commutation Status 2050h 1056 Start Delay Commutation 2051h 1072 Version FHPP 2066h 102 Version FCT Plugin Min 2067h Version FCT Plugin Opt 2068h z Manufacturer Hardware Version 2069h 100 Manufacturer Firmware Version 206Ah 101 Version FCT Plugin BCD 206Bh 1 2h 104 C 12 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Name CI Object FHPP Index Sub PNU Controller Serial Number 2072h 114 Device Control 207Dh 125 FHPP Status Data 20A0h 1 2h FHPP Control Data 20A1h 1 2h Interpolation Time 20B6h 570 Axis Interface 1 20BAh 1 Ah Axis Interface 2 20
111. Data 6410h 1 3 1025 12t Value 4h 1027 Max Phase Current 5h 1028 Commutation Point 11h 1050 Measurement System Resolution 12h 1051 Measurement System Pitch 13h 1052 Nominal Power 14h 1053 Actual Power 15h 1054 Offset Reference Point 16h 1055 Record Power Consumption 17h 1057 Positioning Time 18h 1058 Actual Current 19h 1059 Actual Coil Temp 31h 1060 Max Coil Temp 32h 1061 Lower Coil Temp Threshold 33h 1062 Upper Coil Temp Threshold 34h 1063 Supported Drive Modes 6502h Festo Order Number 6503h 124 Drive Manufacturer 6504h 122 HTTP Drive Catalog Address 6505h 123 Festo GDCP SFC LACI DN EN en 0812NH C 19 C Clinterface Name Cl Object FHPP Index Sub PNU Drive Data 6510h 1 7h 1026 Limit Switch Polarity 11h 1300 Limit Switch Selector 12h 1301 Homing Switch Selector 13h 1302 Homing Switch Polarity 14h 1303 Limit Switch Deceleration 15h 1304 Sample Input 16h 1305 Brake Delay Time Switch ON 17h 1310 Brake Delay Time Switch OFF 18h 1311 Automatic Brake Time 19h 1312 Sample Switch Polarity 1Ch 1306 Output Stage Temperature 31h 1066 Output Stage Max Temp 32h 1067 Output Stage Lower Threshold Temp 33h 1068 Output Stage Upper Threshold Temp 34h 1069 Drive Data 41 43 AOh Power Supply 50h 1070 Tool Load 5ih 1071 Tab C 6 Overview of Cl Objects C 20 Festo GDCP SFC LACI DN EN en 081
112. Ds The LEDs indicate the readiness to Fast on the spot recognition of errors Sectiof 2 Control panel On the LCD display Fast on the spot Sectiof 3 Configuration Tool Display of the current position set target and actual positions as well as speed Display of the operating mode special outputs and operating states as well as error messages of the SFC LACI Display of the bus status Display of the diagnostic memory of an Messages warnings and errors diagnosis SFC LACI H2 In the Diagnostic menu Detailed Sectiof 3 Diagnostic data operating mode current on the spot position set target and actual positions diagnosis speed as well as information on communication via the field bus Festo With active device connection Detailed Help for Plugin diagnosis during commissioning SFC LACI Field bus Diagnosis via FHPP status bytes SCON and Simple diagnosis Sectio T5 5 6 SPOS via the field bus Extended access to diagnostic data Detailed diagnosis Sectio T8 4 2 e g diagnostic memory via the field bus Tab 6 2 Diagnostic information as per access 6 4 Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display 6 2 LED status displays Voltage supply Status Logic and load voltages applied N ed 2 TA Flashing Logic voltage is present Load voltage is not present or missing hardware enable O Off
113. FC LACI to your PC via the parameterising interface RS232 5 section 3 5 2 Start the FCT Double click on the FCT icon on the desktop Switch to Windows and select the entry Festo Software Festo Configuration Tool in the menu Start 3 Create a project in the FCT or open an existing project Add a device to the project with the SFC LAC Plugin Instructions on parameterising and commissioning FCT framework Information on working with projects and on inserting a device in a project can be found in the help for the FCT framework with the command Help Contents FCT general Plugin SFC LAC The SFC LAC Plugin for the FCT supports all the steps necessary for commissioning an SFC LACI The necessary parameterisation can be executed offline i e without the SFC LACI being connected to the PC This enables preparation for the actual commissioning e g in the design office when a new system is planned Further information can be found in the Plugin help Command Help Contents of installed Plugins Festo manufacturer name SFC LAC Plugin name Festo GDCP SFC LACI DN EN en 0812NH 5 25 5 Commissioning 5 26 Device Control When the SFC LACI is switched on the controller interface is activated as standard HMI off Caution Unexpected movements of the drive due to incorrect parameterising e Make sure that there is no active ENABLE signal when switching on the SFC LACI on the controller interface e Parameter
114. H Contents and general instructions Term abbreviation Load voltage Meaning The load voltage supplies the power electronics ofthe motor controller logic voltage and thereby the motor The logic voltage supplies the evaluation and control logic of the motor controller as well as the local digital I Os see sectio T3 2 MMI Man Machine Interface corresponds to HMI PLC IPC Programmable logic controller industrial PC Positioning mode Profile position mode See overview of operating modes in sectio T1 1 4 Position record Positioning command defined in the position set table consisting of target position speed acceleration and other values PZ project zero point Project zero point see sectio r1 1 5 REF REFerence point Reference point see sectio T1 1 5 Reference switch Proximity sensor used for defining the reference point The integrated homing switch must not be moved in DNCE LAS and DFME LAS exception minimum offset as described in sectioff 6 Software limit See overview of measuring reference system in sectio TT 1 5 Tab 0 1 Festo GDCP SFC LACI DN EN en 0812NH STOP With a STOP signal a running positioning movement is interrupted The drive stops the positioning record counts as concluded Compare HALT Teaching Accept an actual position in the position set table or as axis zero point project zero point or software end p
115. H Chapter 2 Festo GDCP SFC LACI DN EN en 0812NH 2 1 2 Fitting Contents 2 1 General Inf rmati n susie ce siie ce aussh eiea ow eS wade OH Soave tee 2 F 2 2 Dimensions of the controller 0 ccc cece eee cee cece eens 2 4 2 3 Mounting the controller erscicse incas cria a ia 2 97 2 3 1 Wallmountin8 costoso 2 5 2 3 2 Hrailmou ting sess ok ri e iaa 2 4 2 2 Festo GDCP SFC LACI DN EN en 0812NH 2 Fitting 2 1 General Information Caution Uncontrolled drive motion may cause personal injury and material damage e Before carrying out fitting installation and or mainten ance work always switch offthe power supply Caution Ifa drive is mounted in a sloping or vertical position loads may fall down and cause injury to persons e Check whether additional external safety measures are necessary e g toothed latches or moveable bolts This prevents the work load sliding down suddenly if there is a power failure Also note the following documentation The operating instructions for the drive e g DNCE LAS The instructions for the additional components e g the fitting instructions for the cables Festo GDCP SFC LACI DN EN en 0812NH 2 3 2 Fitting 2 2 Dimensions of the controller 247 mm ve i Oo Qp vo 120 mm 0 66 Fig 2 1 Dimensions of the controller 2 4 Festo GDCP SFC LAC
116. I 1 Short string r HTTP Drive Catalog Address PNU 123 1 304 char r Description www festo com Cl 6505h 00h V String r DeviceNet C 100 A 12 1 1 Short string r B 44 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Festo Order Number PNU 124 1 304 char r Description Order number for SFC LACI Cl 6503h 00h V String r DeviceNet C 100 A 13 1 1 Short string r Device Control PNU 125 uint8 rw Description Corresponds to HMI control on the control panel and FCT on the FCT 0 0x00 Control via controller interface DeviceNet OFF via HMI control panel and FCT ON 1 0x01 Control via controller interface ON default Cl 207Dh 00h uint8 rw DeviceNet C 100 A 14 l 1 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B 45 B Parametrizing via field bus HMI Parameter PNU 126 1 4 uint8 r Description Control panel settings SFC LACI H2 only LCD Current 126 1 Brightness Value range 1 5 Default 5 LCD Contrast 126 2 Contrast Value range O 63 0x00 0x3F Default 0 Measure 126 3 Unit of measurement system on the control panel see 20D0 01h Fix 1 millimetre e g mm mm s mm s Scaling Factor 126 4 Number of post decimal positions see 20D0 02h Fixed 2 2 post decimal positions Cl 20FFh 01h 04h uint8 r DeviceNet C 100 A 15 18 1
117. I 1 int8 rw Operation Mode Display PNU 333 Var int8 r Description Reading the operating mode of the controller Values see object 6060h Cl 6061h 00h int8 r DeviceNet C 103 A 73 I 1 int8 r Position Sampling Position Falling Edge PNU 350 Var r Description Position for a rising edge in Increments see sectio T5 6 12 Cl 204Ah 05h int32 r DeviceNet C 103 A 100 I 1 int32 r Festo GDCP SFC LACI DN EN en 0812NH PNU 351 Var r Description Position for a falling edge in Increments see sectio T5 6 12 Cl 204Ah 06h int32 r DeviceNet C 103 A 101 l 1 int32 r B 63 B Parametrizing via field bus Position Sampling Trigger Mode PNU 352 Var rw Description Continuous or one time recording See sectio T5 6 12 Cl 204Ah 01h uint16 rw DeviceNet C 103 A 96 Ba uint16 rw Position Sampling Status PNU 353 Var rw Description Specifies whether an edge was registered See sectio T5 6 12 Cl 204Ah 02h uint8 rw DeviceNet C 103 A 97 El uint8 rw Position Sampling Status Mask PNU 354 Var rw Description Display in the status byte SPOS and status word 6041h See sectio T5 6 12 Cl 204Ah 03h uint8 rw DeviceNet C 103 A 98 l 1 uint8 rw Position Sampling Control Byte PNU 355 Var rw Description Reaction to rising or falling edges See sectio T5 6 12 Cl 204Ah 04h uint8 rw DeviceNet C 103 A
118. I DN EN en 0812NH 2 Fitting 2 3 Mounting the controller You can mount the SFC LACI in one of two ways 1 Wall mounting ona flat surface 2 H rail mounting gt Note Mount the SFC LACI or hat rail so that there is sufficient space for heat dissipation above and below at least 40 mm 2 3 1 Wall mounting You will need A mounting surface of approximately 250 x 320 mm 2 sets of central supports type MUP 8 12 accessory items The four brackets are clipped into the edge of the housing seg fjg 2 2 4 tapped holes for screw size M3 with matching screws N Ea La Cis 120 mm Fig 2 2 Wall mounting Festo GDCP SFC LACI DN EN en 0812NH 2 Fitting 2 3 2 H rail mounting Procedure 1 Make sure that the mounting surface can support the weight approx 1500 g of the SFC LACI 2 Install an H rail mounting rail EN 50022 35x7 5 or better still 35x15 3 For rail 35x7 5 the max distance is 3 3 mm between the housing web and the H rail e If possible use a part of the H rail where there are no mounting screws e If screws are necessary below the SFC LACI use e g an M6 screw as per ISO 7380ULF 4 Hang the SFC LACI on the H rail as follows e first from below pressing against the tension springs then e press up against the H rail so that the SFC LACI clicks into place
119. If necessary teach the software end positions 1 Select Settings Axis parameter SW limit neg or SW limit pos 2 Move the drive with the arrow keys Note gt During operation the drive must not strike a stop without shock absorption e Parameterise the software end positions at least 1 mm from the nearest end stop 3 Accept the position reached with OK lt Enter gt The setting will then take effect 4 Save the parameter settings in EEPROM with SAVE Only then will the settings be retained even after switching off the power supply or in the event of a power failure 5 18 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 2 7 Setting the tool mass The weight of tools e g grippers on the front plate or piston rod of the drive has to be entered here 1 2 Select Settings Axis parameter Tool load Set the tool mass with the arrow keys Accept the setting with OK lt Enter gt The setting will then take effect in the drive Save the parameter settings in EEPROM with the SAVE menu command The applied load mass of the individual workpieces on the other hand is entered in the positioning records Settings Position set Work load Festo GDCP SFC LACI DN EN en 0812NH 5 19 5 Commissioning 5 2 8 Teaching positioning records Requirements The drive must be set up completely wired and supplied with power The SFC LACI has been correctly parameterised
120. If the output is not set pin 4 is highly resistive Do not operate inverted PWM value 0 Positive switching logic If the output is not set pin 4 is not highly resistive but at O V Negative switching logic due to the output being inverted For the connection between pin 1 signal A and pin 3 ground PWM value 1 100 Positive switching logic If the output is not set pin 1 is highly resistive Always operate inverted Cannot be used for a brake since with the parameter setting for brake plus is always at pin 4 PWM value 0 Negative switching logic If the output is not set pin 4 is not highly resistive but at 0 V Positive switching logic due to the output being inverted Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Overview of parameterisation of Out2 Basis settings The behaviour is set via Operating mode of object 2422 01h Values 1 brake 2 digital signal or 3 output compare PWM value of object 2422 0Ah Values O 100 Setting inverted object 2422 09h Value 0 not inverted otherwise inverted Without PWM Without pulse width modulation the following options are available 1 PWM value 0 operating mode 1 does not matter whether inverted or operating mode 2 3 and not inverted If the output is set A 24 V A 0V If the output is reset A O V A 24 V 2 PWM value O operating mode 2 or 3 and inverted If the output is reset A 24 V A 0 V I
121. Integrating Time Constant Motor Data 12t Value 107 41 1 1027 0 Quick Stop Deceleration 107 42 1 1029 0 Motor Data Serial Number 107 44 1 1025 1 12t Factor 107 45 1 1025 3 Commutation Point 107 46 1 1050 O Motor Data Nominal Power 107 47 1 1053 0 Motor Data Max Phase Current 107 48 1 1028 0 Drive Data Output Stage Temp 107 49 1 1026 1 Output Stage Max Temp 107 50 1 1026 2 Max Current 107 52 1 1026 4 Device Control 107 54 1 1026 6 Controller Serial Number 107 55 1 1026 7 Power Supply 107 57 1 1070 0 Tool Load 107 58 1 1071 0 Motor Type 107 60 1 1030 0 Max Current 107 64 1 1034 0 Motor Rated Current 107 65 1 1035 0 Motor Rated Torque Force 107 66 1 1036 0 B 12 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Axis Data FHPP Class 107 0x6B CLS ATTR INST PNU SI Position Demand Value 107 68 1 1040 0 Position Actual Value 107 69 1 1041 0 Standstill Position Window 107 70 1 1042 0 Standstill Timeout 107 71 1 1043 0 Following Error Window 107 72 1 1044 O Following Error Timeout 107 73 1 1045 O Commutation Status 107 74 1 1056 0 Start Delay Commutation 107 75 1 1072 0 Motor Data Actual Coil Temp 107 80 1 1060 0 Motor Data Max Coil Temp 107 81 1 1061 0 Motor Data Lower Coil Temp Threshold 107 82 1 1062 0 Motor Data Upper Coil Temp Threshold 107 83 1 1
122. K RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL e g with STOP cCON O 11 x x Oo olo 1 scono 110 110 0 0 1 Byte 2 Sad CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOSIx JO 0 0 0 O0 x 1 SPOS 1 0 0 0 0 1 x 1 Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS CDIR O 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 OO 0 0 signal 1 1 signal x Not relevant optional F Positive edge S Positioningcondition 0 absolute 1 relative Tab 5 10 5 54 Control and status bytes Direct mode Force mode Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Description of force mode When the readiness to operate is created and the reference travel has been carried out a setpoint value must be specified and the force control must be prepared 7 1 Specify the setpoint value in of the rated motor force Value range 30 100 values under 30 are rounded up to 30 7 2 Prepare force control Set bit CDIR B1 COM1 and if desired set bit CDIR B5 XLIM for the stroke limitation 7 3 Start the job with CPOS B1 START The start is confirmed with SPOS B1 Acknowledge start as long as CPOS B1 START is set 7 4 0r7 5 Depending on whether the setpoint value is reached or not the relevant bits in the status will be set 7 6 The job will be finished au
123. LACI DN EN en 0812NH B Parametrizing via field bus Work Load PNU 410 1 334 uint32 rw Description Applied load Mass in g of the workpiece to be transported at a positioning record Note The mass of a tool mounted on the piston rod or front plate of the drive which remains the same for all positioning records is entered in object 6510 51h Record 0 410 1 Positioning Record 0 Do not use Homing Record 410 positioning record Applied load for positioning record 1 30 Record 31 410 32 20h Positioning Record 31 Applied load for positioning record 31 Jog Mode 410 33 21h Applied load in jog mode Cl 20E8h 01h 22h uint32 rw Subindex 20E8 22h PNU 544 Applied load in direct mode Note The object 20E0h 06h is provided for access via Cl DeviceNet C 104 A 10 1 1 33 uint32 rw Festo GDCP SFC LACI DN EN en 0812NH B 75 B Parametrizing via field bus Position Window Time PNU 415 1 334 uint16 Description Damping time in milliseconds ms If the actual position has been in the target position window for this amount of time the Motion Complete bit is set in the status word Also referred to as Adjustment time Value range 1 60000 ms Default 10 ms Record 0 415 1 Positioning Record 0 Do not use Homing Record 415 posit
124. LED LSB M M12 adapter MAC ID Master password Measuring reference system Calculation rules Diagram Menu system MMI Motor connection Mounting H rail mounting Wall mounting MSB O Object Object Directory Cl DeviceNet FHPP ODVA On the fly measurement Operating principle Operation mode Demo mode Direct mode FHPP Festo GDCP SFC LACI DN EN en 0812NH 6 a 3 287 paaa 4 18 Be a XVI El A pa mal X C 1 B 3 1 187 5 817 g E 5 3 D 7 D D 8 Index FHPP Continuous Mode Force mode Homing Homing mode Homing run Positioning mode Profile position mode Profile torque mode Record selection Out1 Out2 Outputs local digital Application Specification P Parameter channel Parameter identifier ParlD Parameter number PNU Parameter value ParVal Parameterisation Explicit Messaging Parameterising interface Password Change deactivate Enter Setup Password protection Path generator energy optimised Pictograms PLC PNU POSITION PLAUSIBILITY ERROR Position record table 1 1 1 1 1 1 E 1 1 1 1 1 1 5 3 5787 5 78 5 7 3 2 B 15 B 15 B 16 B 16 B 15 sa Ge 5 9 4 1 4 1 4 1 5 97 B 51 2P Xu XVI 7 6 10 4 16 Festo GDCP SFC LACI DN EN en 0812NH D Index Position sampling Position set Position set record Teach Positioning mode Positioning record table Power supply unit Prefix Pr
125. Layout of the bus interface and example of connection Festo GDCP SFC LACI DN EN en 0812NH 3 21 3 Installation Field bus plug FBS SUB 9 BU 2x5POL B IP54 e Observe the fitting instructions for the field bus plug Tighten the two fastening screws at first by hand and then with max 0 4 Nm Note The clamp strap in the field bus plug from Festo is con nected internally capacitively with the metallic housing of the Sub D plug This is to prevent equalising currents flowing through the screening of the field bus cable e Clamp the screening of the field bus cable under the clamp strap in the field bus plug The SLD terminal in the field bus plug is optional 1 Folding cover El El B with inspection window 2 Clamp strap for screen connection 3 Blanking plug if connection unused 4 Field bus continuing OUT 5 Field bus incoming IN 6 Capacitively connected Fig 3 6 Field bus plug type FBS SUB 9 BU 2x5POL B 3 22 Festo GDCP SFC LACI DN EN en 0812NH 3 Installation M12 adapter FBA 2 M12 5POL IP54 The bus is connected via a 5 pin M12 socket with PG9 screw connector Use the second connection socket for the continuation of the field bus Note gt e Use protective caps or blanking plugs to seal unused connections M12 adapter Pin no 2 2 1 Screening N ee 2 24 VDC bus 3 O
126. Max Torque Force 6072h 512 Max Current 6073h 1034 Motor Rated Current 6075h 1035 Motor Rated Torque Force 6076h 1036 Actual Torque Force 6077h Target Position 607Ah Software End Positions 607Bh 1 2h 501 Offset Axis Zero Point 607Ch 1010 Polarity 607Eh 1000 Max Velocity 607Fh 502 Profile Velocity 6081h Profile Acceleration 6083h Profile Deceleration 6084h Quick Stop Deceleration 6085h 1029 Motion Profile Type 6086h 506 Torque Force Slope 6087h 550 Torque Force Profile Type 6088h Encoder Resolution 608Fh 1 2h 1001 Gear Ratio 6091h 1 2h 1002 Feed Constant Linear Axis 6092h 1 2h 1003 Festo GDCP SFC LACI DN EN en 0812NH C 17 C Clinterface Name CI Object FHPP Index Sub PNU Position Factor 6093h 1 2h 1004 Homing Method 6098h 1011 Homing Velocities 6099h 1 2h 1012 Max Acceleration 60C5h_ 503 Stroke Limit 60F6h 1h 510 Speed Limit 2h 554 Force Target Window 3h 552 Force Target Damping Time 4h 553 Min Torque Force 5h 511 Position Control Parameter 60FBh 12 15h 1024 Digital Inputs 60FDh 303 Digital Outputs 60FEh 1 2h 304 Motor Type 6402h 1030 C 18 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Name Cl Object FHPP Index Sub PNU Motor
127. Motor Controller SFC LACI FESTO Manual Motor Controller Type SFC LACI DN DeviceNet Manual 567 387 en 0812NH 742 429 Contents and general instructions Original 1 tai de Edito Midas en 0812NH Designation o ooo oooomoo GDCP SFC LACI DN EN Order NO 6 nce cee ic ere 567 387 Festo AG amp Co KG D 73726 Esslingen Germany 2009 Internet http www festo com E Mail service_internationalOfesto com The reproduction distribution and utilization of this document as well as the comunication of its contents to others without express authorization is prohibited Offenders will be held liable for the payment of damages All rights reserved in the event of the grant of a patent utility module or design Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Adobe and Reader are either a registered trademark or a trademark of Adobe Systems Incorporated in the United States and or other countries DeviceNet is a registered trademark of Open DeviceNet Vendor Association Inc ODVA Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Contents Intended USE ii A A A Ai a eae XJ Safety MStrUCtONS versi n ati ie its oT oe es a eo Bawa Target grOUp sorna aaa z SEVA a rd Scope of delivery siii tai ae dow does did So a a a Important user instructions LL cece eee eee eee eee eee e nes Xx SFC LACI motor controller manual 0 cece cece ee
128. N B3 FAULT gt Positioning can no longer be undertaken 3 2 Awarning is shown with SCON B2 WARN gt Positioning can still be undertaken 3 3 Acknowledge fault with positive edge at CCON B3 RESET Fault bit SCON B3 FAULT or SCON B2 WARN will be reset SPOS B2 MC will be set gt Drive is ready to operate 0r 3 4 Acknowledge fault with negative edge at CCON BO ENABLE Fault bit SCON B3 FAULT or SCON B2 WARN will be reset SPOS B2 MC will be set Establish readiness to operate again see examples 15 Tpb 5 4 and 2 Tpb 5 5 Caution After the removal of ENABLE the drive is no longer under position control This may cause injury to people and ma terial damage With vertical or sloping drive mountings the moving mass might slide down Festo GDCP SFC LACI DN EN en 0812NH 5 47 5 Commissioning 4 Homing run requires status 1 4 or 1 5 Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 4 1 Start homing Ber OPMZ OPM FLOCIE lt RESET BRAKE STOR ENABL SBYE OPM2 DEMA CHI 24VL AULT WARN OPEN ENABL CCON O x x x 0 0 1 1 SCON O x 0 1 0 0 1 1 Bez cuca rec joen joe HOM START HAT Byte2 REF snu DEV mov TEACH MC ack HAL CPOS x 0 0 0 O0 F 0 1 SPOS O0O 0 0 0 0 0 1 1 4 2 Homing running Bel OPMZ
129. NH 3 19 3 Installation 3 7 3 Bus power supply Bus supply A 3 20 Avoid excessively long distances between the bus interface logic supply and the SFC LACI Caution e When connecting the field bus interface and the power supply for the bus interface pay attention to the polarity e Connect the screen e Protect the power supply for the bus interface with an external fuse in accordance with the number of bus slaves Note Bus slaves have different tolerances in respect of the interface supply depending on the manufacturer Observe this when planning the bus length and placing the power supply unit For the SFC LACI the following tolerance applies to the bus interface supply pin 9 on the Sub D plug Vmax 30 0 V Vmin 11 0 V Recommendation Place the power supply unit approximately at the centre of the bus Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 7 4 Connection with field bus plugs adapters from Festo With Festo field bus plugs type FBS SUB 9 BU 2x5POL B or the field bus adapter FBA 2 M12 5POL you can connect the SFC LACI to the field bus in a user friendly manner You can disconnect the plug from the SFC LACI without breaking the bus connection T Tap function 6 1 Field bus 4 T adapter T Tap 2 Voltage supply 5 Branch line 3 Screening 6 Field bus plug with T adapter function Fig 3 5
130. NH 4 9 4 Control panel only type SFC LACI H2 Diagnostic Description DeviceNet Diag Bus diagnosis No Power BUS Off Device Operational Device in Standby Minor Fault Unrecoverable Fault No bus supply connected or the field bus was not correctly parameterised No connection to the master is possible DeviceNet in the status Data exchange and connected to a master No connection with the DeviceNet master device is ready for operation Recoverable fault has occurred e g timeout Serious fault detected e g duplicated MAC ID a reset is needed to make the device ready for operation again Baudrate Preset baud rate of the SFC LACI MAC ID Address of the SFC LACI 1 0 Datalength Set I O data length 8 bytes only FHPP standard the SFC LACI is controlled as per the Festo Handling and Positioning Profile 16 bytes FHPP standard and FPC additional use of the FPC for parameterising the SFC LACI SW information SFC LACI firmware version Tab 4 3 Diagnostic menu Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 4 4 Positioning menu Starting a homing run or a positioning run Warning Electric axes move with high force and at high speed Collisions may cause injury e Make sure that nobody can place his her hand in the positioning range of the moveable mass and that there
131. NU SI Electric Drives 1 Supplementary Parameters Following Error Window contouring error window 1044 Following Error Timeout contouring error monitoring time 1045 Commutation Point 1050 Measurement System Resolution 1051 Measurement System Pitch 1052 Nominal Power 1053 Actual Power 1054 Offset Reference Point 1055 Commutation Status 1056 Record Power Consumption 1057 Positioning Time 1058 Actual Current 1059 Actual Coil Temp 1060 Max Coil Temp 1061 Lower Coil Temp Threshold 1062 Upper Coil Temp Threshold 1063 Output Stage Temperature SFC LACI 1066 Output Stage Max Temp SFC LACI 1067 Output Stage Lower Threshold Temp 1068 Output Stage Upper Threshold Temp 1069 E Power Supply 1070 Tool Load 1071 Start Delay Commutation 1072 Festo GDCP SFC LACI DN EN en 0812NH B 37 B Parametrizing via field bus Name PNU SI EA AAA Q_ Qu 0 z gt E z gt _ _ _ _ gt __EOOO RA _ _rR o a qq Local Digital Output 1 Function 1240 Local digital output 1 use Local Digital Output 1 Trigger ON 1241 Local digital output 1 setting condition Local Digital Output 1 Trigger OFF 1242 Local digital output 1 resetting condition Local Digital Output 1 Value ON 1243 Local digital output 1 setting with record number Local Digital Output 1 Value OFF 1244 Local digital output 1
132. NU for parameterising as per FPC A detailed description of the parameters can be found in the sectiong 5 4 4 to 8 4 10 o You will find an overview of the available Cl objects in section 4 2 Name PNU SI Device Data Manufacturer Hardware Version BCD 0100 Manufacturer Firmware Version BCD 0101 Version FHPP 0102 E Version FCT Plugin BCD 0104 1 2 Version Axis Interface 0106 Supported Drive Modes 0112 Controller Serial Number 0114 1 124 Controller Type 0115 Manufacturer Device Name 0120 1 304 User Device Name 0121 1 24d Drive Manufacturer 0122 1 30d HTTP Drive Catalog Address 0123 1 30d Festo Order Number 0124 1 30d Device Control 0125 HMI Parameter control panel parameter 0126 Li Data Memory Control EEPROM commands 0127 1 3 Festo GDCP SFC LACI DN EN en 0812NH B 31 B Parametrizing via field bus Name PNU SI Diagnosis Memory Diagnostic Event 0200 1 16q Fault Number 0201 1 16q Time Stamp 0202 1 164 Additional Information 0203 1 164 Diagnostic Memory Parameter 0204 14 Device Errors 0205 gt DeviceNet Diagnosis 0206 1 6 Extended Device Errors A 0207 Extended Device Errors B 0208 gt Device Warnings 0215 Process Data Position Monitoring 0300 1 2 Torque Force Monitoring 0301 T2 Digital Inputs 0303 Digital Outpu
133. O 1 0 0 1 0 fi 5 J ob runn ing Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL setpoint value CCON O 1 x x 0 0 1 1 SCON O 1 0 10 O 1 1 reached Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 O x 1 SPOS 1 0 0 0 0 1 x 1 Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS CDIR O 0 S jx 0 0 1 O SDIR O0 0 0 0 0 0 1 0 Festo GDCP SFC LACI DN EN en 0812NH 5 53 5 Commiss ioning Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 BO 7 6 Job discontinued Byte 1 OPM2 OPM1 LOCK gt RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL stroke limitor ccon o 1 x x 0 0 1 1 SCON O 1 0 1 0 0O 1 1 software end position reached Byte 2 Sad CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOSIx 0 00 0 O0 x 1 SPOS 1 0 0 0 0 1 x 1 Byte 3 FUNC FAST XUM i CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS CDIR O 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0 Le Stop job Byte 1 OPM2 OPM1 LOC
134. POS B1 ACK i 0 T 1 i Motion Complete a A L SPOS B2 MC Axis is moving i U SPOS B4 MOV i 0 L i N 1 N41 number i A A Input data 1 Interrupt record 2 Clear remainig path Fig 5 5 Sequence diagram Stop record with HALT and delete remaining path Festo GDCP SFC LACI DN EN en 0812NH 5 65 5 Commissioning Parameters involved record selection The entries in the positioning table can be written via the field bus PNU 401 417 The composition of the positioning table as per FHPP is described in section 8 4 7 Record chaining is described in section 6 5 Overview of parameters involved see section 8 4 7 Parameters involved Description FCT PNU Cl Mode absolute relative energy optimised x 401 20E0 01h Target position x 404 20E0 02h Velocity x 406 20E0 03h Acceleration x 407 20E0 04h Deceleration Braking x 408 20E0 0Ah Acceleration jerk x 409 20E0 05h Mass of the working load without tool mass x 410 20E0 06h Damping time x 415 20E6h 20E0 07h Deceleration jerk x 417 20E0 0Bh Start FHPP CPOS B1 positive edge Start Jogging and referencing have priority Feedback FHPP SPOS B2 0 Motion complete SPOS B1 positive edge Acknowledge start SPOS B4 1 Drive moving Requirements Device control by PLC field bus Controller must be in status Operation enabled Record number must be valid nnn n ess
135. PP Status Data Status Data Byte 1 4 103 60 1 320 1 Status Data Byte 5 8 103 61 1 320 2 FHPP Control Data Control Data Byte 1 4 103 62 1 321 1 Control Data Byte 5 8 103 63 1 321 2 Control Word 103 70 1 330 0 Status Word 103 71 1 331 0 Operation Mode 103 72 1 332 0 Operation Mode Display 103 73 1 333 0 B 6 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Process Data FHPP Class 103 0x67 CLS ATTR INST PNU SI E SSS Switches Limit Switch Polarity 103 74 1 1300 0 Limit Switch Selector 103 75 1 1301 0 Homing Switch Selector 103 76 1 1302 0 Homing Switch Polarity 103 77 1 1303 0 Limit Switch Deceleration 103 78 1 1304 0 Sample Input 103 79 1 1305 0 Brake Delay Time Switch ON 103 80 1 1310 0 Brake Delay Time Switch OFF 103 81 1 1311 JO Automatic Brake Time 103 82 1 1312 O Sample Switch Polarity 103 84 1 1306 0 Position Sampling Trigger Mode 103 96 1 352 0 Status 103 97 1 353 0 Status Mask 103 98 1 354 0 Control Byte 103 99 1 355 0 Position Rising Edge 103 100 1 350 0 Position Falling Edge 103 101 1 351 0 Festo GDCP SFC LACI DN EN en 0812NH B 7 B Parametrizing via field bus Process Data FHPP Class 103 0x67 CLS ATTR INST PNU SI E reee Local Digital Output 1 Function 103 112 1 1240 0 DOUT1 Trigger ON 103 113 1 1241 O Trigger OFF
136. Rie dace OER LS 416 Settings MENU id puke Meng wa oe 4 187 4 5 1 Settings Axis type cee cece cece ee eee eens 4 167 4 5 2 Settings Axis parameter cc ec cece cece eee ees 4 167 4 5 3 Settings Homing paramet cece cece eee eens 4 15 4 5 4 Settings Position set oooooooommommormoo mm 4 167 4 5 5 Settings Jog mode 0 cece cece eee eee nes 4 17 4 5 6 Settings BUS parameter 0 ccc cece cece eee ees 4 17 4 5 7 Settings Password edit oooooooooomommoom 4 187 Menu command HMI control cece cece ee eee eee eee e eens 4 20 Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions 5 1 5 2 5 3 5 4 5 5 COMMISSIONING eovovoicscioscido rosso rio Preparations for COMMISSIONING ooooccoooocccooonccnooccoono 5 1 4 Checking the drive s cccsecoweaeds iria 5 1 2 Checking the power supply 2 cece eee eee eee eens 5 1 3 Before switchingon cece ec cee eee e eee eens 5 1 4 Simultaneous attempts to access the controller Commissioning with the control panel only SFC LACI H2 5 2 1 Setthe field bus parameter ec cece eee eee eee eee 5 2 2 Setting the homing run parameters e cece eeeeee 5 2 3 Activate device control cece ccc cece eee eee e eee 5 2 4 Carrying out homing amis esa 5 2 5 Teach the axis zero point
137. SPOS B6 STILL will be set As soon as the drive is in the standstill position window again for the standstill monitoring time the bit SPOS B6 STILL is reset i Fig 5 8 Standstill monitoring 5 74 Standstill monitoring becomes inactive when the standstill position window is set to 0 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Overview of parameters involved see section 8 4 9 Parameter Description FCT PNU Cl Setpoint position 1040 6062h Actual position 1041 6064h Standstill position window 1042 2040h Standstill monitoring time 1043 2041h Start FHPP SPOS B2 positive edge Motion Complete Feedback FHPP SPOS B6 1 drive has moved out of standstill position window Prerequisites Device control by PLC field bus Controller must be in status Operation enabled Tab 5 20 Parameters involved in standstill monitoring Festo GDCP SFC LACI DN EN en 0812NH 5 75 5 Commissioning 5 6 9 Using hardware enable Controller not enabled Controller enabled A 5 76 Reaction If the controller enable is not set no ENABLE signal at the controller interface and HMI off on the control panel If the hardware enable is missing the Power LED flashes The SFC LACI can be parameterised however and records the position of the drive If the controller enable is set When
138. START 0 1 Start positioning HALT 1 CCON xxx0 xx11 CPOS 00xx xxP1 TA5 Record selection CCON xxx0 xx11 Asingle record is finished CPOS 0xxx xxx1 The next record is processed automatically Direct mode CCON xxx0 xx11 Anew positioning task has arrived CPOS Oxxx xx11 TA6 CLEAR 01 clear remaining path CCON xxx0 xx11 CPOS OPxx xxxx TA7 HOM 0 1 start homing HALT 1 CCON xxx0 xx11 CPOS Oxx0 0Px1 Key P positive edge N negative edge x any Festo GDCP SFC LACI DN EN en 0812NH B 27 B Parametrizing via field bus TA Internal conditions TA8 Homing concluded or HALT Actions of the user Only for HALT HALT 130 CCON xxx0 xx11 CPOS OXxx xxxN TAQ Jog positive 01 HALT 1 CCON xxx0 xx11 CPOS Oxx0 Pxx1 TA10 Either Jog positive 130 CCON xxx0 xx11 CPOS 0xx0 Nxx1 or HALT 1 0 CCON xxx0 xx11 CPOS 0xxx xxxN TA11 Jog negative 0 1 HALT 1 CCON xxx0 xx11 CPOS OxxP 0xx1 TA12 Either Jog negative 1 gt 0 CCON xxx0 xx11 CPOS OxxN xxx1 or HALT 1 0 CCON xxx0 xx11 CPOS Oxxx xxxN Key P positive edge N negative edge x any B 28 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Special features dependent on operating mode Record selection Norestrictions Direct mode
139. Switch on same coding Status OPERATION ENABLE gt READY TO SWITCH ON Status READY TO SWITCH ON gt SWITCHED ON Disable voltage command bit 1 0 rest irrelevant all states gt READY TO SWICH ON Operation enable command all states gt OPERATION ENABLE Voltage disable and Quick stop commands gt READY TO SWITCH ON Typical values for access via the Cl interface sep Tpb B 11 Cl 6040h 00h uint16 rw DeviceNet C 103 A 70 I 1 uint16 r Festo GDCP SFC LACI DN EN en 0812NH B 59 B Parametrizing via field bus Bit Value Description 0 8 Bits O 8 are only used together for access via the Cl interface sep Tpb B 11 9 0x0200 Reserved 0 10 0x0400 11 0x0800 Jog Mode positive like FHPP CPOS B3 12 0x1000 Jog Mode negative like FHPP CPOS B4 13 0x2000 Teach like FHPP CPOS B5 14 0x4000 In direct mode 0 normal path generator 1 energy optimised Note Only available for control via the field bus not via Cl 15 0x8000 In direct mode 0 configured values for acceleration and deceleration 1 symmetrical ramp deceleration acceleration Note Only available for control via the field bus not via Cl Tab B 10 Bit assignment control word 6040h Value Function Ox000F ENABLE OPERATION Controller enable Ox000D VOLTAGE DISABLE end stage off
140. T may take over the device control in order to modify parameters or to control inputs B6 Select Operating Mode 00 Record selection OPM1 01 Direct mode 10 reserved B7 11 reserved OPM2 5 36 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning CPOS Control byte 2 CPOS controls the positioning sequences as soon as the drive is enabled Control byte 2 CPOS Bit EN Description BO Halt 1 HALT is not active HALT 0 HALT is activated The axis stops with a defined braking ramp the positioning job remains active with B6 the remaining path can be deleted B1 Start positioning job With a rising edge the current setpoint data will be START transferred and positioning started record O homing run B2 Start Homing With a rising edge homing is started with the set HOM parameters B3 Jog positive The drive moves at the specified speed in the direction of JOGP larger actual values providing the bit is set The movement begins with the rising edge and ends with the falling edge B4 Jog negative The drive moves in the direction of smaller actual values JOGN see bit 3 B5 Teach actual value With a falling edge the current actual value of the position TEACH will be transferred to the setpoint value register ofthe currently addressed positioning task see sectio T5 6 3 The teach target is defined with PNU 520 B6 Clear Remaining Position Inthe HALT status a signal edge causes t
141. T5 5 5 2 CPOS 3 Record number Pre selection of record number 0 31 4 8 Reserved 0 Description of the input data Record selection Byte EN Description 1 SCON Status bytes see sectio T5 5 6 2 SPOS 3 Record number Reply message of record number 0 31 4 RSB Record status byte Bit O RC1 For record chaining 1st Record Chaining 0 First step criterion not configured not reached 1 First step criterion reached Bit 1 RCC For record chaining only valid when MC 1 Record Chaining Complete 0 Record chaining cancelled At least one step criterion was not configured achieved 1 Record chain was processed to the end of the chain 5 8 Position Feedback of the position in increments The first step criterion is reached when after the first record with further switching Motion Complete 1 nnn Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 5 4 Description of the I O data Direct mode Output data Direct mode Byte EN Description 1 CCON Control bytes see sectio T5 5 5 2 CPOS 3 CDIR 4 Velocity In of the basic speed compare PNU 540 Cl 21F8h 5 8 new Position in increments or Force force in of rated force Input data Direct mode Byte EN Description 1 SCON Status bytes see sectio T5 5 6 2 SPOS 3 SDIR 4 Velocity In of basic speed compare PNU 540 Cl 21F8h F
142. The positioning task is directly transferred with the appropriate setpoint values over the field bus Force control The drive exerts a certain force A changeable target position continuous nominal specification is specified at millisecond intervals typical 4 10 ms Performing a homing run The positioning records stored in the SFC LACI are executed in sequence The FHPP operation modes are described starting from section 55 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 1 5 Measuring reference system Homing The homing method Reference point REF Axis zero point AZ Project zero point PZ Software end positions Effective stroke Offset reference point Homing determines the position of the homing reference point REF When homing is concluded the axis stands at the axis zero point AZ The homing method defines how the homing point REF is determined binds the measuring reference system to a proximity sensor or a fixed stop depending on the homing method is shifted by a defined distance to the reference point REF offset of the axis zero point The software end positions and the project zero point are defined in relation to the axis zero point is a point within the effective stroke which the user can freely select and to which both the actual position and the target positions in the position record table refer The project zero point is shifted by a defined distance to the axis
143. V DC bus 3 ae 11 AA 3 4 CAN H DFs OAE n 5 CAN_L Protective cap or plug with bus termination resistor if connection is not used Tab 3 9 Pin assignment of field bus interface adapter for 5 pin M12 connection With the two M12 connections you can implement a T adapter Festo GDCP SFC LACI DN EN en 0812NH 3 23 3 Installation 3 24 Screw terminal adapter IP20 With the adapter type FBA 1 SL 5POL the bus can be connected to a 2x5 pin terminal strip Use the second row of connections for the continuing field bus The maximum permitted current at the terminals is 4 A Use cables with a cross sectional area of min 0 34 mm2 Order this adapter together with the terminal strip type FBSD KL 2x5POL In this way you can implement a T adapter function Screw terminal Pin no adapter 1 0V DC bus IIA 2 CAN_L EE 3 Screening 4 CAN_H 5 24 VDC bus 2x5 pin terminal strip Tab 3 10 Pin assignment of field bus interface 5 pin screw terminal adapter Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 7 5 Connection with other Sub D plugs IP20 If you are using the Festo plug type FBS SUB 9 WS CO K or Sub D plugs from other manufacturers you must replace the two flat screws by which the field bus plug is fitted in the SFC LACI by bolts of type UNC 4 40 M3x5 supplied Note gt Note that when using Sub D plugs from other manufac turers onl
144. ach DeviceNet station has one or more objects of various classes An object is an instance of a class Standard classes describe e g basic features the communication behaviour or parameters of individual channels of a slave Manufacturer specific classes describe device specific properties or parameters Device profiles define the minimum available objects and communication functions for the specific device types The SFC LACI corresponds to the DeviceNet specification of the device profile Communication Adapter device type number 000Ch For simple slave devices predefined master slave connections Predefined Master Slave Connection Sets can be used these simplify the transmission of tl O data between the higher order controller master and the decentralised peripheral devices slaves The SFC LACI DN works according to the specification Predefined connection set Group 2 slave only Festo GDCP SFC LACI DN EN en 0812NH 1 System summary As Group 2 slave the SFC LACI DN supports the following dialogue types services and object classes CAN ID Dialogues Message Type 10xxxxxx010 Master s Change of State or Cyclic Acknowledge 10yyyyyy011 Slave s Explicit Unconnected Response 10xxxxxx100 Master s Explicit Request 10xxxxxx101 Master s 1 0 Poll Command Change of State Cyclic 10xxxxxx110 Unconnected Explicit Request Messages 10xxxxxx111 Duplicate MAC ID
145. age to components when the permissible impact pulse is exceeded e Operate the drive only with the permitted load see operating instructions for the drive e If necessary limit the maximum current motor force during the homing run using FCT or object 6073h PNU 1034 Max Current Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning gt Settings Homing paramet HH Homing method Velocity v_rp Velocity v_zp SAVE Setting parameters 1 Set the following Homing method Search speed for ascertaining the reference point Velocity v_rp Speed of travel to axis zero point Velocity v_zp 2 Accept each setting with OK Enter The setting will then take effect in the drive 3 Save the parameter settings in EEPROM with the SAVE menu command Only then will the settings be retained if the power supply is switched off or if there is a power failure 5 2 3 Activate device control Diagnostic Positioning Settings HMI control LCD adjustment A PLEASE WAIT COMMUT POINT EVALUATION IS ACTIVE Enable the control panel so that it can control the SFC LACI HMI on This deactivates at the same time the controller interface of the SFC LACI Caution When control via the control panel or FCT is activated HMI on the drive cannot be stopped with the STOP bit of the control interface Commutation point search When the controller is enabled for the fir
146. alue Ah 1259 Position Monitoring 2800h 1 2h 300 Torque Force Monitoring 2801h 1 2h 301 Velocity Monitoring 2802h 1 2h 310 Communication Error 2FFOh Festo GDCP SFC LACI DN EN en 0812NH C 15 C Clinterface Name CI Object FHPP Index Sub PNU Device Errors 2FFih 205 Device Warnings 2FF2h 215 DeviceNet Address 2FF3h DeviceNet Diagnosis 2FF4h 1 6h 206 DeviceNet Baudrate 2FF5h e DeviceNet Datalength 2FF6h Extended Device Errors A 2FFAh 207 Extended Device Errors B 2FFBh 208 Extended Device Errors C 2FFCh 209 Version Axis Interface 2FFDh 106 Cycle Number 2FFFh 305 Group 6xxx Control Word 6040h 330 Status Word 6041h 331 Quick Stop Option Code 605Ah 1019 HALT Option Code 605Dh 1020 Fault Reaction STOP Option Code 605Eh 1021 Operation Mode 6060h 332 Operation Mode Display 6061h 333 Position Demand Value 6062h 1040 Position Actual Value 6064h 1041 Following Error Window 6065h 1044 Following Error Timeout 6066h 1045 Target Position Window 6067h 1022 C 16 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Name CI Object FHPP Index Sub PNU Position Window Time 6068h Velocity Demand Value 606Bh Velocity Actual Value 606Ch Target Torque Force 6071h
147. ard path generator 11 Energy optimised path generator Bit3 7 Not used 0 Bit 8 0 No further record switching 1 further record switching Bit 9 14 Not used 0 Bit 15 0 Record chaining is not locked out 1 Record chaining is locked out Note The energy optimised path generator enables higher dynamics with less heat the parameterised positioning curve a trapezoid is not maintained exactly The parameterised maximum values for speed and acceleration may be slightly exceeded Target Position 20EOh 02h int32 Target position in Increments corresponds to 607Ah and 20ECh Velocity 20EOh 03h int32 speed Speed in Increments s corresponds to 6081h und 20EDh Acceleration 20E0h 04h int32 Acceleration in Increments s corresponds to 6083h and 20EEh A a a ee ee a a a ee Festo GDCP SFC LACI DN EN en 0812NH C 25 C Clinterface Jerk Acc 20EOh 05h uint32 Acceleration jerk in Increments s3 Corresponds to 20E7h Work Load 20E0h 06h uint32 Mass of a work item in g for a positioning record Corresponds to 20E8h Damping Time 20E0h 07h uint16 Damping time in milliseconds ms Ifthe actual position has been in the target position window for this amount of time the Motion Complete bit is set in the status word Values 1 60000 ms Corresponds to 20E6h Record Delay 20E0h 08h int32 For record c
148. atus Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON O 0 0 0 0 0 O O SCON O 0 0 1 0 0 0 O Device control HMI off Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x O0O 0 0 0 0 O O SPOS O 0 0 0 0 1 0 O 1 2 Disable device Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL control by FCT HMI ccoN x x 1 xx 0 x x SCON x x 0 x x x x x optional Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x x x SPOS x x x x x x x x 1 3 Enable drive Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL enable operation ccON o jo x x 0 0 1 1 SCONO 0 01 0 0 1 1 Record selection Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT cCPOS x 0 0 0 0 0 O 1 SPOS O O0 0 0 0 1 O 1 0 O signal 1 1 signal x not relevant optional F Edge positive Tab 5 4 Control and status bytes a Establish readiness set selection 5 44 Description of 1 Create readiness to operate 1 1 Basic status of the drive when the supply voltage has been switched on gt Step 1 2 or 1 3 1 2 Optionally Disable device control via FCT HMI usin
149. ble operation CCON O 1 x x 0 0 1 1 SCONO 1 01 0 0 1 1 Direct mode Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT cCPOS x JO 0 0 0 0 O 1 SPOS O O0 0 0 0 1 0 1 0 O signal 1 1 signal x not relevant optional F Edge positive Tab 5 5 Control and status bytes Create readiness to operate Direct mode Description of 2 Create readiness to operate 2 1 been switched on Step 2 2 or 2 3 2 2 CCON B5 1 LOCK gt Step 2 3 2 3 Enable drive in Direct mode Homing Example 4p Tpb 5 7 If there are faults after switching on or after setting CCON BO ENABLE Fault handling see example 3 Tpb 5 6 and section 4 3 Error messages Festo GDCP SFC LACI DN EN en 0812NH Optionally Disable device control via FCT HMI using Basic status of the drive when the supply voltage has 5 45 5 Commissioning 3 Fault handling Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 3 1 Error Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON Tx x x x x O x x SCON x x x x 1l x x x Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x
150. bus Axis Data FHPP Class 107 0x6B CLS _ ATTR INST PNU SI Polarity 107 1 1 1000 0 Encoder Resolution Encoder Increments 107 2 1 1001 1 Motor Resolution 107 3 1 1001 2 Gear Ratio Motor Revolutions 107 4 1 1002 1 Motor Shaft Revolutions 107 5 1 1002 2 Feed Constant Linear Feed 107 6 1 1003 1 ea Feed Shaft Revolutions 107 7 1 1003 2 Position Factor Numerator 107 8 1 1004 1 Denominator 107 9 1 1004 2 Axis Parameter Axis Length 107 10 1 1005 1 Axis Type 107 13 1 1005 4 Axis Installation Position 107 15 1 1005 6 Offset Axis Zero Point Home Offset 107 20 1 1010 O Homing Method 107 21 1 1011 0 Homing Velocities Search REF 107 22 1 1012 1 Search AZ 107 23 1 1012 2 Homing Required 107 25 1 1014 0 Homing Max Torque Force 107 26 1 1015 O Quick Stop Option Code 107 29 1 1019 0 HALT Option Code 107 30 1 1020 0 Fault Reaction STOP Option Code 107 31 1 1021 0 Target Position Window 107 32 1 1022 0 Festo GDCP SFC LACI DN EN en 0812NH B 11 B Parametrizing via field bus Axis Data FHPP Class 107 0x6B CLS ATTR INST PNU SI Control Parameter Position Controller Closed 107 34 1 1024 18 Loop Internal Frequency Position Controller 107 35 1 1024 19 Damping Current Controller Gain 107 36 1 1024 20 Current Controller 107 37 1 1024 21
151. bus B 1 Parameterising via Explicit Messaging B 1 1 DeviceNet Classes Class CLASS Description Device Data 100 0x64 Device identification and device specific settings version numbers identifier words control panel polling etc Diagnosis Buffer 101 0x65 Memory for diagnostic events Fault numbers fault time incoming outgoing event Diagnosis Buffer 102 0x66 Administration of the diagnostic memory Administration diagnosis buffer management Process Data 103 0x67 Current nominal and actual values local I Os status data record numbers etc Record Sets 104 0x68 Arecord contains all the nominal value parameters required record list for a positioning procedure Project Data 105 0x69 Basic project settings Maximum speed and acceleration offset project zero point etc gt Parameters are the basis for the record list Factor Group 106 0x6A Reserved Axis Data 107 0x6B All axis specific parameters for electric drives Gear factor feed constant reference parameter etc System Diagnosis 108 0x60 Reading or deleting the current device malfunction Fieldbus Diagnosis 109 0x6D Current connection status and field bus settings e g baud rate I O data length 1 Class number as per DeviceNet specification Tab B 1 DeviceNet Classes Festo GDCP SFC LACI DN EN en 0812NH B 3 B Parametrizing via field bus B 1 2 Parameter overview class attribut
152. ch itself contains its own sub state machine the states of which are marked with SAx and the transitions of that are marked with TAx This enables an equivalent circuit diagram to be used in which the internal states SAx are omitted Switched off From all statuses T7 S1 Controller S5 Reaction to ae switched on fault T1 T8 T11 T9 y 92 Drive locked le 5 malfunction T2 Dl y T10 a Drive enabled ut T6 nf T3 y S4 Operation enabled Fig B 2 Finite state machine equivalent circuit diagram Transitions T4 T6 and T7 are executed from every sub state SAx and automatically have a higher priority than any transition TAx Such a structure is a simplification It is not therefore necessary to define out of each SAx state a separate transition as per S3 for the reaction to STOP S3 drive held stationary Reaction to faults T7 Fault recognised has the highest priority and receives the asterisk T7 is then derived from S5 and S6 when an error of higher priority occurs As a result a slight error can displace a serious error Festo GDCP SFC LACI DN EN en 0812NH B 25 B Parametrizing via field bus B 3 1 Create readiness to operate With the transitions only those internal conditions are named which are new There must therefore not be any faults for T2
153. cord Sets 104 9 01h 20h 409 1 32 Jog Mode 104 9 21h 409 33 Direct Mode 104 9 22h 543 0 Work Load Record Sets 104 10 01h 20h 410 12 32 Jog Mode 104 10 21h 410 33 Direct Mode 104 10 22h 544 0 Position Window Time Record Sets 104 14 01h 20h 415 10 32 Jog Mode 104 14 21h 415 33 Direct Mode 104 14 22h 1023 0 B 9 B Parametrizing via field bus Record Sets FHPP Class 104 0x68 CLS ATTR INST PNU SI Following Record Record Sets 104 15 O1h 20h 416 1 32 Jerk Deceleration Record Sets 104 16 01h 20h 417 4932 Jog Mode 104 16 21h 417 33 Direct Mode 104 16 22h 547 0 Project Data FHPP Class 105 0x69 CLS _ ATTR INST PNU SI Project Zero Point 105 1 1 500 0 Software End Position Lower Limit 105 2 1 501 1 Upper Limit 105 3 1 501 2 Max Velocity 105 4 1 502 0 Max Acceleration 105 5 1 503 0 Motion Profile Type 105 8 1 506 0 Stroke Limit Force Control 105 10 1 510 0 Min Torque Force 105 11 1 511 0 Max Torque Force 105 12 1 512 0 Torque Force Profile Type 105 13 1 513 0 Teach Target 105 20 1 520 0 Jog Mode Time Slow Motion 105 34 1 534 0 Direct Mode Base Velocity 105 40 1 540 0 Torque Force Slope 105 50 1 550 0 Force Target Window 105 52 1 552 0 Force Target Damping Time 105 53 1 553 0 Speed Limit Force Control 105 54 1 554 0 B 10 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field
154. ctor 100 18 1 126 4 Data Memory Control Delete EEPROM 100 20 1 127 1 Save Data 100 21 1 127 2 Supported Drive Modes 100 45 1 112 0 Version Axis Interface 100 60 1 106 0 Diagnosis Buffer FHPP Class 101 0x65 CLS ATTR INST PNU SI Diagnosis Diagnostic Event 101 1 O1h 10h 200 1 16 Diagnosis Fault Number 101 2 01h 10h 201 1 16 Diagnosis Time Stamp 101 3 01h 10h 202 1 16 Diagnosis Additional Information 101 4 01h 10h 203 1 16 Diagnosis Buffer Administration FHPP Class 102 0x66 CLS _ ATTR INST PNU SI Diagnostic Memory Fault Type 102 1 1 204 1 Parameter Resolution 102 2 1 204 2 Clear Memory 102 3 1 204 3 Number of Entries 102 4 1 204 4 B 5 B Parametrizing via field bus Process Data FHPP Class 103 0x67 CLS _ ATTR INST PNU SI Position Monitoring Actual Position 103 1 1 300 1 Demand Position 103 2 1 300 2 Torque Force Actual Torque 103 4 1 301 1 Monitoring Target Torque 103 5 1 301 2 Digital Inputs 103 10 1 303 0 Digital Output Local Digital Outputs 103 20 1 304 1 Mask 103 21 1 304 2 Cycle Number 103 30 1 305 0 Record Number Record Number 103 32 1 400 1 Active Record 103 33 1 400 2 Record Status Byte 103 34 1 400 3 Velocity Monitoring Actual Velocity 103 36 1 310 1 Demand Velocity 103 37 1 310 2 Motor Data Actual Power 103 40 1 1054 0 FHPP Continuous Mode Interpolation Time 103 48 1 570 0 FH
155. d Direct mode data are retained ineach Record select and transmit further control and status bytes as well operating mode and as setpoint and actual values transmit controland Record number or target position in the output data Input status bytes foren Feedback of actual position and record number in the input data data abling the SFC LACI Further setpoint and actual values depending on the operating and for setting the mode operating modes 1 0 data Record selection data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output CCON CPOS Record Reserved Reserved data no Input SCON SPOS Record RSB Actual position data no 1 0 data Direct mode data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output CCON CPOS CDIR Setpoint Setpoint value 2 data value 1 position force torque velocity Input SCON SPOS SDIR Actual Actual value 2 data value 1 actual position velocity force torque Further 8 bytes I O as per FHPP FPC In the cyclic data a further 8 bytes input data and 8 bytes output data are permitted for transferring parameters in accordance with the FPC protocol Festo Parameter Channel gt sectioyrB 2 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Assignment of the control bytes overview CCON B7 B6 B5 B4 B3 F B2 B1 BO OPM2 OPM1 LOCK RESET BRAKE STOP ENA
156. dge status to FHPP status byte SPOS and status word 354 204A 03h CI object 6041h Value 0 If an edge occurs see subindex 02h this event is not displayed in the status word Writing 0 resets bit 14 to 0 in the status word Value 1 If a rising edge occurs see subindex 02h bit 14 is set in the status word Value 2 Ifa falling edge occurs see subindex 02h bit 14 is set in the status word Value 3 Ifa rising or a falling edge occurs see subindex 02h bit 14 is set in the status word With field bus Display in SPOS B3 TEACH If the corresponding values are set bit 3 in the FHPP status byte SPOS no longer displays the teach status but the sampling status Control byte sampling 355 x 204A 04h Value 0 No reaction to edges Writing value 0 switch off position sampling Value 1 The SFC LACI reacts to falling edges In trigger mode single writing value 1 resets the status subindex 02h of a falling edge and allows a position to be recorded again Value 2 The SFC LACI reacts to rising edges In trigger mode single writing value 2 resets the status subindex 02h of a rising edge and allows a position to be recorded again Value 3 The SFC LACI reacts to rising edges and to falling edges In trigger mode single writing value 3 resets the status subindex 02h of all edges and allows a position to be recorded again Position value for a rising edge in increments 3
157. direction 1000 Encoder Resolution 1001 Lied Gear Ratio 1002 Ie Feed Constant Linear Axis 1003 2 Position Factor 1004 12 Axis Parameter 1005 1 36 Electric Drives 1 Homing Offset Axis Zero Point 1010 Homing Method 1011 Homing Velocities 1012 14 2 Homing Required 1014 Homing Max Torque Force 1015 Festo GDCP SFC LACI DN EN en 0812NH B 35 B Parametrizing via field bus Name PNU SI Electric Drives 1 Control Parameters Quick Stop Option Code 1019 Halt Option Code 1020 Fault Reaction STOP Option Code 1021 Target Position Window 1022 Direct Mode Position Window Time 1023 Position Control Parameter 1024 18 21g Motor Data axis data 1025 1 3 Drive Data data of the SFC LACI 1026 1 2 4 6 7 12t Value 1027 Max Phase Current max permitted string current 1028 Quick Stop Deceleration quick stop ramp 1029 Electric Drives 1 Electronic Type Plate Motor Type 1030 Max Current 1034 Rated Motor Current 1035 Motor Rated Torque Force 1036 e Electric Drives 1 Standstill Monitoring Position Demand Value setpoint position 1040 Position Actual Value 1041 Standstill Position Window 1042 5 Standstill Timeout 1043 B 36 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Name P
158. e travel e Observe the instructions in section 52 2 Homing paramet Homing method Parameter switch negative Description Homing to the integrated reference switch at the retracted end position with index search block negative Homing to a negative fixed stop block positive Homing to positive fixed stop Note Further homing run methods can only be configured via FCT Velocity v_rp v_rp Speed for searching for the reference point Velocity v_zp v_zp Speed for moving to the axis zero point SAVE Save parameters in EEPROM Note A new homing run must always be carried out after modifying the homing run method The maximum speed for homing is subject to built in limits Festo GDCP SFC LACI DN EN en 0812NH 4 15 4 Control panel only type SFC LACI H2 4 5 4 Settings Position set Parameterising the position set table Observe the instructions in section 52 8 Select first the number of the desired positioning record The following settings refer to the currently selected positioning record Position set Param Description Position nr Nr Number of the position record 1 31 Pos set mode absolute Positioningmode relative absolute position specification refers to the project zero point relative position specification refers to the current position e
159. e 12h Error 13h Sample in 14h reserved 15h ON during setting of this bit the output is set immediately Out2 Resetting condition delay see 2422 08h 1252 x 2422 03h Value The output is reset dependent upon 1 Position comparison delay 2 Force comparison delay 3 Speed comparison delay 4 Record number comparison delay 10h Ready delay 11h Motion complete delay 12h Error delay 13h Sample in delay 14h Delay 15h OFF during setting of this bit the output is reset immediately Out2 Value for setting condition 1253 x 2422 04h The saved value that when reached means that the comparison condition is considered fulfilled in accordance with 2422 02h With record number comparison bit number 4 record number bit 1 record 1 bit O do not use Example 0x6 in record1 and also in record2 the condition is considered fulfilled and the output is set Out2 Value for resetting condition 1254 x 2422 05h As above but in accordance with 2422 03h for the resetting condition 5 82 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Parameter Description Out2 Setting condition rising falling Value 0 The output is set if the reference value accrued from lower values has been reached in accordance with 2422 04h Value 1 The output is set if the reference value accrued from higher values has been reached in accordance with 2422 04h PNU 1255 FCT X Cl 2422 06h Out2 Resetting condit
160. e Force mode A description of the status machine of the SFC LACI can be found in section 8 3 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 0 Safeguard device control Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 0 1 Device control Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL HMI on cCON OOO 0 0 0 0 0 SCONO O 1 1 0 0 0 O Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CcPOS x 0 0 0 0 0 O O SPOS O 0 0 0 0 1 0 O 0 O signal 1 1 signal x not relevant optional F Edge positive Dt Tab 5 3 Control and status bytes Device control active Description of 0 Secure device control 0 1 Festo GDCP SFC LACI DN EN en 0812NH Device control via the parameterisation interface control panel or FCT is activated For controlling the SFC LACI via the control interface this device control must first be deactivated via the parameterisation interface HMI off 5 43 5 Commissioning 1 Create readiness to operate Record select Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 1 1 Basic st
161. e instance Explicit Messaging The following tables contain all defined parameters with indication of the Class CLS Attribute ATTR and Instance INST for access via Explicit Messaging FPC For access via FPC within the cyclic I O data the FHPP parameter number PNU with subindex is used A detailed description of the parameters can be found under the specified FHPP parameter numbers PNU in the sections 3 4 4 to 8 4 10 Device Data FHPP Class 100 0x64 CLS ATTR INST PNU SI Manufacturer Hardware Version BCD 100 1 1 100 0 Manufacturer Firmware Version BCD 100 2 1 101 0 Version FHPP 100 3 1 102 0 Version FCT Plugin Plugin Min BCD 100 4 1 104 1 Plugin Opt BCD 100 5 1 104 2 Controller Type 100 6 1 115 0 Controller Serial Number 100 8 1 114 Lert Manufacturer Device Name 100 9 1 120 1 30 User Device Name 100 10 1 121 12 25 Drive Manufacturer 100 11 1 122 1 30 HTTP Drive Catalog Address 100 12 1 123 1 30 Festo Order Number 100 13 1 124 1 30 Device Control 100 14 1 125 0 B 4 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Festo GDCP SFC LACI DN EN en 0812NH Device Data FHPP Class 100 0x64 CLS ATTR INST PNU SI HMI Parameter LCD Current 100 15 1 126 1 LCD Contrast 100 16 1 126 2 Measure 100 17 1 126 3 Scaling Fa
162. e eee een nara Xl Information onthe version ccc cece cece eee rr ne Product specific terms and abbreviations cece cece ee ee eee eee X Field bus specific terms and abbreviations ooooooocccccococoncononmmoo ne 1 System summary cece eee cece eect cece ac co coc cc rr 1 47 1 1 OVENVIEW sonaron AA A A EE aye 1 97 1 1 1 COMPONEN cuca sei 1 P 1 1 2 Operating principle oooocoooocccoonncononcnorno 1 97 1 1 3 Operationalreliability oooooooocrrommmorm m 1 1 1 1 4 Operating modes of the SFC LACI DN o oooooooooocooomoo 1 10 1 1 5 Measuring reference system cee eee eee eee eee eee 1 1 1 1 6 Homing methods to switch with index search 1 14 1 1 7 Homing methods to the stop cece eee eee eee eee 1 17 1 2 Communicator es 1 18 1 2 1 Data exchange via DeviceNet cece cece eee eee 1 1 1 2 2 Festo handling and positioning profile FHPP 1 28 1 3 Commissioning Options ccc cee eee eee eee eee eee 1 267 2 EOS ae 2 21 General Information iia arado 2 2 2 Dimensions of the controller ccc cece cece eee eee eee neeeee 2 4 2 3 Mounting the controller ccc ccc cece eee eee ene ee nee ccoo 2 23 1 WalliMOUNTING aa ae 2 23 2 H raillmoOunting across as 2 4 Festo GDCP SFC LACI DN EN en 0812NH Il Contents and general instructions 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3
163. e eens 5 60 5 6 4 Record selection Carrying out a record oooooooomooom m 5 6 5 6 5 Record selection Switching to next record ooooooooo 5 6 5 6 6 Direct mode Specification of a position or force 5 6 5 6 7 Direct mode Continuous setpoint specification Continuous Mode 5 7 5 6 8 Standstill monitoring 0 cece cece cee eee eens 5 74 5 6 9 Using hardware enable ccc ec cece cece ee cee eeeee 5 76 5 6 10 Using the local digital outputs 0 eee c eee eee eee 3 777 5 6 11 Using a brake clamping unit 0 cece cece 5 84 5 6 12 Position sampling on the fly measurement o o o 5 87 NOtes OMOPeratiO Mumiotunieas id oasis ds 5 87 Diagnosis and fault display oooooooommmooomoom 2 2 o 6 47 Diagnostics OPtlOMS sesse a ld id wis Ean ae dba OFT LED St t s displays iii iia siit t n ETENEE ea 6 57 THON IMCSSASOS ii a 6 Diagnostics via field bus cece ccc eee cece eee e eee eeeeeee 6 14 641 Overview viii ii dt tai warene 6 167 6 4 2 Diagnostic memory cece cece cee eee tenes 6 157 Diagnosis via parameter channel FPC cece cence eee eeee 6 1 Warning Index pulse warning 0c cee cece cece eens 6 18 7 Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions A 1 A 2 A 3 B 2 B 3 B 4 Technical appendix viceoioccicnncocicinciacic cdo A Technical data oc 6 i045 ssesie
164. e in status Operation enabled 1 Further parameters 6071h Target torque 6076h Rated torque 6077h Actual torque 6087h Torque slope 6088h Torque profile type CDIR B5 Stroke limitation active inactive Tab 5 18 Parameters involved in Direct mode Festo GDCP SFC LACI DN EN en 0812NH 5 71 5 Commissioning 5 6 7 Direct mode Continuous setpoint specification Continuous Mode With continuous setpoint specification Following mode the higher level controller continuously specifies position values at fixed time intervals typically 4 10 ms Since this time interval is usually longer than a position controller cycle 350 ys the controller independently interpolates the values between the specified position values At every specified interval the CDIR B4 CONTT Toggle Bit must be toggled to ensure that any new interval is recognised 1 Specified interval PNU 570 2 Position controller cycle 350 us Fig 5 7 Continuous setpoint specification FHPP Continuous Mode 5 72 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Continuous setpoint specification can be used to travel curved paths or for coupling axis motion use of several axes Overview of parameters involved see section 8 4 8 Parameters involved Description FCT PNU Cl Interpolation time 570 20B6h i e the time interval used by the higher level controller for sending position setpoints
165. e of SFC LACI 3 TXD RS232 9 Transmitting cable of PC receiving cable of SFC LACI 4 reserved do not use 1 The levels correspond to the RS232 standard Tab 3 7 Parameterising interface RS232 of the SFC LACI 3 14 Festo GDCP SFC LACI DN EN en 0812NH 3 Festo GDCP SFC LACI DN EN en 0812NH Installation Information on commissioning and parameterising the SFC LACI via the parameterising interface can be found in sectiom5 3 2 and in the help system for the Festo Configuration Tool software package Information on transmitting Cl commands via the parameterising interface can be found in appendix B Note The parameterising interface RS232 is not electrically isolated and is not real time capable It is not suitable for permanent connection to PC systems or as a control interface e Use this terminal only for commissioning e Remove the programming cable in continuous operation e Seal the terminal with the protective cap supplied type ISK M8 3 15 3 Installation 3 6 Controller interface Communication with the higher order controller PLC IPC occurs via the controller interface There is a 9 pin Sub D plug on the SFC LACI for connecting the field bus This connection is used for the incoming and continuing field bus cables Note Only field bus plugs of type FBS SUB 9 BU 2x5 POL B and FBA 2 M12 5 POL from Festo ensure conformance to IP54 Note the instructio
166. eNet C 104 A 6 1 33 uint32 rw Jog Mode Acceleration PNU 532 uint32 rw Description Jog mode Acceleration in Inc s Cl 20EEh 21h uint32 rw DeviceNet C 104 A 7 1 33 uint32 rw Jog Mode Time Slow Motion PNU 534 uint32 rw Description Jog mode Duration of phase 1 slow travel in ms Default 2000 Cl 20E9h 21h uint32 rw DeviceNet C 105 A 34 l 1 uint32 rw B Parametrizing via field bus Direct mode Positioning mode Direct Mode Base Velocity PNU 540 uint32 rw Description Reference value for speed specifications in FHPP direct mode The master transmits a percent value which is multiplied by the base value to reach to the final setpoint speed Cl 21F8h 00h uint32 rw DeviceNet C 105 A 40 1 1 uint32 rw Direct Mode Acceleration PNU 541 uint32 rw Description Acceleration in direct mode in Inc s Cl 20EEh 22h uint32 rw DeviceNet C 104 A 7 1 34 uint32 rw Direct Mode Deceleration PNU 542 uint32 rw Description Deceleration in direct mode in Inc s Cl 20EFh 22h uint32 rw DeviceNet C 104 A 8 1 34 uint32 rw Direct Mode Jerk Acceleration PNU 543 uint32 rw Description Jerk when accelerating in direct mode in Inc s3 The internal calculation is done with 1 49 of the value Cl 20E7h 22h uint32 rw DeviceNet C 104 A 9 1 34 uint32 rw B 84 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Direct M
167. ecord 1 404 2 positioning record 1 Target position of positioning record 1 Record 404 positioning record Target positions of positioning records 2 30 Record 31 404 32 positioning record 31 Target position of positioning record 31 Jog Mode 404 33 Target position for jog mode Direct Mode 404 34 Target position for direct mode Cl 20ECh Oth 22h int32 rw Note The object 20E0h 02h is provided for access via Cl DeviceNet C 104 A 4 1 1 34 int32 rw Festo GDCP SFC LACI DN EN en 0812NH B 69 B Parametrizing via field bus Record Delay PNU 405 1 324 int32 rw Description Waiting time for record chaining set chaining The time between Motion Complete of a chained positioning record and the start of the next positioning record Value range 1 60000 ms Record 0 405 1 positioning record 0 Do not use Homing Record 1 405 2 positioning record 1 Delay after positioning record 1 Record 405 positioning record Delay after positioning record 2 30 Record 31 405 32 positioning record 31 Delay after positioning record 31 Cl 20E4h Oth 20h int32 rw Note The object 20E0h 08h is provided for access via Cl DeviceNet C 104 A 5 1 1 32 int32 rw B 70 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Velocity PNU 406 1 32g uint32 rw Description Sp
168. ed Actual Actual position increments posi tion 0 signal 1 signal Not relevant optional Positive edge Tab 5 8 Control and status bytes Positioning record select Festo GDCP SFC LACI DN EN en 0812NH 5 49 5 Commissioning Description of 5 Positioning record select Sequence dependent on steps 5 1 5 4 When the readiness to operate is created and the reference travel has been carried out a positioning task can be started 5 1 Preselect record number Byte 3 of the output data 0 Reference travel 1 31 Programmable positioning records 5 2 With CPOS B1 START the preselected positioning task will be started The start is confirmed with SPOS B1 Acknowledge start as long as CPOS B1 START is set 5 3 Movement of the axis is shown with SPOS B4 MOV 5 4 At the end of the positioning task SPOS B2 MC Motion Complete will be set If there are faults during positioning gt Fault handling see example 3 pb 5 6 5 50 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 6 Direct mode Positioning mode requires status 1 3 2 3 and 4 Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 BO 6 1 Preselect Byte 4 RVelocity Byte 4 RVelocity position and Velocity Velocity preselect Velocity Velocity reply message speed 0 100 0 100 control bytes 4
169. ed XXXX XXXX x01x 0111 Operation enabled XXXX XXXX x00x 0111 Quick stop active 5 0x0020 Quick stop XXXX XXXX XOXX 1111 Fault reaction active 7 7 XXXX XXXX XOXX 1000 Fault 6 0x0040 Switch on disabled 7 0x0080 Warning 8 0x0100 Drive is moving like FHPP SPOS B4 9 0x0200 Higher order controller Remote like FHPP SCON B5 10 0x0400 Target reached Motion Complete parameterisable via 6067h and 6068h 11 0x0800 12t error Internal limit active 12 0x1000 Depends on operating mode object 6060h Profile Position Mode Setpoint_acknowledge Homing Mode Homing_attained Profile Torque Mode is being performed 13 0x2000 Depends on operating mode object 6060h Positioning Mode contouring error Homing Mode Homing_error Profile Torque Mode Stroke limit reached 14 0x4000 Teach acknowledge confirmation of a teach procedure 15 0x8000 Drive is referenced Tab B 12 B 62 Bit assignment status word 6041h Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Operation Mode Position Sampling Position Rising Edge PNU 332 Var int8 rw Description Operation mode of the controller OxF9 FHPP Continuous Mode 7d OXFE Demo Mode fixed sequence 0x01 Profile Position Mode positioning mode 0x04 Profile Torque Mode force mode 0x06 Homing Mode homing run mode Cl 6060h 00h int8 rw DeviceNet C 103 A 72
170. ee eee B B 1 1 DeviceNet Classes cee cece cece teen eens B P B 1 2 Parameter overview class attribute instance B B 2 Parameterisation Via FPC 0 ccc ccc ccc e teen eee neneee B 1 B 2 1 Structure of the Festo Parameter Channel FPC B 157 B 2 2 Task identifiers response identifiers and error numbers B 17 B 2 3 Rules for job reply processing cece eee eee mmm B 20 B 2 4 Example of parameterising via FPC o ooooocoooomommo o o B 2F 7 B 3 FHPP finite state machine ccc ccc cee cee eee een eens B 24 7 B 3 1 Create readiness to operate eee eee eee eee eee B 2 Bi3 2 Positioning coi ai a Reed earn eae atone tes B 27 B 4 Reference FHPP Parameters ooooocooocnococronccocr eee e eens B 3 B 4 1 FHPP parameter groupS cee cece eee eee eee eee B 3 B 4 2 Overview of parameter numbers PNU oooooo oo o B 3E7 B 4 3 Representation of the parameter entries oooooooooo B 4 B 4 4 Device data as cca dda cede eb ac cs is is B 447 Bi4c5 Diagnosis cet dio B 4 B 4 6 Process Data siii ad B 55 B 4 7 Positioning record table Record list oo o o oooo B 65 B 4 8 Projectdata minoica rta a E EE EEA B 79 7 B 4 9 Axis parameters for electric drives 1 ooooooommmmoo o B 88 B 4 10 Supplementary objects eee cece eee oo B 10f B 2 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field
171. eed setpoint value in Increments s Record O 406 1 positioning record 0 Do not use Homing Record 406 positioning record Speed of Positioning Record 1 30 Record 31 406 32 20h positioning record 31 Speed of Positioning Record 31 Cl 20EDh 01h 21h uint32 rw Subindex 20ED 21h 4 PNU 531 Speed in inching operation Note The object 20E0h 03h is provided for access via Cl DeviceNet C 104 A 6 I 1 32 uint32 rw Festo GDCP SFC LACI DN EN en 0812NH B 71 B Parametrizing via field bus Acceleration PNU 407 1 32g uint32 rw Description Acceleration setpoint value in Increments s The value applies only to positioning with force control the value is ignored Record 0 407 1 positioning record 0 Do not use Homing Record 407 positioning record Acceleration setpoint value positioning record 1 30 Record 31 407 32 20h positioning record 31 Acceleration setpoint value positioning record 31 Cl 20EEh 01h 22h uint32 rw Subindex 20EE 21h PNU 532 Speed in inching operation Subindex 20EE 22h PNU 541 Acceleration in direct mode Note The object 20E0h 04h is provided for access via Cl DeviceNet C 104 A 7 l 1 32 uint32 rw B 72 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Deceleration PNU 408 1 334 uint32 rw De
172. emo mode Demo posit tab all positioning records in the position set table are executed one after the other If the position set table contains a positioning record with speed v 0 this positioning record and all following records will not be executed the positioning cycle will be continued with positioning record 1 4 Start the test run 5 With the EMERG STOP lt Menu you can interrupt the current positioning task immediately With DEMO STOP lt Enter you can end the positioning cycle Demo posit tab However the set currently being executed is completed first e Check the positioning behaviour e Check the displayed positions of the axis If necessary optimise the previous settings Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 3 Commissioning with FCT The Festo Configuration Tool FCT is the software platform for configuring and commissioning different components and devices from Festo The FCT consists of the following components A framework as program start and entry point with uniform project and data management for all supported types of devices Plugins for the special requirements of each device type e g SFC LACI with the necessary descriptions and dialogues The Plugins are managed and started from the framework Printed information In order to use the complete help or parts of it independently of a PC you can use one of the following options e Use the Print b
173. energy optimized path generator Position xt Target position in mm Velocity v Positioning speed in mm s Acceleration a Acceleration in mm s Deceleration d Deceleration in mm s Jerk Acc ja Acceleration jerk in m s3 Jerk Dec jd Deceleration jerk in m s3 Work load m Applied load workpiece mass in g Time MC t MC Damping time time between reaching the target window and setting Motion Complete SAVE Saves parameters to the EEPROM Teaching is only possible after a successful homing run 4 16 Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 4 5 5 Settings Jog mode You can use the arrow keys to move the drive continuously also possible without previous reference run The software end positions have no effect here 4 5 6 Settings BUS parameter Setting the field bus parameters BUS parameter Param Description MAC ID 0 63 Field bus address of the SFC LACI 0 3Fh Representation 00 dec 00 hex 63 dec 3F hex Baudrate 125 kBd Field bus baud rate as per settings on master 250 kBd 500 kBd I O Datalength 8 16 bytes Set1 O data length 8 bytes only FHPP standard the SFC LACI is controlled as per the Festo Handling and Positioning Profile 16 bytes FHPP standard and FPC additional use of the FPC for parameterising the SFC LACI Tab 4 6 Menu Settings BUS parameter
174. equirements C Voltage supply gus Example of connection gt 3 W Wall mounting 2 Warnings Description 6 87 With position sensing magnet Move 6 18 7 Festo GDCP SFC LACI DN EN en 0812NH D 11
175. er IEC 62026 and EN 50325 Predefined connection set Group 2 slave only Manufacturer ID Festo Corporation 26 0x1A DeviceNet device type Communication adapter Ox0C 12 Product code 9011 Address range MAC ID 0 63 Baud rate 125 250 500 kBaud Interface Plug connector Sub D 9 pin plug Electrical isolation Yes Integrated bus terminal No Cable type Depends on length of cable and field bus baud rate see controller manual A 4 Festo GDCP SFC LACI DN EN en 0812NH A Technical appendix A 2 Accessories Connection Cable Plugs Type Length m Controller interface Field bus plug FBS SUB 9 BU 2x5POL B IP54 FBS SUB 9 WS CO K IP20 Field bus adapter FBA 2 M12 5POL IP54 FBA 1 SL 5POL IP20 Voltage supply Power supply cable KPWR MC 1 SUB 15HC 25 5 10 Motor Motor cable NEBM T1G6 T1G6 2 5 5 10 Encoder cable NEBM T1G12 T1G12 2 5 5 10 Parameterising interface Programming cable KDI MC M8 SUB 9 Fix 2 5 Protective caps Type Comment Protective caps for the parameterising interface and the ISK M8 10 items per bag local digital inputs and outputs Wall mounting Type Comment 2 sets of central supports 4 brackets MUP 8 12 2 items per bag H rail mounting User s manual Wall mounting requires 4 additional M3 screws with cylindrical head Recommended On a DIN mounting rail in accordance with EN 50022 width 35 mm heigh
176. erature of the linear motor lt 10 C 0x0002 108 MOTOR COLD Increase the ambient temperature as appropriate WARNING Temperature of the linear motor 70 75 C 0x0004 109 MOTOR HOT Check for possible overloading of the drive check the mechanical system e g for sluggishness reduce ambient temperature WARNING Temperature lt 10 C 0x0008 74 SFC LACI COLD WARNING Temperature 80 85 C 0x0010 75 SFC LACI HOT STANDSTILL The axis has moved outside the standstill tolerance 0x0020 36 WARNING window ILLEGAL Impermissible record number 0x0040 3 RECORD WARNING Fault number in the diagnostic memory see sectio T8 4 2 6 8 Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display Error messages The drive is stopped in the event of an error The fault LED is illuminated the output SCON B3 FAULT is set 1 Rectify the cause of the error 2 Acknowledge the error message Using Enter on the control panel Using the Acknowledge Error button in the FCT via the field bus with a rising edge of the RESET signal CCON B3 or with a falling edge of the ENABLE signal Caution A If the drive is not under position control after the removal of ENABLE this may cause injury to people and material damage With vertical or sloping drive mountings the moving mass might slide down see section 11 3 Error Possible cause and remedy PNU Fault no PLEASE ENFORCE When starting a positioning record
177. es of status data 4 bytes each consistent 1 FHPP control bytes 1 4 CCON CPOS 2 FHPP control bytes 5 8 Cl 20A1h 01h 02h uint32 r DeviceNet C 103 A 62 63 1 1 uint32 r B 58 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Control Word PNU 330 uint16 rw Description Control word Modify the current controller status or trigger an activity As status modifications require a certain amount of time all status modifica tions triggered via the control word must be read back via the status word 6041h Further commands cannot be written via the control word until the requested status can be read in the status word Bit assignment sep Thb B 10 Special features for access via the Cl interface If this object is accessed via the Cl interface the following special features must be observed compared with access via the field bus interface Reset Fault bit 7 as per DS402 processing with positive edge but via Cl the level will be evaluated START bit bit 4 with homing and positioning as per DS402 edge triggered but via Cl the level will be evaluated 0 set interpreted as stop HMl access locked bit 14 only accessible via the field bus Switch to Operation enable may simultaneously contain action triggering bits START Jog Shortened status transitions Command Operation disable or
178. eter channel for reading and writing sensor parameters as well as for depositing user specific data protected against zero voltage in the sensor s EEPROM The distinction is made on the basis of the start bit details can be referred to in the specifications given Festo GDCP SFC LACI DN EN en 0812NH 3 Installation CYCLE1 REQ ACK START SCD STOP IDLE FRAMES CYCLEn REQ ACK START SCD STOP IDLE mse T 158 cre Fig 3 3 Sensor data communication Bits Type Label nee 19 30 DATA Cycle counter 12 bit multiturn position 8 18 DATA Angle data 11 bit singleturn position 7 Error Error bit E1 amplitude error 6 Error Error bit EO frequency error 0 5 CRC Polynomial 0x43 x6 x1 x0 inverted bit output Tab 3 6 BiSS Interface Festo GDCP SFC LACI DN EN en 0812NH 3 13 3 Installation 3 5 Parameterising interface Serial interface for parameterising commissioning and diagnosing Note gt For connecting a PC to the SFC LACI use only the cable specified iq Tpb 3 2 e If necessary remove the protective cap from the parameterising interface e Connect the following terminals with the programming cable the socket on the SFC LACI a serial interface COMx of the PC M8 socket Description 1 GND Ground 2 RXD_ RS232 9 Receiving cable of PC transmitting cabl
179. eviceNet C 100 A 1 Ba uint16 Manufacturer Firmware Version BCD PNU 101 uint16 Description Firmware version in BCD binary coded decimals xxyy xx main version yy secondary version Cl 206Ah 00h uint16 DeviceNet C 100 A 2 l 1 uint16 Version FHPP PNU 102 uint16 Description Version number of FHPP in BCD binary coded decimals xxyy xx main version yy secondary versi on Cl 2066h 00h uint16 DeviceNet C 100 Festo GDCP SFC LACI DN EN en 0812NH A 3 I 1 uint16 B 41 B Parametrizing via field bus Version FCT Plugin BCD PNU 104 1 2 Array uint16 r Description FCT Plugin Min 1 r Minimum necessary FCT version in BCD binary coded decimals Format xx yy xx main version yy secondary version FCT Plugin Opt 2 r Optimum FCT version in BCD binary coded decimal Format xx yy xx main version yy secondary version Cl 206Bh 01 02h uint16 r DeviceNet C 100 A 4 5 I 1 uint16 r Version Axis Interface PNU 106 uint16 r Description Version number of the axis interface Cl 2FFDh 00h uint16 r DeviceNet C 100 A 60 I 1 uint16 r B 42 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Supported Drive Modes PNU 112 uint32 Description Fix 69h 105d Bit 0 Profile position m
180. f the output is set A O V A 24 V therefore completely the opposite to point 1 With PWM When the PWM is not inverted if the output is set A 24 V A 0 V during the active PWM time in the non active PWM time the two pins are highly resistive If the output is reset the two pins are highly resistive the whole time 3 Festo GDCP SFC LACI DN EN en 0812NH PWM value not equal to 0 operating mode 1 does not matter whether inverted PWM modulated brake In the first 100 ms PWM value 100 after that the specified value applies PWM value not equal to 0 operating mode 2 or 3 not inverted is the PWM modulated output PWM value not equal to 0 operating mode 2 or 3 inverted is the PWM modulated inverted output The behaviour is just the same as it is in point 4 only the two output pins are swapped during the active PWM time A 24 V A 0V 5 79 5 Commissioning Overview of the parameters for the local digital outputs Out1 2 Parameter Description PNU FCT Cl Out1 2 Status of the outputs set not set 304 x 60FE 01h Bit Value Display 0 0x00000001 Status Brake 25 0x02000000 Status Out1 26 0x04000000 Status Out2 Out1 2 Mask 304 60FE 02h Bit Value Function 25 0x02000000 Activates the display of Out1 in 60FE 01h 26 0x04000000 Activates the display of Out2 in 60FE 01h Out1 Use 1240 x 2421 01h Value Out1 is used as 0 No function 1 Brake output see section 546
181. falling 1245 x 2421 06h Value 0 The output is set if the reference value accrued from lower values has been reached in accordance with 2421 04h Value 1 The output is set if the reference value accrued from higher values has been reached in accordance with 2421 04h Out1 Resetting condition rising falling 1246 x 2421 07h Value 0 The output is reset if the reference value accrued from lower values has been reached in accordance with 2421 05h Value 1 The output is reset if the reference value accrued from higher values has been reached in accordance with 2421 05h Out1 Delay 1247 x 2421 08h Delay time in ms after a resetting condition has occurred The output is not reset until the delay time has expired switch off delay Out1 Inverted 1248 x 2421 09h 0 not inverted 1 inverted This setting is not taken into account when the output is used for a brake clamping unit see 2421 01h Festo GDCP SFC LACI DN EN en 0812NH 5 81 5 Commissioning Parameter Description PNU FCT Cl Out2 Use 1250 x 2422 01h Value Out2 is used as 0 No function 1 Brake output see section 546 11 2 Digital signal display see FCT 3 Output Compare see FCT Out2 Setting condition 1251 x 2422 02h Value The output is set dependent upon 1 Position comparison 2 Force comparison 3 Speed comparison 4 Record number comparison 10h Ready 11h Motion complet
182. g CCON B5 1 LOCK gt Step 1 3 1 3 Enable drive in Record Select mode Homing Example 4p Tpb 5 7 If there are faults after switching on or after setting CCON BO ENABLE gt Fault handling see example 3 Tpb 5 6 and section 4 3 Error messages Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 2 Create readiness to operate Direct mode Step Control bytes Status bytes Description Byte B7 B6 B5 B4 B3 B2 B1 BO Byte B7 B6 B5 B4 B3 B2 B1 Bo 2 1 Basic status Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON O 0 0 0 0 0 0 O SON O 0 0 11 0 0 OO Device control HMI off Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x O0O 0 0 0 O0 O O SPOS 0 0 0 0 0 1 01 0 2 2 Disable device Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL control by FCT HMI ccon x x 11 xx 0 1x x SCON x x 0 x x x x x optional Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x x x SPOS x x x x x x x x 2 3 Enable drive Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL ena
183. g unit closes Simultaneously the switch off delay time begins to run The SFC LACI still controls the position The controller end stage is switched off after the switch off delay Switching offthe load voltage or cancelling the hardware enable The load voltage is switched off The effective load on the drive will continue to move due to inertia or it will fall if mounted in a vertical or sloping position The controller may report the drop out of the load voltage after a few seconds have initially passed Accordingly a brake is only closed after a delay Refer also to the information on using the hardware enable in sectio T5 6 9 Cancelling the STOP signal at the controller interface By default the drive brakes with the Quick stop deceleration can be set via FCT or Cl object 6085h As an alternative the braking ramp in the respective positioning record can be used see Cl object 605Eh Triggering a limit switch The drive brakes with the limit switch deceleration can be set via FCT or Cl object 6510 15h The error message Limit switch actuated is issued The drive held stationary in a controlled position The brake is opened if present Err 0 MC 0 Ready 0 if no automatic brake is parameterised 1 8 Note Remaining path check for the STOP signal If the parameterised stop ramp is not sufficient to stop the drive before reaching the software end point the deceler ation brak
184. h modulation PWM a pulsed signal is output When using as a brake output a continuous signal is initially output for 100 ms when the output is set Cl 6510 1Ah PWM value The PWM value is the duty cycle during a period of time frequency approx 20 kHz in the following diagram 33 100 33 100 ms 1 24V a Only when using as a brake output High impedance N Fig 5 9 PWM value Festo GDCP SFC LACI DN EN en 0812NH 5 77 5 Commissioning Standard Inverted Signal A Signal A Signal A ground Signal A ground 5 78 Behaviour depending upon pin use Out1 When the output is set a continuous signal 24 V appears If the output is not set O V By inverting the output when the output is set O V applied If the output is not set 24 V Out2 For the connection of the consumer between pin 4 signal A and pin 1 signal A i e use of the differential output PWM value 1 100 Positive switching logic If the output is not set the two pins are highly resistive Change of polarity due to the output being inverted exception when used for brake plus only at pin 4 PWM value 0 Always 24 V Setting resetting the output causes polarity change Polarity presetting can be changed by inverting the output For the connection between pin 4 signal A and pin 3 ground PWM value 1 100 Positive switching logic
185. haining set chaining The time between Motion Complete of a chained positioning record and the start of the next positioning record Value range 1 60000 ms Corresponds to 20E4h Following Record 20EOh 09h uint8 The subsequent positioning record for a positioning record with a chaining condition 1 Values 1 31 Corresponds to 20E5h Deceleration 20E0h OAh int32 Setpoint value for deceleration in Increments s The value applies only to positioning with force control the value is ignored Corresponds to 20EFh Jerk Dec 20EOh OBh uint32 Jerk when decelerating in Increments s3 Corresponds to 21E1h Data Memory Control Reset Device Cl 20F1h 03h Array uint8 w Description 0x10 Reset device EEPROM is not erased status is identical to that after switching off on Further sub indices of 20F1h See PNU 127 C 26 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Controller Type Cl 20E3h 00h Var uint16 rw Description SFC LACI 10 0x10 without display 0x11 with display SFC LACI PB 0x12 without display 0x13 with display SFC LACI CO 0x14 without display 0x15 with display SFC LACI DN 0x16 without display 0x17 with display Trace Control Cl 20F2h 01 0Ah Record Various Description Settings for recording positioning procedures using the Festo Configuration Tool FCT Cl Receive Checksum Active
186. he effective load is not fastened stiffly enough on the axis Stiffen the load mass mounting Effective load can vibrate Form stiffer load modify intrinsic frequency of the load If several drives are fitted in a vibration free system Carry out commutation point search one after the other see PNU 1072 2051h Contact the Festo service department if these measures do not produce the desired results PNU PNU 205 0x8000 Fault no 41 HARDWARE ERROR SFC LACI Device fault SFC LACI e g EEPROM defective e Contact Festo service PNU 205 0x0001 51 LOAD POWER DOWN Load voltage lt 36 V or missing hardware enable Voltage drops under load Power supply too weak cable too long cable cross section too small Hardware enable connection see sectio T3 2 PNU 205 0x0080 70 Festo GDCP SFC LACI DN EN en 0812NH Fault number in the diagnostic memory see Sectio fojia 6 11 6 Diagnosis and fault display Error Possible cause and remedy PNU Fault no DIGITAL POWER Logic voltage lt 15 V PNU 205 71 DOWN Voltage drops under load Power supply too 0x0040 weak cable too long cable cross section too small OVERCURRENT Output stage current consumption too high PNU 208 72 POWER STAGE e g due to short circuit 0x002 e Contact Festo service ERROR SFC LACI Temperature gt 85 C PNU 205 73 HOT e Remain within all maximum values and check the
187. he positioning CLEAR task to be deleted and transfer is made to the Ready status B7 Reserved must be set to 0 Festo GDCP SFC LACI DN EN en 0812NH 5 37 5 Commissioning CDIR Control byte 3 CDIR is a special control byte for the operating mode Direct mode Control byte 3 CDIR Direct mode Bit EN Description BO Absolute Relative 0 Setpoint value is absolute ABS 1 Setpoint value is relative to last setpoint value B1 Control mode 00 Positioning mode COM1 01 Force control 10 reserved B2 11 Positioning mode energy optimised COM2 B3 Continuous Mode Continuous setpoint specification CONT 0 inactive 1 active B4 Continuous Mode Toggle Must be toggled for every specified cycle to ensure that new CONTT specifications are recognised B5 Stroke X limit not active In force mode XLIM 0 Stroke monitoring active 1 Stroke monitoring not active B6 reserved must be at 0 FAST B7 reserved must be at 0 FUNC 5 38 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 5 6 Description ofthe status bytes SCON SPOS SDIR RSB Status byte 1 SCON Bit EN Description BO Drive Enabled 0 Drive blocked controller not active ENABLED 1 Drive controller enabled B1 Operation Enabled 0 STOP active OPEN 1 Operation enabled positioning possible B2 Warning 0 Warning not applied WARN 1 Warning app
188. ia the PLC IPC or via this object Cl 2051h 00h uint32 rw DeviceNet C 107 A 75 lo 1 uint32 rw Local Digital Output 1 Function PNU 1240 uint8 rw Description Out1 Use See sectio T5 6 10 Cl 2421h 01h uint8 rw DeviceNet C 103 A 112 l 1 uint8 rw Local Digital Output 1 Trigger ON PNU 1241 uint8 rw Description Out1 Setting condition See sectio T5 6 10 Cl 2421h 02h uint8 rw DeviceNet C 103 A 113 l 1 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B 107 B Parametrizing via field bus Local Digital Output 1 Trigger OFF B 108 PNU 1242 uint8 rw Description Out1 Resetting condition See sectio 546 10 Cl 2421h 03h uint8 rw DeviceNet C 103 A 114 151 uint8 rw Local Digital Output 1 Value ON PNU 1243 int32 rw Description Out1 Setting with record number comparison See sectio T5 6 10 Cl 2421h 04h int32 rw DeviceNet C 103 A 115 I int32 rw Local Digital Output 1 Value OFF PNU 1244 int32 rw Description Out1 Resetting with record number comparison See sectio T5 6 10 Cl 2421h 05h int32 rw DeviceNet C 103 A 116 1 1 int32 rw Local Digital Output 1 Direction Value ON PNU 1245 uint8 rw Description Out1 Edge type for setting condition See sectio T5 6 10 Cl 2421h 06h uint8 rw DeviceNet C 103 A 117 El uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Local Digital
189. igh force and at high speed Collisions can lead to serious injury to human beings and damage to components e Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources Warning Errors in parameterizing can cause injury to human beings and damage to property e Enable the controller only if the axis system has been correctly installed and parameterized Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Target group Service Scope of delivery This manual is intended exclusively for technicians trained in control and automation technology who have experience in installing commissioning programming and diagnosing positioning systems Please consult your local Festo Service or write to the following e mail address if you have any technical problems service_international festo com Included in the scope of delivery for motor controller type SFC LACI are Single field controller optionally with control panel Configuration package FCT Festo configuration tool User documentation on CD ROM The following are available as accessories see appendix A 2 Connecting cables Mounting attachments Festo GDCP SFC LACI DN EN en 0812NH Xl Contents and general instructions Important user instructions XII Danger categories This manual contai
190. ing is raised to the maximum value as far as possible Festo GDCP SFC LACI DN EN en 0812NH 1 System summary A Festo GDCP SFC LACI DN EN en 0812NH Warning There is no plausibility check to see whether the deceleration braking that is set is actually achievable The deceleration that can be achieved depends on your application e g power and switching speed of your power supply unit effective load mounting position If the deceleration cannot be achieved an error will occur and the controller may be turned off depending on the error The effective load on the drive will continue to move due to inertia or it will fall if mounted in a vertical or sloping position e Perform a test run to see whether the quick stop deceleration that is set is actually achievable e When doing this pay attention to the FCT diagram Measured data page If the desired deceleration cannot be achieved e Use stronger power units or reduce the dynamics 1 9 1 System summary 1 1 4 Operating modes of the SFC LACI DN Profile position mode Profile Torque Mode FHPP Continuous Mode Homing mode Demo mode 1 10 Positioning mode Standard operating mode when the SFC LACI is switched on The specification of the positioning tasks occurs via Record selection Selection of one from a maximum of 31 positioning records stored in the SFC LACI Automatic record switching is also possible via Direct mode
191. involved see section 8 4 8 14 1 CPOS B4 ogging i positive 0 SPOS B2 0 Motion Complete Parameters involved Description FCT PNU Cl Speed Phase 2 2 x 531 20ED 21h Acceleration or deceleration 3 X 532 20EE 21h Duration phase 1 4 x 534 20E9 21h Start FHPP CPOS B3 1 Jog positive forwards CPOS B4 1 Jog negative backwards Feedback FHPP SPOS B4 1 Drive moving Requirements Device control by PLC field bus Controller must be in status Operation enabled Tab 5 13 Parameters involved in jogging mode Festo GDCP SFC LACI DN EN en 0812NH 5 59 5 Commissioning 5 6 3 Teaching via field bus Position values can be taught via the field bus Previously taught position values will then be overwritten Sequence 1 The drive is moved to the desired position using the jogging mode 2 The user must make sure that the desired parameter is selected For this the parameter Teach target and if applicable the correct record address must be entered Teach target Is taught PNU 520 1 specification Target position in position record Record selection Positioning record after control byte 3 Direct mode Positioning record after PNU 400 2 Axis zero point 3 Project zero point A Lower software end position 5 Upper software end position Tab 5 14 Overview of teach targets 5 6
192. ion Specification of a position or force E Earth terminal 6 177 6 157 l da ge age 5 6 jap Festo GDCP SFC LACI DN EN en 0812NH D Index Earthing EDS file EEPROM Clear Effective load Definition EMC ENABLE Reaction when cancelling Energy optimised Error Description Error numbers ESD Explicit Messaging F Fault handling Fault numbers FCT Festo Configuration Tool Festo Parameter Channel FPC FHPP FPC Introduction Parameter groups Standard Field bus baud rate Field bus cable Field bus length Field bus plug FLASH memory Force mode H H rail mounting Festo GDCP SFC LACI DN EN en 0812NH 5 467 6 167 de El i B 157 1 24 B 1 a 1 28 p 3 3 197 3 18 3 197 3 27 qa 5 3 Pp 5p sp OF B 8E 0 D 5 D D 6 Index HALT Hardware enable Application Function Reaction when cancelling HMI Homing method Definition Overview Set Homing mode Homing run Definition On the control panel Setting parameters 1 0 data Cyclic 1 0 interface 1 0 Messages 1 0 Messaging Implicit Messaging Important user instructions Increments Conversion Index pulse warning Inputs local digital Specification J Job identifier AK Jog mode K Key function Overview Festo 1 1 1 1 5 1 ome a 1 5 1 4 1 5387 3 1 197 ern E A 6 18 3 29 B 16P 177 MESE EI GDCP SFC LACI DN EN en 0812NH D Index
193. ion Lower temperature threshold of the coils motor 70 C A warning is triggered when this temperature is reached Cl 6410h 33h uint16 rw DeviceNet C 107 A 82 El uint16 rw Upper Coil Temp Threshold PNU 1063 uint16 rw Description Upper temperature threshold of the coils motor 75 C An error message is triggered when this temperature is reached Restart only after the temperature has dropped below the lower threshold see PNU 1062 Cl 6410h 34h uint16 rw DeviceNet C 107 A 83 l 1 uint16 rw Output Stage Actual Temperature PNU 1066 int16 r Description Temperature of the SFC LACI output stage Range 20 120 C Cl 6510h 31h int16 r DeviceNet C 107 A 86 I 1 int16 r Output Stage Max Temperature PNU 1067 int16 r Description Highest temperature measured to date for the SFC LACI in C Stored in EEPROM Cl 6510h 32h int16 r DeviceNet C 107 A 87 l 1 int16 ie Festo GDCP SFC LACI DN EN en 0812NH B 105 B Parametrizing via field bus Output Stage Lower Threshold Temp PNU 1068 uint16 rw Description Lower temperature threshold for SFC LACI 80 C A warning is triggered when this temperature is reached Cl 6510h 33h uint16 rw DeviceNet C 107 A 88 Id uint16 rw Output Stage Upper Threshold Temp PNU 1069 uint16 rw Description Upper temperature threshold for SFC LACI 85 C When this temperature is reached an error message is trigge
194. ion rising falling Value 0 The output is reset if the reference value accrued from lower values has been reached in accordance with 2422 05h Value 1 The output is reset if the reference value accrued from higher values has been reached in accordance with 2422 05h 1256 2422 07h Out2 Delay Delay time in ms after a resetting condition has occurred The output is not reset until the delay time has expired switch off delay 1257 2422 08h Out2 Inverted 0 not inverted 1 inverted This setting is not taken into account when the output is used for a brake clamping unit see 2422 01h 1258 2422 09h Out2 PWM value Duty cycle during a period of time Sef Fis 5 9 Values 1 100 Value 0 deactivates the pulse width modulation Tab 5 21 Parameters for the local digital outputs Festo GDCP SFC LACI DN EN en 0812NH 1259 2422 0Ah 5 83 5 Commissioning 5 6 11 Using a brake clamping unit One of the local digital outputs Out1 or Out2 can be used to control a brake clamping unit Options here are a continuous signal or in the case of Out2 both a continuous and a pulsed signal PWM seg fig 5 9 The parameterisation can easily be carried out via FCT Note the detailed functional descriptions in the help section for Plugin SFC LAC Note gt When using the DNCE DFME LAS C clamping unit The clamping unit may not be closed until the drive is at
195. ion the device via the parameterising interface using the Festo Configuration Tool FCT Instructions on this can be found in section 53 2 Caution A Simultaneous or alternating attempts to access the SFC LACI via FCT control panel and controller interface can cause unpredictable errors e Make sure that the FCT the control panel and the controller interface ofthe SFC LACI are not used at the same time e If necessary use the possibility of blocking parameterising and positioning functions via the control panel HMI access see section 55 2 Festo GDCP SFC LACI DN EN en 0812NH 4 3 4 Control panel only type SFC LACI H2 4 1 Design and function of the control panel 1 LC display 2 Operating buttons 3 LEDs Power green 1 F green red Error red The control panel allows Parameterising and referencing the drive Homing run methods to the stop and to the integrated reference switch of the drive Teaching and editing the positioning records Execution testing of positioning records 1 i O 88 Sm e Fig 4 1 Control panel of the SFC LACI H2 LC display LEDs 4 4 The graphic LCD shows all text in English The display can be rotated 180 see LCD adjustment menu command Display of operating states see section 6 2 Power Power
196. ioning profile by linking records known target positions that seldom change formulation change Sequence 1 Set the desired record number in the output data of the master Until the start the controller replies with the number of the record last processed 2 With arising edge at START CPOS B1 the controller accepts the record number and starts the positioning job 3 The controller signals with the rising edge at Acknowledge start that the PLC output data has been accepted and the positioning job is now active The positioning command will be processed irrespective of whether CPOS B1 START has been reset to zero or not 4 When the record is concluded SPOS B2 MC is set Causes of errors Homing has not been carried out The target position is unreachable Invalid record number 5 62 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Setpoint record number Output data 0 Stop CCON B1 STOP Start CPOS B1 START Acknowledge start SPOS B1 ACK Motion Complete SPOS B2 MC Axis is moving SPOS B4 MOV Actual record number Input data 0 1 Fig Start stop record Requirement Acknowledge start 0 Rising edge at START causes the new record number N to be accepted and Acknowledge start to be set As soon as Acknowledge start is recognized by the PLC START may be set to 0 again
197. ioning record Damping time for positioning records 1 30 Record 31 415 32 20h positioning record 31 Damping time for position record 31 Jog Mode 415 33 21h Damping time with jog mode Cl 20E6h 01h 22h uint16 rw Subindex 20E6 22h PNU 1023 damping time for positioning in direct mode Note The object 20E0h 07h is provided for access via Cl 6068h contains the damping time of the currently active record DeviceNet C 104 A 14 4 3 33 uint16 rw B 76 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Following Record PNU 416 1 32g uint8 rw Description The subsequent positioning record for a positioning record with a chaining condition 1 Value range 1 31 Record 0 410 1 Positioning Record 0 Do not use Homing Record 410 positioning record The position record following position record 1 30 Record 31 410 32 20h positioning record 31 The record following record 31 Cl 20E5h 01h 20h uint8 rw Note The object 20E0h 09h is provided for access via Cl DeviceNet C 104 A 15 1 1 32 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B 77 B Parametrizing via field bus Jerk Deceleration PNU 417 1 334 Array uint32 rw Description Jerk when decelerating in Increments s The internal calculation is done with 1 49 of the value Record 0 417 1 positioning record 0 Do not use
198. ise the entire system completely before activating the controller with ENABLE controller interface Enable FCT or HMI on control panel In order that the Festo Configuration Tool can control the connected SFC LACI the control interface of the SFC LACI must be deactivated and control must be enabled in the FCT The actual status of the control bit ENABLE then has no effect To do this go to the Project Output window select the Operate tab and under Device Control activate the FCT checkbox The controller interface of the SFC LACI will then be deactivated and Control Enable will be set for the FCT Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 4 Commissioning on a DeviceNet master The following sections detail the configuration and addressing of the SFC LACI on a DeviceNet interface and a DeviceNet master To understand this section you should be familiar with DeviceNet and know the specification 5 4 1 Overview of commissioning on the field bus The following steps are required for commissioning the SFC LACI as a field bus participant 1 Set the following on the SFC LACI Settings Description _ _ __ _ ______Q_ gt EEAE E _E gt EP PEA 2 2 e _ _ e 2 MAC ID Permitted address range 0 63 Baudrate Permitted 125 250 500 kBd 1 0 Datalength 1 0 data length 8 bytes FHPP standard 16 bytes FHPP standard FHPP FPC e onthe control
199. itching OM ci o daa 5 6 5 1 4 Simultaneous attempts to access the controller 5 17 5 2 Commissioning with the control panel only SFC LACI H2 5 87 5 2 1 Setthe field bus parameter 2 0 cece eee eee 597 5 2 2 Setting the homing run parameters o oooooccoooommmmmo 517 5 2 3 Activate device control cece cece cece eee eens 5 1 5 2 4 Carrying out homing cece cc eee cece eee eens 5 14 5 2 5 Teach the axis zero point eee eee eee eee eee eee 5 167 5 2 6 Teach software end positions css eee eee eee eee 5 187 5 2 7 Setting the tool mass cece cece eee cence eens 5 197 5 2 8 Teaching positioning records cece eee eee eee eee 5 20 PP ienie E EE EEE E EEE 5 28 5 3 Commissioning with FCT ooo occoocccoooorcconocccarorc o 5 28 5 3 1 _ Installing the FCT cunda ea 5 24 5 32 PrOCOdUTe dia ari dee thewatas A E aS 5 28 5 4 Commissioning on a DeviceNet maSter 0 cee eee eee ees 5 2 5 4 1 Overview of commissioning on the field bus 5 2 5 4 2 Configuration of the DeviceNet master I O configuration 5 28 5 5 Festo Handling and Positioning Profile FHPP oooooooo 5 30 5 5 1 FHPP operating modes cece eect eee eee 5 30 5 5 2 Structure of the cyclic I O data FHPP standard 5 37 5 5 3 Description of the I O data Record select 5 34 5 5 4 De
200. lerance window in Increments Amount by which the current position may deviate from the target position in order that it may still be regarded as being within the target window The width of the window is twice the value transferred with the target position in the centre of the window Cl 6067h 00h uint32 rw DeviceNet C 107 A 32 1 1 uint32 rw Direct Mode Position Window Time PNU 1023 uint16 rw Description Damping time adjustment time in direct mode in milliseconds ms If the actual position has been in the target position window this amount of time the bit Target Reached will be set in the status word Motion Complete Value range 1 60000 ms Default 10 ms See PNU 415 record specific damping times in record selection and 6068h damping time of the active record Cl 20E6h 22h uint16 rw DeviceNet C 104 A 15 1 32 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 95 B Parametrizing via field bus PNU Position Control Parameter 1024 184 21g int32 rw Description Position Controller Closed Loop Internal Frequency Position Controller Damping Current Controller Gain Current Controller Integrating Time A Caution Risk of injury to people and damage to property The factory settings for the controller parameters should only be modified in exceptional cases Unfavourable settings can lead to uncontrollable behaviour of the entire sy
201. lied Fault number in diagnostic memory B3 Fault 0 No error FAULT 1 An error exists or an error reaction is active Fault number in diagnostic memory B4 Voltage Load 0 No load voltage 24VL 1 Load voltage applied B5 Drive control 0 Device control by PLC field bus HMI 1 Device control by FCT MMI B6 Operating Mode 00 Record select standard OPM1 01 Direct mode 10 reserved B7 11 reserved OPM2 Festo GDCP SFC LACI DN EN en 0812NH 5 39 5 Commissioning Status byte 2 SPOS Bit EN Description BO Halt 0 HALT is active HALT 1 HALT is not active axis can be moved B1 Acknowledge Start 0 Ready for start reference jog ACK 1 Start carried out B2 Motion Complete 0 Positioning job active MC 1 Positioning job completed where applicable with error Note MC is first set after switching on status Drive blocked B3 Acknowledge teaching Depending on the setting in PNU 354 TEACH sampling PNU 354 0 Display of the teach status SPOS B3 0 Ready for teaching SPOS B3 1 Teaching carried out actual value is transferred PNU 354 1 Display of the sampling status SPOS B3 0 No edge SPOS B3 1 An edge has occurred New position value available On the position sampling see sectio T5 6 12 B4 Axis is Moving 0 Speed of the axis lt limit value MOV 1 Speed of the axis gt limit value B5 Deviation Warning 0 No drag error DEV 1 Contouring error active B6 Stand
202. ly for Festo Service 112 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 2 2 Festo handling and positioning profile FHPP Customised for handling and positioning tasks Festo developed an optimised data profile the Festo Handling and Positioning Profile FHPP FHPP enables uniform sequence control and programming for the various field bus systems and controllers from Festo Communication via the field bus can take place cyclically I O Messaging or acyclically Explicit Messaging Mixed operation is typical Commissioning and application parameters are transmitted via Explicit Messaging Time critical sequence control is performed according to FHPP Standard I O Messaging 8 bytes 1 0 Parameterisation in operation is done according to FHPP FPC I O Messaging 8 bytes 1 0 or via Explicit Messaging FHPP standard FHPP standard is used for time critical sequence control Here there are two FHPP operation modes Record selection The higher level control PLC selects positioning records positioning tasks stored in the SFC LACI Direct mode The tasks are formulated directly in the master s cyclical output data Possible are positioning mode continuous setpoint specification and gasoline operation Detailed information on the FHPP standard can be found starting at sectiow5 5 Festo GDCP SFC LACI DN EN en 0812NH 1 23 1 System summary 1 24
203. n 6Dh diagnosis Current baud rate 01h 02h 545 Current MAC ID 01h 04h Current O data length 01h 05h D Access via Explicit Messaging 2 Access via I O Messaging FHPP FPC Tab 6 7 Diagnosis via field bus DeviceNet classes 6 14 Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display 6 4 2 Diagnostic memory Parameters 2 Structure of the diagnostic memory The diagnostic memory contains the last 16 diagnostic messages It is backed up if possible in the event of power failure If the memory is full the oldest element will be overwritten ring buffer PNU 200 20C8h PNU 201 20C9h PNU 202 20CA PNU 203 20CBr Format uint8 uint16 uint32 uint32 Meaning Diagnosticevent Fault number Time stamp Cycle number Subindex 1 Current diagnostic message Subindex 2 Previous diagnostic message Subindex 16 Oldest diagnostic message D See sectio 4 5 Tab 6 8 Diagnostic memory structure Configuration of diagnostic memory with PNU 204 20CCh SI Description Specifi Min Max cation 1 1 Record incoming and outgoing faults 1 1 2 2 Record only incoming faults Outgoing fault Acknowledge the fault 2 1 Resolution time stamp 10 ms 1 1 2 2 Resolution time stamp 1 ms 3 Deleting the diagnostic memory 0 0 1 Writing with value 1 deletes the diagnostic memory Read will always reply with value 1 4
204. n errors as a result of signal reflections and attenuations Transmission errors can be caused by missing or incorrect terminating resistor incorrect screened connection branches transmission over long distances inappropriate cables Observe the cable specifications For information on the cable type refer to the manual for your controller or to the DeviceNet specification Note If the SFC LACI is installed in a machine on a movable mounting the field bus cable must be provided with strain relief on the moving part of the machine Also observe the relevant regulations in EN 60204 part 1 Use a twisted pair screened 4 wire cable as the field bus cable If the field bus plug FBS SUB 9 BU 2x5POL B is used a cable diameter of 5 10 mm is permitted Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 7 2 Field bus baud rate and field bus length The maximum permissible fieldbus length and length of the branch lines depends on the baud rate used You will find detailed information in the manuals for your control system or bus interface or DeviceNet specification Note e Refer to the manuals for your control system or bus interface in order to ascertain which T adapter and maximum branch line length are permitted for your controller e Also take into account the sum of the branch line lengths when calculating the maximum permitted length of the field bus cable Festo GDCP SFC LACI DN EN en 0812
205. nd data Displays field bus parameters of the SFC LACI Displays the operating system version firmware gt Positioning Homing and positioning runs 4 ESO Homing Start the homing run Move posit set Start an individual positioning record Demo posit tab Starts the Demo mode gt Settings Parameterisation gt Sa Ep gt Axis type gt Not adjustable The type of the drive is automatically detected Axis parameter gt Zero point Offset of the axis zero point relative to the reference point gt SW limit neg Software end position negative offset relative to the axis zero point gt SW limit pos Software end position positive offset relative to the axis zero point Tool load Tool load mass e g gripper on front plate piston rod gt SAVE Saves parameters to the EEPROM Homing paramet Homing method Homing method gt Velocity v_rp Speed when searching for the reference point gt Velocity v_zp Speed when moving to the axis zero point gt SAVE Saves parameters to the EEPROM gt Position set gt Position nr Number of positioning set 1 31 Pos set mode Absolute or relative positioning if necessary energy optimised gt Position Target position gt Velocity Velocity gt Acceleration Acceleration Deceleration Deceleration Braking Jerk Acc Acceleration jerk Jerk Dec Decelerati
206. ns in sectio37 5 if other Sub D plugs are used Connection Pin Designation Function Field bus plug 0 1 5 1 n c Not connected E 2 CAN_L CAN Bus Low A L 6 1 F 9 32 CANGND CAN bus reference potential GND 4 n c Not connected 5 CAN_SHLD Capacitive connection to housing Clamping strap 62 CAN_V Bus interface voltage supply reference potential 7 CAN_H CAN Bus High B H 8 n c Not connected 9 CAN_V Power supply to the bus interface V Screening Connection to functional earth Clamping housing strap Tab 3 8 3 16 D Pin assignment in the field bus plug type FBS SUB 9 BU 2x5POL B 2 Pin 3 and pin 6 are connected internally with each other in the SFC LACI DN I F connection control terminal on the SFC LACI DN Festo GDCP SFC LACI DN EN en 0812NH 3 Installation Note The screen connection at pin 5 of the field bus interface is capacitively connected internally to the housing This prevents equalising currents from flowing via the screening of the field bus cable seg Fis 3 4 1 Capacitive connection 2 Housing Fig 3 4 Screen connection inside the SFC LACI Festo GDCP SFC LACI DN EN en 0812NH 3 17 3 Installation 3 7 Connecting the field bus 3 7 1 3 18 Field bus cable Note Faulty installations or high transmission rates may cause data transmissio
207. ns 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 Note This means that failure to observe this instruction may result in damage to property The following pictogram marks passages in the text which describe activities with electrostatically sensitive compo nents Electrostatically sensitive components may be damaged if they are not handled correctly Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Marking special information The following pictograms mark passages in the text containing 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 ASA Information on environment friendly use of Festo products Text markings 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 s
208. nse e eens nnn ne eae eeeen eee cee o E 5 5TOORR _EEEEEEEEE5 E gt ee Tab 5 16 Parameters involved in Record Select mode 5 66 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 6 5 Record selection Switching to next record Switching to the next record record chaining allows a sequence of records to be defined To do this for every record in the table you can specify whether another record should be processed afterwards PNU 402 and if so then which record PNU 416 is to be processed after which delay PNU 405 Overview of supplementary parameters seg Tab 5 16 Parameters Description FCT PNU Cl involved Switch to next record yes no x 402 20EBh 20E0 01h Delay time in ms The time between Motion Complete x 405 20E4h MO for a record with record chaining and the start of 20E0 08h the next positioning record Number of the next positioning record x 416 20E5h 20E0 09h Feedback PNU 400 2 Active position record FHPP Status byte 4 RSB BO RC1 1 First record chaining performed counts as carried out if after the first record with further switching MC 1 Status byte 4 RSB B1 RCC 1 Record chain has been processed to the end of the chain only valid when MC 1 Notes FHPP The CCON STOP bit stops the active sequence and discards the current motion task With the bit CPOS HALT a sequence can be stopped it can be continued and concluded if CPOS START is set again
209. nsferred parameters and values are checked by the SFC LACI before being accepted Note gt In the case of invalid parameters or values an error message will not appear in the response rather the re ceived value will always be returned Echo Recommendation Check that values have been written correctly by downloading the current contents of the object with a subsequent Read command The higher level controller must compare the sent command with the Echo from the SFC LACI and check the checksum Note gt The following applies when writing the objects Discrete values values from a value list an invalid value will not be accepted the previously valid value will be retained Continuous values e g lengths speeds etc an impermissible value will be limited to the nearest permitted value Festo GDCP SFC LACI DN EN en 0812NH C 9 C Clinterface Error messages Checksum lt PS gt C 10 If there are errors in the commands e g syntax errors transmission errors the value lt OxOOFF gt will be transmitted object 2FFOh instead of the usual reply Possible causes Incorrect initial character separating character or empty character Incorrect hex digit Incorrect value type If checksum checking of telegrams received from the SFC LACI was activated see Cl object 20F3h then the higher level controller must also provide a checksum before the termination character CR Carriage return
210. o GDCP SFC LACI DN EN en 0812NH Caution Interruption of running tasks due to inadequate load voltage supply LOAD POWER DOWN e Make sure that the load voltage supply tolerance can be maintained at full load directly on the voltage terminal of the SFC LACI see section 32 Caution Loss of reference position due to inadequate logic supply voltage e Always carry out a homing run every time the logic voltage supply is switched on in order to anchor the measuring reference system to the reference point REF The SFC LACI does not carry out any positioning tasks if it is not referenced 5 5 5 Commissioning 5 1 3 Before switching on A 5 6 When the SFC LACI is switched on the controller interface is activated as standard HMI off Caution Unexpected movements of the drive due to incorrect parameterising e Make sure that there is no active ENABLE signal when switching on the SFC LACI on the controller interface e Parameterise the entire system completely before activating the controller with ENABLE or HMI on Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 1 4 Simultaneous attempts to access the controller Caution Simultaneous or alternating attempts to access the SFC LACI via FCT control panel and controller interface can cause unpredictable errors e Make sure that the FCT the control panel and the controller interface of the SFC LACI are not used at the same time Note
211. ode Bit 1 Velocity mode Bit 2 Profile velocity mode Bit 3 Profile torque mode Bit 4 Reserved Bit 5 Homing mode Bit 6 FHPP Continuous Mode Interpolated Position Mode Bit7 31 reserved Cl 6502h 00h uint32 DeviceNet C 100 A 45 I 1 uint32 Controller Serial Number PNU 114 1 124 char Description Serial number of the controller e g K402P1212345 Cl 2072h 00h V String DeviceNet C 100 A 8 I 1 Short string Controller Type PNU 115 uint16 Description SFC LACI 10 0x10 without display 0x11 with display SFC LACI PB 0x12 without display 0x13 with display SFC LACI CO 0x14 without display 0x15 with display SFC LACI DN 0x16 without display 0x17 with display Cl 20E3h 00h uint16 DeviceNet C 100 A 6 1 1 uint16 Festo GDCP SFC LACI DN EN en 0812NH B 43 B Parametrizing via field bus Manufacturer Device Name PNU 120 1 304 char r Description Manufacturer s name for the device SFC LACI Cl 1008h 00h V String r DeviceNet C 100 A 9 I 1 Short string r User Device Name PNU 121 1 244 char rw Description Device name assigned by user Max 24 characters ASCII 7 bit Default motor001 Cl 20FDh 00h V String rw DeviceNet C 100 A 10 1 1 Short string r Drive Manufacturer PNU 122 1 304 char r Description Festo AG amp Co KG Cl 6504h 00h V String r DeviceNet C 100 A 11
212. ode Work Load PNU 544 uint32 rw Description Applied load mass of the workpiece in g Note The mass of a tool mounted on the piston rod or front plate of the drive which remains the same for all positioning records is entered in object 6510 51h Cl 20E8h 22h uint32 rw DeviceNet C 104 A 10 1 34 uint32 rw Direct Mode Jerk Deceleration PNU 547 uint32 rw Description Jerk when decelerating in direct mode in Inc s The internal calculation is done with 1 49 of the value Note The damping time when positioning in direct mode is specified in PNU 1023 Cl 21E1h 22h uint32 rw DeviceNet C 104 A 16 1 34 uint32 rw Festo GDCP SFC LACI DN EN en 0812NH B 85 B Parametrizing via field bus Direct mode Force mode Torque Force Slope PNU 550 uint32 r Description Speed with which the force changes Cl 6087h 00h uint32 r DeviceNet C 105 A 50 1 1 uint32 r Force Target Window PNU 552 uint16 rw Description Target window of the force This is the amount by which the actual force may differ from the setpoint force in order to be interpreted as still being in the target window The width of the window is twice the value transferred with the target position in the centre of the window The value is specified in 1 1000 of the rated torque 6076h PNU 1036 Value range 0 65535 Default 100 Cl 60F6h 03h uint16 rw DeviceNet C 105
213. ofile Velocity Cl 6081h 00h Var int32 rw Description Final speed for a positioning procedure in Increments s The value will be saved in the positioning record table in the line addressed by object 2032h in the column intended No movement is made at this point See 20E0 03h Profile Acceleration Cl 6083h 00h Var uint32 rw Description Acceleration for a positioning movement in Increments s see 6081h and 20E0 04h Profile Deceleration Cl 6084h 00h Var uint32 rw Description Deceleration for a positioning movement in Increments s Torque Force Profile Type Cl 6088h 00h Var int16 r Description Type of profile with which a force modification is undertaken Fixed 0x0000 Linear ramp C 30 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface Supported Drive Modes Number Cl 6502h 00h Var uint32 r Description Fix 69h 105d Bit 0 Profile position mode Bit 1 Velocity mode Bit 2 Profile velocity mode Bit 3 Profile torque mode Bit 4 Reserved Bit 5 Homing mode Bit 6 FHPP Continuous Mode Interpolated Position Mode Bit7 31 reserved Drive Data cl 6510h Various Record r w Description General data of the SFC LACI Max Current 41h uint16 rw Identical to 6073h PNU 1034 Device Control 43h uint16 rw Identical to PNU 125 207Dh and PNU 1026 06 Controller Serial AOh uint32 r Serial number of the controller in format OxXDDMYYSSS
214. ofile position mode Profile torque mode Project zero point PZ Definition Pulse width modulation PWM R RAM Record chaining Record list Record selection Reference point REF Definition Reference switch Moving the Relative position specification Reply identifier AK Response identifier AK S Safety instructions SCON Scope of delivery Screw terminal adapter Festo GDCP SFC LACI DN EN en 0812NH 5 817 4 147 5247 5 3H B 65 7 4 1 187 1 10 1 10 1 1 3777 3777 La 5 61 B 657 5 30p 6P7 1 17 6 187 5 207p 4p7 B 187 B 16 5 39 3 247 D 9 D Index SDIR Serial interface Service Service and maintenance Set axis parameters Set axis type Software end positions Definition Factory settings Teach SPOS Standstill monitoring STOP Reaction when cancelling Strain relief Subindex IND B 157 Switching logic Definition Switching to next record T Target group Teach mode Teaching Teaching via field bus Technical data Terminating resistor Test run Text markings Tool load Definition Transmission errors 5 4 345p 147 5 977 4 147 4 147 1 1 5 1 5 1 5 407 5 74 XVI ve 3 187 3777 5 67 al 4 14 4 167 XVI 5 60 ppal M5p287 5 28 x ya C 197 Festo GDCP SFC LACI DN EN en 0812NH D Index Transmission protocol Cry U Units of measurement Conversion A Overview 1 1 V Value ranges permitted CH 7 Version R
215. oint The desired position can be approached in Jog mode Tool load For example the mass of a gripper attached to the piston rod or the front plate of the drive including mounting elements The tool load applies to all positioning records sef fjg 0 1 Index of terms and abbreviations XVII Contents and general instructions lu gt a o Tool load 2 Additional load The total of 1 and 2 see under Effective load in the operating instructions for the drive wo Fig 0 1 Tool load and additional load XVIII Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Field bus specific terms and abbreviations Term abbreviation Meaning 0x1234 or 1234h Hexadecimal numbers are marked by a prefixed Ox or by a suffixed h ATTR ATTRibute number BCD Binary coded decimal Bit strobe All slaves are scanned by the master with a command Serves for transmitting small amounts of data between a master and one or several slaves e g for synchronizing input or output data is not supported by the SFC LACI DN Cl Command Interface CLS CLasS object classification COS Cyclic The messages are sent either by the master or by the slave cyclically at a fixed time interval or when there is a change of state In COS messaging a message is generated cyclically if no status change occurs within a
216. on jerk Work load Applied load workpiece mass Time MC Damping time SAVE Saves parameters to the EEPROM gt Jog mode Move the drive using the arrow buttons BUS parameter Setting field bus parameters of the SFC LACI gt Password edit Set up a local password for the control panel 4 sectio 4 5 HMI control Preset the device control via the control panel 4 saai Tap LCD adjustment Rotate the display 180 Tab 4 2 Festo GDCP SFC LACI DN EN en 0812NH Menu commands overview 4 7 4 Control panel only type SFC LACI H2 4 3 Diagnostic menu In order to display the system data and the currently effective settings gt Diagnostic 1 Select the Diagnostic menu in the main menu lt Enter gt Pos set table AS 2 Select a menu command lt Enter System paramet DeviceNet Diag L SW information gt You can scroll through the data with the arrow keys ESC You can use the Menu key to return to the higher order menu Diagnostic Description Pos set table Nr Number of the positioning record a r e Absolute a or relative r positioning e energy optimised Pos Target position Vel Velocity acc Acceleration dec Deceleration Braking Work load Applied load workpiece mass ja Acceleration jerk ja Deceleration jerk tmc Damping time
217. ool mass 2 7 9 Enter positioning records 2 8 10 Carry out a test run Check motion behaviour reference points and working range Optimise as required gt 11 Check the function of the controller interface and note the instructions on operation Dr EY Tab 5 1 Commissioning steps Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 2 1 DeviceNet INIT PARAMETER ERROR Diagnostic lt menu gt Config lt Enter gt SFC LACI Des Xa 0 00 mm HMI off lt Menu gt DeviceNet MAC ID Baudrate I O Datalength ESC lt Menu gt lt gt OK lt Enter gt Set the field bus parameter e Switch the SFC LACI on During first commissioning or when the EEPROM has been deleted the error message DeviceNet INIT PARAMETER ERROR will appear In order to set the field bus parameters during first commissioning or after deletion of the EEPROM e Select Config lt Enter gt For modifying the field bus parameters when re commisioning i e when these parameters have already been completely parameterised once Select Settings BUS parameter see also section4 5 1 Select the desired field bus parameter with the arrow keys details see next page 2 Press lt Enter to display the current setting 3 If necessary modify the setting with the arrow keys 4 Accept the setting with OK lt Enter gt The setting is saved against network failure Note The set field
218. orce In of the rated force see sectiof 5 7 point 7 5 8 new Position in increments Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 5 5 Description of the control bytes CCON CPOS CDIR CCON With control byte 1 CCON all the states are controlled which must be available in all operating modes The cooperation of the control bits can be found under the description of the drive functions in section 5 6 Control byte 1 CCON Bit EN Description BO Enable Drive 1 Drive controller enable ENABLE 0 Drive controller blocked B1 Stop 1 Enable drive STOP Any error will be deleted 0 STOP active The axis stops with the fast stop ramp Quick Stop or with the normal stop ramp compare PNU 1020 605Dh The positioning task counts as finished B2 Brake If the SFC LACI is not in the ready state BRAKE Status word does not equal operation_enable 0 Close brake clamping unit 1 Open brake clamping unit In the ready condition the controller takes over control of the brake output Control of the output via the PLC is then not possible B3 Reset Fault With a rising edge a fault is acknowledged and the fault RESET number is deleted B4 reserved must be at 0 B5 Lock HMI access Controls access to the parameterisation interface LOCK 1 MMland FCT may only observe the drive the device control HMI control cannot be taken over by MMI and FCT 0 MMI or FC
219. ouble word 6 Number of array elements transferred 7 Task cannot be carried out with error number see following table 11 Parameter value transferred byte 12 Parameter value transferred array byte Tab B 6 Reply identifiers Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus If the task cannot be carried out an error number will be transmitted in the reply telegram octets 7 and 8 of the FPC range Error number Description OOOO OO 0 0x00 Non permitted PNU The parameter does not exist 1 0x01 Parameter value cannot be modified read only 3 0x03 Faulty subindex 4 0x04 No array 5 0x05 Incorrect data type 9 0x09 Description data do not exist 11 Ox0A No control sovereignty 13 Ox0C Text not legible in cyclic exchange 22 0x16 Impermissible attributes number of elements PNU or IND 24 0x18 Write Request number of values not permitted Tab B 7 Error numbers Festo GDCP SFC LACI DN EN en 0812NH B 19 B Parametrizing via field bus B 2 3 Rules for job reply processing Rules Description 1 If the master sends the identifier for No Task the SFC LACI replies with the response identifier for No Reply 2 Ajob or reply telegram always refers to a single parameter 3 The master must continue to send a task until it receives the appropriate reply from the SFC LACI 4 The master recognises the reply to the job placed by evaluating the
220. ow 80 C Electromagnetic compatibility EMO Y interference immunity and interference emission See declaration of conformity www festo com Vibration As per DIN EN 60068 part 2 6 0 15 mm travel at 10 58 Hz 2 g acceleration at 60 150 Hz Shock As per DIN EN 60068 part 2 27 15 gat 11 ms duration 5 shocks per direction Mounting Wall or DIN H rail mounting Dimensions Approx 247 x 120 x 66 mm without plug Product weight Approx 1500 g Festo GDCP SFC LACI DN EN en 0812NH 1 The componentis solely intended for use in industrial environments A 3 A Technical appendix Electrical data Load voltage supply Power connection pins A1 A2 Nominal voltage 48 VDC 5 10 Load power down lt 36 V Nominal current max continuous 10A motor current Peak current 20A Logic voltage supply Power connection pins 1 2 Nominal voltage 24 VDC 10 Nominal current 3 8 A when using the local digital outputs see sectio 13 2 Protection against electric shock By means of PELV power circuit protection against direct and indirect Protected Extra Low Voltage contact as per IEC DIN EN 60204 1 Parameterising interface specification RS232 38400 Baud see chapter 315 DeviceNet data Version Physical layer As per ISO 11898 corresponds to DS102 Data link layer As per CAN specification 2 0 DeviceNet specification As p
221. panel only with type SFC LACI H2 see section 4 5 6 ang 5 2 1 or e with the Festo Configuration Tool see help for the Festo Configuration Tool 2 Configure the master section 54 2 install the EDS file or make settings manually 3 Test the field bus connection Festo GDCP SFC LACI DN EN en 0812NH 5 27 5 Commissioning 5 4 2 Configuration of the DeviceNet master I O configuration Configuration with EDS file Manual configuration 5 28 EDS files are available for configuring the DeviceNet master These files are installed with the aid of the configuration software of the DeviceNet master The detailed procedure can be found in the manuals for this software Obtainable from The accompanying CD contains EDS files for the SFC LACI in the DeviceNet folder You will find the latest EDS files on the Festo website at www festo com download EDS file For the SFC LACI you will require one of the following EDS files in English SFC LACI DN_08 Revx_y eds 8 bytes of I O data or SFC LACI DN_16 Revx_y eds 16 bytes of I O data transmitted in 3 telegrams Only one EDS file can be installed Graphics file SFC LACI ico Vendor Code 26 1Ah Product Type 12 0Ch Product Code 9011 decimal The corresponding device information can also be found in the EDS file under Device Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Allen Bradley Omron Su
222. parameter Setting the field bus parameters 76 Password edit Setting up a password for the control panel 745 7 Tab 4 5 Settings menu Note The set parameters take effect immediately after confirma tion with OK Enter e Use SAVE to permanently save the settings in EEPROM Only then will the settings be retained after switching off the power supply or in the ev power failure Festo GDCP SFC LACI DN EN en 0812NH even ent of a 4 13 4 Control panel only type SFC LACI H2 4 5 1 Settings Axis type The connected drive is automatically detected 4 5 2 Settings Axis parameter Teach mode for setting the axis parameters e Observe the instructions in sectiong 52 5 ang5 2 6 Axis parameter Description Zero point Offset axis zero point SW limit neg 9 Software end position negative SW limit pos Software end position positive Tool load Tool mass e g a gripper on the front plate piston rod SAVE Save parameters in EEPROM Teaching is only possible after a successful homing run Note gt A new homing run must always be carried out after mod ifying the axis zero point The project zero point PZ can only be set via FCT or PNU 500 Cl 21F4h 4 14 Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 4 5 3 Settings Homing paramet Setting the homing method and the speed during referenc
223. pecified Hyphens indicate general activities Festo GDCP SFC LACI DN EN en 0812NH XIII Contents and general instructions SFC LACI motor controller manual Type Brief overview descriptions on CD ROM This manual contains basic general information on operating mounting installing and commissioning the positioning systems with the motor controller SFC LACI DN It also contains information on the functions of the DeviceNet interface as well as information on commissioning with the Festo Configuration Tool FCT software package Information on additional components can be found in the operating instructions supplied with the product Designation Contents Brief overview Important initial information and documentation overview CD Includes descriptions as listed below Description Motor controller SFC LACI GDCP SFC LACI DN nstallation commissioning and diagnosis of positioning systems with the SFC LACI with communication via DeviceNet Help system for software Festo Configuration Tool help contained in FCT software Functional descriptions for the Festo Configuration Tool configuration software Further descriptions as per control interface Variants GDCP SFC LACI 10 GDCP SFC LACI PB GDCP SFC LACI CO nstallation commissioning and diagnosis of electric drives with the SFC LACI with communication via a different control interface Operating instruction
224. pport of the Auto Device Replacement ADR from Allen Bradley In its master controllers Rockwell Automation offers a special function that supports the slave stations with automatic para meter setting when a device is exchanged during servicing All of the parameters with write access addressed in the EDS file are uploaded by the master after commissioning and saved in the scanner of the controller Upon network startup the parameter values are automatically downloaded to the slave via Explicit Messaging This means that devices can be exchanged in the system without an FCT project Support of the Autoconfigmode on Omron controllers With Omron controllers the DeviceNet slaves are configured by an Autoconfig mode A setpoint configuration via the DeviceNet Configurator software is not necessary The current network configuration automatically becomes the setpoint configur ation In addition the scanner automatically performs an I O mapping Festo GDCP SFC LACI DN EN en 0812NH 5 29 5 Commissioning 5 5 Festo Handling and Positioning Profile FHPP 5 5 1 FHPP operating modes The FHPP operating modes differ regarding their contents and the meaning of the cyclic 1 0 data and in the functions which can be accessed in the SFC LACI Operation mode Description Record selection Atotal of 31 position sets positioning tasks can be saved in the SFC LACI Arecord contains all the parameters which are required for a positioning task
225. pposite direction Ifa reference signal is found there the drive runs through the switching range of the reference switch The reference point is subsequently the following index pulse at the end of the switching range If a reference signal is not found when homing to the limit switch before the drive reaches a fixed stop then homing is interrupted and a homing error is registered Note Homing error due to incorrect positioning of the limit switches e Position the limit switches such that the switching range extends over the nearest fixed stop or end position There must no range between the limit switch and fixed stop or end position in which the limit switch is not actuated undefined range e Note that ferritic elements e g mounting attachments in the vicinity of magnetic switches can move the switching range Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 1 7 Homing methods to the stop Exact homing by reference to a fixed stop can only be carried out against externally fitted stops without rubber buffer or similar Therefore you should preferably use the homing methods to switch Homing methods to the stop Negative fixed stop retracted end position near to motor Offsetref Positive fixed stop extended end position remote from motor 1 The drive here DFME LAS moves at search speed v_rp to the fixed stop reference point
226. r O no job must be sent and the Response identifier 0 no reply must be awaited between two consecutive jobs with the same job identifier AK parameter number PNU and subindex IND Evaluating errors In the case of jobs which cannot be carried out the slave replies as follows Output of response identifier 7 Output an error number in bytes 7 and 8 of the parameter channel FPC Festo GDCP SFC LACI DN EN en 0812NH B 21 B Parametrizing via field bus B 2 4 Example of parameterising via FPC A record in the position set table can be parameterised via FPC in the following manner Step 1 Output status of the 8 bytes of FPC data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex Req D ResID PNU Parameter value O data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Step 2 write record number 1 with absolute positioning PNU 401 subindex 2 Modify parameter value array byte ReqID 12 OxC with value 0x00 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex Req D ResID PNU Parameter value O data 0x00 0x02 OxC1 0x91 Unused Unused Unused 0x00 data 0x00 0x02 OxC1 0x91 0x00 0x00 0x00 0x00 Step 3 After receiving the input data with ResID OxC send output data with ReqID 0x0 and wait for input data with ResID 0x0 Byte 1 By
227. record 31 Record control byte 1 Positioning record 31 Jog Mode 401 33 Record control byte 1 for jog mode Direct Mode 401 34 Record control byte 1 for direct mode Cl 20EAh 01h 22h uint8 rw Note The object 20E0h 01h is provided for access via Cl DeviceNet C 104 A 1 1 1 34 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B 67 B Parametrizing via field bus Record Control Byte 2 PNU 402 1 324 Array uint8 rw Description Record control byte 2 For record selection Switching condition for chained records see sectio T5 6 5 Values BitO 0Norecord chaining 1 Record chaining Bit7 0 Record chaining is not locked out 1 Record chaining is locked out Record 0 402 1 positioning record 0 Do not use Homing Record 1 402 2 positioning record 1 Record control byte 2 Positioning record 1 Record 402 positioning record Record control byte 2 Positioning record 2 30 Record 31 402 32 positioning record 31 Record control byte 2 Positioning record 31 Cl 20EBh 01h 20h uint8 rw DeviceNet C 104 A 2 l 1 32 uint8 rw B 68 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Target Position PNU 404 1 344 int32 rw Description Target positions in Increments Record 0 404 1 positioning record 0 Do not use Homing R
228. red Restart only after the temperature has dropped below the lower threshold see PNU 1068 Cl 6510h 34h uint16 rw DeviceNet C 107 A 89 I 1 uint16 rw Power Supply PNU 1070 int32 rw Description Output of power supply unit in W Value range O 3000 W Default 960 W The nominal power rating must be stated exactly Rounding e g from 960 W to 1000 W is not permitted Cl 6510h 50h int32 rw DeviceNet C 107 A 57 I 1 int32 rw Tool Load PNU 1071 uint32 rw Description Tool load e g a gripper on the front plate or piston rod of the drive Cl 6510h 51h uint32 rw DeviceNet C 107 A 58 l 1 uint32 rw B 106 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Start Delay Commutation PNU 1072 uint32 rw Description Waiting time ms between ENABLE and the start of the commutation point search Default 0 ms During the search for the commutation point the drive vibrates If several drives are fitted in a system which can vibrate and if the search for the commutation point is made at the same time it may happen that the vibrations are superimposed and the complete system vibrates in an uncontrolled manner The drives cannot then complete the search for the commutation point successfully e Inthis case start the search for the commutation point of the drives at staggered intervals by enabling the drives at staggered intervals v
229. ree a bse bee dodo a8 Sis ere wig a ane Sodio SNe ww ea ess ABT Accessorie Sied da AP Converting the units of measurement 00 cece cece eee e ee eee A 7 Parametrizing via field buS oooooooomooomoooroomoo o B Parameterising via Explicit Messaging o ooooooocmommmommo B 97 B 1 1 DeviceNetClasses oooooooommoommorrrcrso eee eens B P B 1 2 Parameter overview class attribute instance B Parameterisati nvia PPC cocida B 1 B 2 1 Structure of the Festo Parameter Channel FPC B 157 B 2 2 Task identifiers response identifiers and error numbers B 17 B 2 3 Rules for job reply processing cee eee eee eee eee eee B 20 B 2 4 Example of parameterising via FPC oooooocoooooomooo o B 2 FHPP finite state machine ooooooooccoorcorcaocnnornornoooo B 247 B 3 1 Create readiness to operate 2 eee eee eee eens B 26 B 3 2 Position ceros soi B 27 Reference FHPP Parameters ccc cece cece eee e eee e eee neeeee B 3 B 4 1 FHPP parameter groupS cece ce cee eee eee eee B 30 B 4 2 Overview of parameter numbers PNU ooooooo oo o B 3F B 4 3 Representation of the parameter entries 00 B 4 B44 Deyi c data are a did B 447 B45 DidSn0siS vscccecdekceciwdsteussade tebe aE REE ea dees bas B 487 B 4 6 Process Data escorias os e o its Saw Be B 55 B 4 7 Positioning record table Record list
230. reference point If necessary teach the axis zero point Warning The drive will move during teaching e Make sure that nobody can reach into the positioning range of the moveable load and that there are no objects in its path 1 Select Settings Axis parameter Zero point 2 Move the drive manually to the desired axis zero point using the arrow keys 3 Accept the position reached with OK Enter 4 Save the parameter settings in EEPROM with the SAVE menu command 5 Perform another homing run see sectiom 5 2 4 When homing is concluded the drive stands at the new axis zero point Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning P Festo GDCP SFC LACI DN EN en 0812NH Note If the axis zero point is modified Existing software end positions and the target positions in the position set table will be shifted together with the axis zero point e Teach the software end positions and the target positions again if needed The project zero point PZ can only be set via FCT or NU 500 Objekt 21F4h 5 17 5 Commissioning 5 2 6 Teach software end positions Factory settings by homing method Homing method Factory settings mm Reference switch SW limit neg 0 AZ 0 mm SW limit pos nominal stroke 10 Negative stop SW limit neg 0 AZ 1 mm SW limit pos nominal stroke Positive stop SW limit neg negative nominal stroke AZ 1 mm SW limit pos 0
231. resetting with record number Local Digital Output 1 Direction Value ON 1245 Local digital output 1 setting edge Local Digital Output 1 Direction Value OFF 1246 gt Local digital output 1 resetting edge Local Digital Output 1 Delay 1247 Local Digital Output 1 Inverted 1248 5 Local Digital Output 2 Function 1250 Local Digital Output 2 Trigger ON 1251 Local Digital Output 2 Trigger OFF 1252 Local Digital Output 2 Value ON 1253 5 Local Digital Output 2 Value OFF 1254 Local Digital Output 2 Direction Value ON 1255 Local Digital Output 2 Direction Value OFF 1256 Local Digital Output 2 Delay 1257 Local Digital Output 2 Inverted 1258 Local Digital Output 2 PWM Value 1259 B 38 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Name PNU SI aaaea Limit Switch Polarity 1300 Limit Switch Selector input for limit switch 1301 Homing Switch Selector input for reference switch 1302 Homing Switch Polarity 1303 Limit Switch Deceleration 1304 Sample Input input for on the fly measurement 1305 Sample Switch Polarity 1306 Brake Delay Time Switch ON 1310 Brake Delay Time Switch OFF 1311 Automatic Brake Time activation time of the automatic brake 1312 Festo GDCP SFC LACI DN EN en 0812NH B 39 B Parametrizing via field bus B 4 3 Representation of the parameter entries
232. rising interface o ooooooommmmoo CF C 1 2 Accessing the Cl objects cece ccc eee eee eens Cy C 1 3 Access via a terminal program eee eee eee ee eee CH C 1 4 Composition of the Clcommands 2 cece ee eee CF CIS Checking therdata vacios saben dates ii Cry C 2 RererencesCl percata ae aaa att maine ween C 147 C 2 1 Object overview Index Subindex o o o oooooooooo o C 1 C 3 Description of additional Cl objects eee eee ee eens C26 C 3 1 Communication Profile Area ccc cece eee eee eee C 2 C 3 2 Manufacturer Specific Profile Area ee ee eee eee eee C287 C 3 3 Standardised Device Profile Area o o oooooommmmmo C297 C 2 Festo GDCP SFC LACI DN EN en 0812NH C Clinterface C 1 The Cl interface C 1 1 Using the param Festo GDCP SFC LACI DN EN en 0812NH eterising interface The parameterising interface RS232 can be used to access the objects of the Command Interpreter CI for the SFC LACI The FCT accesses the Cl objects too 1 Parameterising interface RS232 Caution Not using the parameterising interface as designated causes injury to people and material damage The parameterising interface RS232 is not electrically isolated and not real time capable It is not intended for permanent connection to PC systems or as a controller interface Controlling the SFC LACI via RS232 requires among other
233. rminating resistor Install a terminating resistor using the adapters Ifthe SFC LACI you are connecting is at the end of the field bus you must install a terminating resistor 120 Q 0 25 W in the field bus socket e Connect the terminating resistor between the cores for CAN_H and CAN_L Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 9 Local digital inputs and outputs Out1 Out2 In1 In2 Connection Pin Function Output 1 3 Ground GND Out1 4 Signal 1 24 VDC logic voltage output Output 2 3 Ground GND Out2 4 SignalA 1 Signal A Input 1 3 Ground GND In1 4 Proximity sensor contact 1 24 VDC voltage output for proximity sensor Input 2 3 Ground GND In2 4 Proximity sensor contact 1 24 VDC voltage output for proximity sensor Festo GDCP SFC LACI DN EN en 0812NH 3 27 3 Installation 3 9 1 A 3 28 Specifications of the outputs The local digital outputs are supplied by the 24 V logic voltage no electrical isolation They are ESD protected and short circuit proof but do not have reverse polarity protection against infeed Caution If 24 V DC voltage is applied and the output pins are used incorrectly the device may be seriously damaged Therefore e Do not apply voltage to the outputs e Note the current limitation for the outputs max 1 A permissible per output Special features of output 1 Out1 Standard PLC ou
234. ry Contents 1 1 OVNI adidas a 1 97 LAA COMPONEN ES acid se sis 1 P 1 1 2 Operating principle ino id aos sti 1 1 1 3 Operationalreliability oooooooooorrommoor m 1 7 1 1 4 Operating modes of the SFC LACI DN o ocooooooococo ooo 1 10 1 1 5 Measuring reference system ooooocccococccnnrncmnono 1 1 1 1 6 Homing methods to switch with index search 1 14 1 1 7 Homing methods to the stop cee e eee eee eee eee 1 17 1 2 COMMUNICALION isso eriat ttt da EERE i AA a 1 1 1 2 1 Data exchange via DeviceNet cece cece eee eens 1 18 1 2 2 Festo handling and positioning profile FHPP 1 28 1 3 COMMISSIONING OPTIONS sevi ei o a woe A eee ES 1 267 1 2 Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 1 Overview 1 1 1 Components Higher order control e 2 Software level Festo Configuration Tool FCT 3 Controller level SFC LACI Drive level DFME LAS or DNCE LAS Fig 1 1 Principle of a positioning system with the SFC LACI Festo GDCP SFC LACI DN EN en 0812NH 1 3 1 System summary SFC LACI Drive Power supply unit 24 V Power supply unit 48 V Power supply cable Motor cable Encoder cable Programming cable Field bus cable 1 4 To construct a positioning system with the SFC
235. s Drives DFME LAS DNCE LAS Installing and commissioning the drive XIV Festo GDCP SFC LACI DN EN en 0812NH Contents and general instructions Information on the version The hardware version specifies the version status of the mechanical and electronic components of the SFC LACI The firmware version specifies the version status of the operating system of the SFC LACI You can find the specifications on the version status as follows Hardware version and firmware version under Device data in the Festo Configuration Tool when there is active linkage to the SFC LACI Firmware version on the control panel under Diagnostic SW information Firmware What is new Which FCT Plugin version from V 01 00 Motor controller mit DeviceNet interface SFC LAC V 03 00 Type SFC LACI DN supports the following drives DNCE LAS DFME LAS Festo GDCP SFC LACI DN EN en 0812NH XV Contents and general instructions Product specific terms and abbreviations Term abbreviation Meaning 0 Signal There is a O V signal present at the input or output positive logic corresponds to LOW 1 Signal There is a 24 V signal present at the input or output positive logic corresponds to HIGH Acknowledge Confirm reply message e g Acknowledge START Acknowledge an error The user confirms that he has noted the error The device then leaves the
236. s set during commissioning or exchange Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 2 2 Setting the homing run parameters The reference point is determined as follows depending on the homing method by means of the drives integrated reference switch with a subsequent index search recommended or by means of a fixed stop to be fitted externally by the customer For homing to the switch only the drive s integrated reference switch can be selected on the control panel Use the FCT for parameterising if you require further options The homing run process is described in section 1 1 6 You can set two different speeds for searching for the reference point and for the subsequent run to the axis zero point The maximum speed is subject to built in limits Festo GDCP SFC LACI DN EN en 0812NH 5 11 5 Commissioning 5 12 When homing to a fixed stop 1 Measure the distance between your reference point and the retracted end position Offsetrer P Tpb 1 3 2 Enter the value 1 mm in FCT or via the object 6410 16h PNU 1055 Note Controller inaccuracies If you do not enter the offset of the reference point control inaccuracies e g overshooting can occur with small 100 mm and large nominal strokes 400 mm When homing to the drive s integrated reference switch the reference point position is known 6 mm and must not be entered This reference switch must not be moved Caution Dam
237. sages I O Messaging 1 0 messages are sent by a station and can be received and processed by one or more stations For I O messages the following dialogues are possible between the stations the slaves are interrogated cyclically by the master Polled 1 0 or the messages are sent either by the master or by the slave cyclically or when there is a change of state COS Cyclic or all slaves are scanned by the master with a command Bit Strobe is not supported by the SFC LACI The data field contains exclusively user data no protocol data are specified All information on using the data are saved in the assigned Connection Object Up to 64 field bus nodes can be operated via the serial CAN bus in a DeviceNet network The extent of the network depends on the baud rate selected 125 kBaud 250 kBaud or 500 kBaud DeviceNet telegrams contain up to 8 bytes of user data If it is necessary to exchange larger amounts of data then the data are broken down by means of fragmentation before being sent transmitted sequentially and then put together again in the recipient This normally occurs automatically The configuration data contain the source and the destina tion address of the data for the sender and recipient of the messages Festo GDCP SFC LACI DN EN en 0812NH 1 19 1 System summary Object model Device profile Predefined connection 1 20 In DeviceNet data are accessed via objects E
238. scription Deceleration setpoint value for braking in Increments s The value applies only to positioning with force control the value is ignored Record 0 408 1 positioning record 0 Do not use Homing Record 408 positioning record Deceleration Positioning Record 1 30 Record 31 408 32 20h Positioning Record 31 Positioning record deceleration 31 Jog Mode 408 33 21h inching operation Deceleration in jog mode Cl 20EFh 01h 22h uint32 rw Subindex 20EF 22h PNU 542 Deceleration in direct mode Note The object 20E0h 04h is provided for access via Cl DeviceNet C 104 A 8 1 1 33 uint32 rw Festo GDCP SFC LACI DN EN en 0812NH B 73 B Parametrizing via field bus Jerk Acceleration PNU 409 1 334 uint32 rw Description Acceleration jerk in Increments s3 The calculation is done with 1 10 of the value Record 0 409 1 Positioning Record 0 Do not use Homing Record 409 positioning record Jerk for position records 1 30 Record 31 409 32 20h Positioning Record 31 Jerk with positioning record 31 Jog Mode 409 33 21h Jerk in jog mode Cl 20E7h 01h 22h uint32 rw Subindex 20E7 22h PNU 543 Jerk in direct mode Note The object 20E0h 05h is provided for access via Cl DeviceNet C 104 A 9 1 1 33 uint32 rw B 74 Festo GDCP SFC
239. scription of the I O data Direct mode o o o 5 357 5 5 5 Description of the control bytes CCON CPOS CDIR 5 3 5 5 6 Description of the status bytes SCON SPOS SDIR RSB 5 37 5 5 7 Examples of control and status bytes FHPP standard 5 4 5 2 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 6 Drive FUNCIONS saca AS a 5 5 E Goes dow ak 5 5 562 JOS mode cias 5 5 5 6 3 Teaching via field bus cece cece eect eee eens 5 6 5 6 4 Record selection Carrying out a record 0 eee eee 5 6F 5 6 5 Record selection Switching to next record oooooooooo 5 6 5 6 6 Direct mode Specification of a position or force 5 6 5 6 7 Direct mode Continuous setpoint specification Continuous Mode 5 7 5 6 8 Standstill monitoring oooooooocrrorrrrrornnono 5 74 5 6 9 Using hardware enable ccc cece cece eee ee eeeee 5 7 5 6 10 Using the local digital outputs 0 cece eee eee eee 3 777 5 6 11 Using a brake clamping unit 0 0 cc eee cece eee eee 5 8 5 6 12 Position sampling on the fly measurement o o o o 5 8 5 7 Notes on Opera Matera wise was and oprsne ace dicos ld os 5 87 Festo GDCP SFC LACI DN EN en 0812NH 5 3 5 Commissioning 5 1 Preparations for commissioning Warning Danger of injury Electric axes can move suddenly with high force and at high speed Collisions can lead to
240. serious injury to human beings and damage to components e Make sure that nobody can reach into the operating range of the axes or other connected actuators e g with a protective grille and that no objects lie in the positioning range while the system is still connected to a power supply For commissioning the mechanical system must be confi gured and a measuring reference system must be defined see Thb 1 1 By means of the measuring reference system all positions are defined and movement can be made to them e g with a positioning record from the position set table e Carry out parameterising and commissioning by means of the control panel or FCT as described in the following chapters and in the FCT Plugin help e Check the default settings in the Diagnostic menu e Upon completion of commissioning note the instructions for operation in the FCT Plugin help and in section 5 7 5 4 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 1 1 Checking the drive gt Note During operation the drive must not strike a stop without shock absorption e Use shock absorbers or buffers on all stops exception homing to a fixed stop Before commissioning make sure that drive and controller are completely set up and wired and that the working space is adequate for operation with an effective load Observe the notes in the operating instructions for the axis used 5 1 2 Checking the power supply A A Fest
241. settings see sectio T5 2 5 The drive is no longer referenced after the axis zero point has beer modified Cl 607Ch 00h int32 rw DeviceNet C 107 A 20 I 1 int32 rw Homing Method PNU 1011 uint8 rw Description Homing method Values Function 1 0x01 Search for limit switch in negative direction with index search 2 0x02 Search for limit switch in positive direction with index search 7 0x07 Search for reference switch in positive direction with index search 11 0x0B Search for reference switch in negative direction with index search 18 OxEE Search for stop in positive direction 17 OxEF Search for stop in negative direction The drive is no longer referenced after the homing method has been modified Cl 6098h 00h uint8 rw DeviceNet C 107 A 21 I 1 uint8 rw Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Homing Velocities PNU 1012 1 2 int32 rw Description Speeds during homing Search REF 1012 1 Speed when searching for the reference point REF in Inc s Search AZ 1012 2 Speed of travel to the axis zero point AZ in Inc s Cl 6099h 01h 02h int32 rw DeviceNet C 107 A 22 23 1 1 int32 rw Homing Required PNU 1014 uint8 r Description Defines whether or not homing must be carried out after switching on in order to carry out positioning tasks Fixed 0 Homing run must be carried out Cl 23F6h 00h
242. ss Tighten the union nuts locking screws on the plugs by hand seal unused M8 connections with type ISK M8 protective caps accessories Observe the tightening torques specified in the documentation for the cables and plugs used Festo plugs which comply with protection class IP20 screw terminal adapter type FBA 1 SL 5POL field bus plug FBS SUB 9 WS CO K 3 5 3 Installation 3 2 Power supply A 3 6 Warning e Use only PELV circuits as per IEC DIN EN 60204 1 for the electric power supply protective extra low voltage PELV Take into account also the general requirements for PELV circuits as per IEC DIN EN 60204 1 e Use only power supply units that guarantee reliable electrical isolation ofthe operating voltage as per IEC DIN EN 60204 1 Protection against electric shock protection against direct and indirect contact is guaranteed in accordance with IEC DIN EN 60204 1 by using PELV circuits electrical equipment of machines general requirements Note Note that the tolerances of the voltage supply must also be observed directly at the voltage supply connection of the SFC LACI e For the power supply use only the cables specified in Lipp 3 2 e Use closed loop regulated power supply units that comply with the requirements described iq Tpb 3 4 Load voltage supply The use of power supply units with lower output levels is possible with restricted motion dynamics and loads To do this you need to en
243. ssage in the control panel display 2 Flashing frequency 1 Hz 3 Flashing frequency 2 Hz i e colour changes every 250 ms without going dark Tab 6 5 I F LED 6 6 Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display 6 3 Error messages Malfunction Malfunctions can have different levels of severity A warning or a fault message is displayed depending on the level of severity Warning Error message Messages Messages inform about operating states Message Cause Attention Message before the start of a positioning Motor moves movement After confirmation with the lt Enter gt button the drive moves Please wait The commuting point is being sought Commut Point The drive vibrates for a few seconds evaluation is active Dt Festo GDCP SFC LACI DN EN en 0812NH 6 7 6 Diagnosis and fault display Warnings Warnings have no influence on the behaviour of the drive The cause of the warning should be eliminated in order that it does not lead to a malfunction If a warning occurs the error LED will flash and the SCON B2 WARN output will be set FHPP status bits see section 5 5 2 Warning Cause PNU 215 Fault no INDEX PULSE During homing The homing switch signal lies too 0x0001 84 WARNING close to the index pulse In some cases this can mean that no reproducible reference position can be determined See sectio T8 6 WARNING Temp
244. st time with the ENABLE signal or HMI on the drive will spend a few seconds determining its commutation point vibrations Festo GDCP SFC LACI DN EN en 0812NH 5 13 5 Commissioning 5 2 4 Carrying out homing A 5 14 Overview Warning Danger of injury Electric axes move with high force and at high speed Collisions can lead to serious injury to human beings and damage to components e Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources Caution When the homing method is changed the axis zero point offset is reset to the factory settings see sectiom5 2 5 Existing parameterised software end positions and target positions already set in the position set table are shifted together with the axis zero point e Always carry out a homing run after changing the referencing method e Teach the offset of the axis zero point again if needed If the axis zero point is modified e Teach the software end positions and the target positions again if needed The homing run process is described in sectiom 1 1 6 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Positioning M Homing HT Move posit set Demo posit tab Start homing 1 Select Positioning Homing 2 Start the homing run with START lt Enter If necessary the homing run can be
245. stem e Only change the controller parameters with the aid of FCT e Follow the instructions in FCT for the controller parameters 1024 184 Cl 12h A 34 Position controller circuit frequency Value ran ge 1 1000 1024 194 Cl 13h A 35 Position controller damping Value range 100 5000 1024 204 Cl 14h A 36 Current cont roller gain Value range 100 10000 1024 214 Cl 15h A 37 B 96 Constant Current controller l share Value range 1 15000 Cl 60FBh 12h 15h int32 rw DeviceNet C 107 A 34 37 I 1 int32 rw Motor Data PNU 1025 1 3 uint32 r Description Serial Number 1025 1 A 44 Serial number of the motor 12t Factor 1025 3 A 45 12t factor See PNU 1027 Cl 6410h 01h 03h uint32 r DeviceNet C 107 A 44 45 1 1 uint32 r Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Drive Data E PNU 1026 Various uint32 r w Description General data of the SFC LACI Output Stage 1026 1 Cl 01h A 49 r Temp Temperature of the SFC LACI Range 20 120 C Output Stage 1026 2 Cl 02h A 50 r Max Temp Highest temperature measured to date for the SFC LACI in C Stored in EEPROM Max Current 1026 4 Cl 04h A 52 rw Current limiting Identical
246. still warning 0 After MC axis remains in tolerance window STILL 1 After MC axis remains outside tolerance window B7 Axis is Referenced 0 Driveis not referenced homing run must be carried out REF 1 Drive is referenced 5 40 Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Status byte 3 SDIR Direct mode Bit EN Description BO ABS Absolute Relative 0 Setpoint value is absolute 1 Setpoint value is relative to last setpoint value B1 COM1 Control Mode feedback 00 Positioning mode 01 Force control 10 reserved Become 11 Positioning mode energy optimised B3 CONT Continuous Mode Continuous setpoint specification 0 inactive 1 active B4 VLIM Speed V Limit reached With force control 1 Speed limit reached 0 Speed limit not reached B5 XLIM Stroke X Limit reached With force control 1 Stroke limit value reached 0 Stroke limit value not reached B6 FAST Reserved B7 FUNC Reserved Festo GDCP SFC LACI DN EN en 0812NH 5 41 5 Commissioning 5 5 7 Examples of control and status bytes FHPP standard 5 42 On the following pages you will find typical examples of control and status bytes as per FHPP standard 1 2 Create readiness to operate Record selection Create readiness to operate Direct mode Fault handling Homing run Positioning using record selection Direct mode Positioning mode Direct mod
247. sto GDCP SFC LACI DN EN en 0812NH 3 Installation 3 1 Installation overview A Warning Before carrying out fitting installation and or mainten ance work always switch offthe power supply In this way you can avoid Festo GDCP SFC LACI DN EN en 0812NH uncontrolled movements of the connected actuators undefined switching states of the electronic components damage to the electronic components Caution Faulty pre assembled lines may destroy the electronics and trigger unexpected movements of the motor e For connecting the electric components of the system use only the cables listed as accessories seg Tpb 3 2 e Lay all flexible lines so that they are free of kinks and free of mechanical stress if necessary use chain link trunking 3 3 3 Installation 1 Parameterising interface RS232 2 Controller interface 3 Power supply 4 Earth terminal 5 Local digital I Os 6 Motor connection e g DNCE LAS Fig 3 1 Connections to the SFC LACI Connection to the SFC LACI DN Description 1 Parameterising M8 socket 4 pin RS232 interface for parameterising commissioning and interface diagnosis via FCT sectio T3 5 2 Controller Sub D 9 pin plug Interface for connecting to a PLC controller interface gt sectio T3 6 3 Voltage supply Sub D 7WT plug
248. successfully found OxFE Error in commutation POSITION PLAUSIBILITY ERROR OxFF Error in commutation COMMUTATION POINT ERROR Cl 2050h 00h uint8 r DeviceNet C 107 A 74 l 1 uint8 r Record Power Consumption PNU 1057 uint32 r Description Power consumption in W during last positioning record Cl 6410h 17h uint32 r DeviceNet C 107 A 93 4 uint32 r Festo GDCP SFC LACI DN EN en 0812NH B 103 B Parametrizing via field bus B 104 Festo GDCP SFC LACI DN EN en 0812NH Positioning Time PNU 1058 uint32 r Description Duration of the last positioning motion in ms Cl 6410h 18h uint32 r DeviceNet C 107 A 94 ld uint32 r Actual Current PNU 1059 int32 r Description Actual current in mA Cl 6410h 19h int32 r DeviceNet C 107 A 95 1 1 int32 r Actual Coil Temp PNU 1060 int16 r Description Temperature of the coils of the linear motor Measuring range 20 120 C Cl 6410h 31h int16 r DeviceNet C 107 A 80 I 1 int16 r Max Coil Temp PNU 1061 int16 r Description Highest coil temperature measured to date motor Is saved in EEPROM Measuring range 20 120 C Cl 6410h 32h int16 r DeviceNet C 107 A 81 l 1 int16 r B Parametrizing via field bus Lower Coil Temp Threshold PNU 1062 uint16 rw Descript
249. t 14 0x4000 POSITION PLAUSIBILITY ERROR Bit 15 0x8000 COMMUTATION POINT ERROR Cl 2FF1h 00h uint16 rw DeviceNet C 108 A 1 I 1 uint16 rw Festo GDCP SFC LACI DN EN en 0812NH B 51 B Parametrizing via field bus DeviceNet Diagnosis PNU 206 1 6 Array uint8 r Description Read out the field bus diagnostic data Network Status 206 1 0x00 Bus is inactive missing bus power supply 0x01 Serious error 0x04 5 Error can be rectified e g Timeout 0x10 Active connection with DeviceNet Master 0x20 Device self test 0x40 50 No connection to DeviceNet Master Baudrate 206 2 Baud rate Values 0 2 4125 250 500 kBaud OxFF invalid baud rate 206 3 reserved MAC ID 206 4 Values 0 63 0x00 Ox3F 1 0 Datalength 206 5 0x10 8 bytes I O data length FHPP standard 0x11 16 bytes I O data length FHPP FPC 206 6 reserved Cl 2FF4h 01h 06h uint8 r DeviceNet C 109 A 1 2 4 5 1 1 uint8 r B 52 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Extended Device Errors A PNU 207 uint16 rw Description Reading or deleting the active device fault s Explanations of the error messages can be found in chapt 3 Diagnosis Writing lt 0 gt Delete all error messages in 2FF1h 2FFAh 2FFBh and 2FFCh Read BitO 1 Field bus fault configuration of the parameters Bit1 1
250. t 15 mm German GDCP SFC LACI DN DE English GDCP SFC LACI DN EN French GDCP SFC LACI DN FR Italian GDCP SFC LACI DN IT Spanish GDCP SFC LACI DN ES Swedish GDCP SFC LACI DN SV Festo GDCP SFC LACI DN EN en 0812NH A 5 A Technical appendix A 3 Converting the units of measurement DNCE LAS mm Inc DFME LAS Inc mm A 6 The Cl interface works with increments Inc Inc s Inc s Inc s3 The distance between two index lines north or south pole of the magnetic displacement encoder is 5 mm The resol ution of the measurement system is 11 bits which is the same as 20484 800p increments The increments are calcu lated by means of interpolation This results in the following conversions all figures are decimal eae a a Inc XMM x 2048 Inc 5 mm The distance between two index lines north or south pole of the magnetic displacement encoder is 2 mm The resolution of the measurement system is 11 bits which is the same as 20484 800 increments The increments are calculated by means of interpolation This results in the following conversions all figures are decimal x Inc m a e oe Inc XMM x 2048 Inc 2 mm Festo GDCP SFC LACI DN EN en 0812NH Parametrizing via field bus Appendix B Festo GDCP SFC LACI DN EN en 0812NH B 1 B Parametrizing via field bus Contents B 1 Parameterising via Explicit Messaging 0 cece eee e
251. t Menu gt lt gt OK lt Enter gt 4 6 Status display and main menu When the logic voltage is switched on the SFC LACI carries out an internal check During the first commissioning or when the EEPROM is deleted the error message DeviceNet INIT PARAMETER ERROR will appear as the field bus parameters are not parameterised see section 52 1 When the device is switched on again i e when the field bus parameters have already been completely parameterised once the display will show briefly the Festo logo then change to the status display The status display shows the following information The type designation of the SFC LACI The type of connected drive The position of the drive x still without significance when unit is switched on The current setting of the device control HMI Human Machine Interface The main menu is accessed from the status display using the lt Menu gt key The currently active key function is displayed in the lower lines of the LCD display Festo GDCP SFC LACI DN EN en 0812NH 4 Control panel only type SFC LACI H2 Menu command Diagnostic Description Displays the system data and the settings currently in effect lt gt saate pap gt Pos set table gt Axis parameter gt System paramet DeviceNet Diag SW information Displays the position set table Displays axis parameters and data Displays system parameters a
252. ta 0 IND PKE ParlD PWE ParVal IND Subindex PKE Parameter identifier PNU and AK PWE Parameter value for double word bytes 5 8 for word bytes 7 8 for byte byte 8 Tab B 2 Structure of the Festo parameter channel FPC Element Description Parameter identifier ParlD Contains Parameter number PNU Identifies a parameter Task or reply identifier AK describes the type of task reply Subindex IND Addresses an element of an array parameter Parameter value ParVal Value of the parameter If a task cannot be carried out an error number will be transmitted in the reply see sectio 2 2 Tab B 3 Parameter channel elements Festo GDCP SFC LACI DN EN en 0812NH B 15 B Parametrizing via field bus Parameter identifier ParlD The parameter identifier contains the Task or Response identifier AK and the parameter number PNU Spontaneous messages via bit 11 are not supported by the SFC LACI ParlD Byte 3 Byte 4 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Order ReqID AK res PNU parameter number Reply ResID AK res PNU parameter number ReqID AK Request Identifier job identifier read write ResID AK Response Identifier transferred value error The Task or Response identifier indicates the type of task or reply see section 8 2 2 PNU Parameter number serves for identifying or addressing the relevant parameters
253. te 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex ReqID ResID PNU Parameter value O data 0x00 0x02 0x01 0x91 Unused Unused Unused 0x00 data 0x00 0x02 0x01 0x91 0x00 0x00 0x00 0x00 B 22 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Step 4 write record number 1 with target position 0x1234 decimal 4660 increments PNU 404 subindex 2 Modify parameter value array double word ReqID 8 0x8 with value 0x00001234 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex ReqID ResID PNU Parameter value O data 0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34 data 0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34 Step 5 After receiving the input data with ResID 0x8 send output data with ReqID 0x0 and wait for input data with ResID 0x0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex ReqID ResID PNU Parameter value O data 0x00 0x02 0x01 0x94 0x00 0x00 0x12 0x34 data 0x00 0x02 0x01 0x94 0x00 0x00 0x12 0x34 Step 6 write record number 1 with speed 0x7743 decimal 30531 increments s PNU 406 subindex 2 Modify parameter value array double word ReqID 8 0x8 with value 0x00007743 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved Subindex Req D ResID PNU Parameter value
254. ter the power output of your power supply unit into the FCT or via the Cl object 6510 50h Festo GDCP SFC LACI DN EN en 0812NH 3 Installation Connection Pin Designation Function Cable colour 2 Load voltage 48 VDC load Black 1 Load voltage GND load Black 2 Logic voltage 24 VDC logic White Logic voltage GND logic Brown 3 Hardware 24 VDC Green enable hardware enable 4 FE FE 2 5 Hardware GND hardware Yellow enable enable Plug housing FE 3 Earthing strap with cable lug M4 lo Earth FE3 terminal housing 2 With cable type KPWR MC 1 SUB 15HC not connected 1 Cable colours with supply cable type KPWR MC 1 SUB 15HC Tab 3 3 Power connection voltage supply on the SFC LACI Caution Damage to the device 3 Use only one connection see sectio 313 The power supply inputs on the SFC LACI have no special protection against overvoltage e Make sure the permissible voltage tolerance is never exceeded seg Tpb 3 4 Festo GDCP SFC LACI DN EN en 0812NH 3 7 3 Installation Requirements to be met by the power supply Voltage Application Currents 48 VDC Load supply pins A1 A2 Nominal current peak current 10 A 20 A 5 10 Internal fuse 16 A slow blow external as an option 24 VDC Logic supply pins 1 2 Nominal current 0 4A 110 Peak current 0 8 A without local outputs Internal fuse 4 A slow
255. tomatically when the stroke limit or software end position is reached Switching is made again to position control 7 7 The task can be discontinued by the controller e g with STOP If there are faults during force mode see example 35 Tpb 5 6 Fault handling Note gt Modification of the setpoint value with force mode is only possible with a new starting edge when the last specified position MC has been reached Festo GDCP SFC LACI DN EN en 0812NH 5 55 5 Commissioning 5 6 Drive functions The necessary FHPP parameter numbers PNU will be specified for each drive function The relevant DeviceNet parameters class attribute instance can be found in the detailed descriptions of the PNUs in section 8 4 5 6 1 Homing When the device is switched on homing must be carried out before a positioning task can be executed The drive homes against a stop or a proximity sensor A stop is reached when there is an increase in the motor current at the same time as the drive shaft comes to a stop As the drive must not position continuously against the stop it must move at least 1 mm into the stroke range again offset axis zero point Sequence 1 Search for the reference point in accordance with the configured method 2 Move from reference point to axis zero point offset axis zero point 3 Set at axis zero point Actual position 0 project zero point offset i e PZ 5 56 Festo GDCP SFC LACI DN EN en 0812NH
256. tor Run time of motor undervoltage overtemperature etc 110 119 Reserved 120 139 Field bus fault e g baud rate fault Tab 6 10 Overview of fault numbers 6 16 A detailed description of the faults is provided in section 6 3 Festo GDCP SFC LACI DN EN en 0812NH 6 Diagnosis and fault display 6 5 Diagnosis via parameter channel FPC The Festo parameter channel offers the following possibilities of access to diagnostic information Diagnosis PNU Section Diagnosismemory PNU200 204 Compare sections gt anf 64 2 Error PNU 205 2FF1h Compare sections PNU 207 2FFAh 4 5 anf 63 PNU 208 2FFBh 3 E PNU 209 2FFCh Warnings PNU 215 2FF2h Compare sections 545 anf DeviceNet diagnosis PNU 206 2FF4h Compare section Has Festo GDCP SFC LACI DN EN en 0812NH 6 17 6 Diagnosis and fault display 6 6 Warning Index pulse warning 1 Switching range of the proximity sensor 2 Index pulses every 2 or 5 mm 3 Recommended position in the centre between two index pulses 6 18 In the homing run to the proximity sensor the drive initially moves into the switching range of the sensor and then reverses After the switching range is exited the SFC LACI searches for the nearest index pulse This applies as the homing point Note Material damage due to moved measuring reference system The following situation
257. tput active high side switching Special features of output 2 Out2 Differential output can be pulse width modulated High und low side switching active full bridge It is not used for controlling a PLC but rather for controlling a load e g to control a pulsed motor brake a valve or a fan The possible uses dependent on the selected pins are described in section 5 6 10 Festo GDCP SFC LACI DN EN en 0812NH 3 Installation 3 9 2 Specifications of the inputs based on DIN EN 61131 Part 2 IEC 1131 2 Type 1 are supplied by the 24 V logic voltage no electrical isolation Note gt Damage to the device The 24 V DC voltage at pin 1 does not have any special protection against overload e Use this connection only for proximity sensors sensor supply Use of this connection as a power supply for other devices is not permitted e For connecting the proximity sensor use a cable with rotating thread sleeve union nut on the end of the cable e g an extension cable type KM8 M8 or NEBU M8 When selecting the proximity sensor note that the accuracy of the proximity sensor switching point may affect the accuracy of the reference point During installation note the position of the reference switch relative to the index pulse If necessary move the reference switch see INDEX PULSE WARNING section 6 3 Festo GDCP SFC LACI DN EN en 0812NH 3 29 3 Installation 3 30 Festo GDCP SF
258. ts 0304 T2 Cycle Number 0305 E Velocity Monitoring speed monitoring 0310 TaZ FHPP Status Data 0320 1 2 FHPP Control Data 0321 Te Control Word 0330 y Status Word 0331 Operation Mode 0332 Operation Mode Display 0333 B 32 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus Name PNU SI Position Sampling Position Rising Edge 0350 On the fly measurement position with rising edge Position Sampling Position Falling Edge 0351 On the fly measurement position with falling edge Position Sampling Trigger Mode on the fly measurement trigger mode 0352 Position Sampling Status on the fly measurement status 0353 gt Position Sampling Status Mask on the fly measurement status mask 0354 E Position Sampling Control Byte on the fly measurement control byte 0355 gt Positioning Record Table record list Record Number FHPP 0400 13 Record Control Byte 1 0401 1 34d Record Control Byte 2 0402 1 324 Target Position 0404 1 34d Record Delay 0405 1 32d Velocity speed 0406 1 32d Acceleration 0407 1 32d Deceleration 0408 1 33d Jerk Acceleration 0409 1 334d Work Load 0410 1 33d Position Window Time damping time 0415 1 33d Following Record 0416 1 32d Jerk Deceleration 0417 1 33d Festo GDCP SFC LACI DN EN en 0812NH B 33 B Parametrizing via
259. ts used 5 91 5 Commissioning Password protection The factory setting does not provide active protection by a password All download and control functions can be blocked in order to prevent unauthorised or unintentional overwriting or modification of parameters in the device e Recommendation Protect your settings against undesired modifications with a password FCT password protection 8 characters see SFC LAC Plugin help HMI password protection on the control panel of the SFC LACI H2 3 characters see sectio r44 5 Service and maintenance The motor controllers of type SFC LACI are maintenance free within the service life specified However follow the maintenance instructions for the additional components 5 92 Festo GDCP SFC LACI DN EN en 0812NH Diagnosis and fault display Chapter 6 Festo GDCP SFC LACI DN EN en 0812NH 6 1 6 Diagnosis and fault display Contents 6 1 Diagnostics OPTIONS iva a AA de wea E eai 6 6 2 LED Status diSplayS sessie sii op ese Swit ob ese Sec galas Siw his ease dere 6 6 3 ETON IMCSSAS OS eco sesso 4 e gable a io 6 6 4 Diagnostics via field DUS cece cc eee eee e eee eeeeee 6 1 GAT OVEIVIEW a Sd 6 1 6 4 2 Diagnostic memory 0 cece ccc eee eens 6 1 6 5 Diagnosis via parameter channel FPC cece eee cece eee eeee 6 1 6 6 Warning Index pulse warning cece cece e eee eee eees 6 187 6 2 Festo GDCP SFC LACI DN EN en
260. utton in the Help window to print individual pages of the Help or all the pages of a book directly from the table of contents for the help e Printa prepared version of the help in Adobe PDF format Printed version Directory File FCT help FCT installation directory Help FCT_en pdf Framework Plugin help FCT installation directory HardwareFamilies SFC LAC_en pdf SFC LAC Festo SFC LAC V Help In order to use the printed version in Adobe PDF format you will require Adobe Reader Festo GDCP SFC LACI DN EN en 0812NH 5 23 5 Commissioning 5 3 1 Installing the FCT gt Note FCT Plugin SFC LAC V 3 0 0 supports the motor controller SFC LACI DN with firmware version V1 00 Check with later versions of the SFC LACI whether an updated Plugin is provided If necessary consult Festo Note Administrator rights are required for installing the FCT The FCT is installed on your PC with an installation program 1 2 5 24 Close all programs Place the Festo Configuration Tool CD in your CD ROM drive If Auto Run is activated on your system the installation starts automatically and you can skip steps 3 and 4 Select Execute in the Start menu Enter D setup if necessary replace D with the letter of your CD ROM drive Follow the instructions on the screen Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning 5 3 2 Procedure Starting the FCT 1 Connectthe S
261. via pulse width modulation 6 Current Control Phase current regulation and electrical commutation 7 Observer Determines speed and external forces of interference e g friction gravity Festo GDCP SFC LACI DN EN en 0812NH 1 5 1 System summary FLASH RAM EEPROM 1 6 The SFC LACI has three types of memory The FLASH memory stores the default settings and the firmware The data from the FLASH memory are loaded when the device is switched on the first time or when the EEPROM has been deleted The volatile RAM memory stores the parameters that are currently being used and which can be modified using the control panel or FCT When the modifications have been saved they are transferred to the EEPROM The non volatile EEPROM stores the parameters that are loaded when the device is switched on The parameters in the EEPROM are retained even after the power supply has been switched off In order to restore the default settings you can delete the EEPROM with the Cl command 20F1h PNU 127 see section 8 44 User specific settings will then be lost Festo GDCP SFC LACI DN EN en 0812NH 1 System summary 1 1 3 Operational reliability A complex system of sensors and monitoring functions ensures operational reliability Festo GDCP SFC LACI DN EN en 0812NH Temperature monitoring Final output stage in the SFC LACI and linear motor Voltage monitoring detection of faults in the logic power supply
262. x Current PNU 1034 uint16 rw Description Maximum motor current in per mill of rated current see PNU 1035 alanine limitation also limits the max possible speed or force Higher setpoint speeds may not therefore be reached or the drive stops During homing At greatly reduced values combined with high travelling resistance there is a danger that the drive will come to a standstill and the SFC LACI will wrongly recognize a stop Cl 6073h 00h uint16 rw DeviceNet C 107 A 64 1 1 uint16 rw Motor Rated Current PNU 1035 uint32 rw Description Nominal current ofthe motor in mA The value is fixed Cl 6075h 00h uint32 rw DeviceNet C 107 A 65 Bat uint32 rw Motor Rated Torque Force PNU 1036 uint32 rw Description Nominal force of the linear motor in mN The value is fixed Cl 6076h 00h uint32 rw DeviceNet C 107 A 66 l 1 uint32 rw Festo GDCP SFC LACI DN EN en 0812NH B 99 B Parametrizing via field bus PNU Objects of the standstill monitoring Position Demand Value 1040 int32 r Description Controller se tpoint position in Increments B 100 Cl 6062h 00h int32 r DeviceNet C 107 A 68 1 1 int32 r Position Actual Value PNU 1041 int32 r Description Actual position in Increments Cl 6064h 00h int32 r DeviceNet C 107 A 69 I 1 int32
263. x x x SPOS x x x x x O x x 322 Warning Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL CCON Tx x x x x O x x SCON x x x x x 1 x x Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x x x SPOS x x x x x O x x 3 3 Acknowledge Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL fault CCON O x x x F 0 x 1 SCONO x 0 1 0 0 00 with CCON B3 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT RESET cPOS x 0 0 0 0 0 x x SPOS x 0 0O 0 0 1 0 1 3 4 Acknowledge Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL fault CCON O x x x 0 0 x N SCONO x 0 1 00 x 0 with CCON BO Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT ENABLE cPOS x 0 0 0 0 0 x x SPOS x 0 0 0 0 1 x x 0 0 signal 1 1 signal x Not relevant optional F Positive edge N Negative edge Tab 5 6 5 46 Control and status bytes Error treatment Festo GDCP SFC LACI DN EN en 0812NH 5 Commissioning Description to 3 Fault handling Description of errors and warnings see section 6 3 3 1 An error is shown with SCO
264. y PNU 1000 uint8 r Description Reversal of direction Fixed 1 not adjustable Cl 607Eh 00h uint8 r DeviceNet C 107 A 1 ES uint8 r Encoder Resolution PNU 1001 1 2 uint32 r Description Measurement system resolution Reflects 6410 12h Encoder Increments 1001 1 Number of increments between two index pulses Fixed 2048 Motor Revolutions 1001 2 Fixed 1 Cl 608Fh 01h 02h uint32 r DeviceNet C 107 A 2 3 IT uint32 r B 88 Festo GDCP SFC LACI DN EN en 0812NH B Parametrizing via field bus PNU Gear Ratio PNU 1002 1 2 uint32 r Description Gear unit ratio 1 1 for linear motors Motor Revolutions 1002 1 Fixed 1 Shaft Revolutions 1002 2 Fixed 1 Cl 6091h 01h 02h uint32 r DeviceNet C 107 A 4 5 Bat uint32 r Feed Constant Linear Axis 1003 1 2 uint32 r Description Feed Feed constant measurement system pitch Distance in um between two index pulses Reflects 6410 13h 1003 1 DFME LAS fixed 2000 um DNCE LAS fixed 5000 um Shaft Revolutions 1003 2 Fixed 1 Cl 6092h 01h 02h uint32 r DeviceNet C 107 A 6 7 l 1 uint32 r Festo GDCP SFC LACI DN EN en 0812NH B 89 B Parametrizing via field bus Position Factor PNU 1004 1 2 uint32 r Description Numerator Denominator Number of sensor increments per 1
265. y IP20 protection is attained Note gt If both screws or stud bolts are removed simultaneously there is a risk that the plug may be pressed into the SFC LACI housing with the internal circuit board e Always leave one of the screws or stud bolts fitted while changing over 1 First slacken just one ofthe mounting screws and remove it 2 Screw one of the mounting bolts into the vacant tapped hole and tighten it Maximum tightening torque 0 48 Nm 3 Repeat steps 1 and 2 for the other screw Festo GDCP SFC LACI DN EN en 0812NH 3 25 3 Installation 3 8 Bus termination with terminating resistors 1 Protective cover 2 Resistor for bus termination 120 0 0 25 W Note If the SFC LACI is at the start or end of the field bus segment a bus terminator is required e Always use a bus termination at both ends of the field bus If you are using T adapters install the terminating resistor at the unused output of the T adapter Recommendation Fit a terminating resistor in the Festo field bus plug for the bus termination Fig 3 7 Bus termination with resistor in field bus plug FBS SUB 9 BU 2x5POL B 3 26 Field bus plug FBS SUB 9 WS CO K IP20 has an integrated switchable te

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