Festo Контроллеры двигателя SFC-LAC Bedienungsanleitung

DescriptionMotor controllerType SFC−LACI−...−IODescription567 363en 0812NH [742 387]Motor controllerSFC−L ACI

Contents and general safety instructionsVIIIFesto GDCP−SFC−LACI−IO−EN en 0812NHSafety instructionsWhen commissioning and programming p

5. Commissioning5−18Festo GDCP−SFC−LACI−IO−EN en 0812NH3. Teach the target position of the position record:· Select [Position].· M

5. Commissioning5−19Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.8 Test run1. Enter several positioning records (} 5.2.7).· You may wish

5. Commissioning5−20Festo GDCP−SFC−LACI−IO−EN en 0812NH5.3 Commissioning with FCTThe Festo Configuration Tool (FCT) is the softwa

5. Commissioning5−21Festo GDCP−SFC−LACI−IO−EN en 0812NH5.3.1 Installing the FCTNoteFCT PlugIn SFC−LAC V 3.0.0 supports the motor c

5. Commissioning5−22Festo GDCP−SFC−LACI−IO−EN en 0812NH5.3.2 ProcedureStarting the FCT1. Connect the SFC−LACI to your PC via the

5. Commissioning5−23Festo GDCP−SFC−LACI−IO−EN en 0812NHDevice controlWhen the SFC−LACI is switched on, the controller interface is

5. Commissioning5−24Festo GDCP−SFC−LACI−IO−EN en 0812NH5.4 Functional testWarningThere is a danger of injury.Faults in parametrisa

5. Commissioning5−25Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5 Communication with the higher−order controllerWarningThere is a danger of

5. Commissioning5−26Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.1 Description of the I/OsYou will find the pin allocation for the co

5. Commissioning5−27Festo GDCP−SFC−LACI−IO−EN en 0812NHI1 (20)I2 (21)I3 (22)I4 (23)I5 (24)Positioningrecord16 1 0 0 0 017 1 0 0 0 118 1

Contents and general safety instructionsIXFesto GDCP−SFC−LACI−IO−EN en 0812NHTarget groupThis description is intended exclusively for

5. Commissioning5−28Festo GDCP−SFC−LACI−IO−EN en 0812NHSTOP: I6 Reset STOP signal or error (see Tab.3/8)InputStatus STOP (input)I

5. Commissioning5−29Festo GDCP−SFC−LACI−IO−EN en 0812NHENABLE: I7 Enable controller and power output stageNoteWhen using a brake/cl

5. Commissioning5−30Festo GDCP−SFC−LACI−IO−EN en 0812NHSTART: I8 Start positioning recordNoteWhen using a brake/clamping unit:· Obs

5. Commissioning5−31Festo GDCP−SFC−LACI−IO−EN en 0812NHMC: O1 Motion CompleteOutputStatus MC (output)O1 Logic 0  Positioning procedure

5. Commissioning5−32Festo GDCP−SFC−LACI−IO−EN en 0812NHACK: O3 AcknowledgeThe ACK signal confirms receipt of the START signal.Thi

5. Commissioning5−33Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.2 Functions (pulse−time diagrams)Switch−on and homing run10min. 1 s1010Pow

5. Commissioning5−34Festo GDCP−SFC−LACI−IO−EN en 0812NHStart−up characteristicsperformanceIn order to guarantee that the system st

5. Commissioning5−35Festo GDCP−SFC−LACI−IO−EN en 0812NHStopping the homing run and errors when starting apositioning procedure wit

5. Commissioning5−36Festo GDCP−SFC−LACI−IO−EN en 0812NHStarting positioning procedures1010ENABLE I7READY O21010ERROR O4START I81010ACK O

5. Commissioning5−37Festo GDCP−SFC−LACI−IO−EN en 0812NHStopping positioning procedures1010ENABLE I7READY O21010ERROR O4START I81010ACK O3S

Contents and general safety instructionsXFesto GDCP−SFC−LACI−IO−EN en 0812NHImportant user instructionsDanger categoriesThis manual co

5. Commissioning5−38Festo GDCP−SFC−LACI−IO−EN en 0812NHError during positioning procedure andacknowledging errors with STOP input

5. Commissioning5−39Festo GDCP−SFC−LACI−IO−EN en 0812NHError during positioning procedure andacknowledging errors with ENABLE input

5. Commissioning5−40Festo GDCP−SFC−LACI−IO−EN en 0812NHAs long as the logic voltage supply is not switched off, theactual posi

5. Commissioning5−41Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.3 Switching to next recordSwitching to the next record (= record chaini

5. Commissioning5−42Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.4 Using hardware enableReactionController not enabled If the controller

5. Commissioning5−43Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.5 Using the local digital outputsPurpose The outputs can be used for th

5. Commissioning5−44Festo GDCP−SFC−LACI−IO−EN en 0812NHBehaviour depending upon pin useOut1Standard When the output is set, a co

5. Commissioning5−45Festo GDCP−SFC−LACI−IO−EN en 0812NHOverview of parametrisation of Out2Basis settings The behaviour is set via

5. Commissioning5−46Festo GDCP−SFC−LACI−IO−EN en 0812NHOverview of the parameters for the local digital outputs Out 1/2Parameter

5. Commissioning5−47Festo GDCP−SFC−LACI−IO−EN en 0812NHParameter / Description CIFCTOut 1: Value for setting conditionThe saved val

Contents and general safety instructionsXIFesto GDCP−SFC−LACI−IO−EN en 0812NHIdentification of specific informationThe following pictogr

5. Commissioning5−48Festo GDCP−SFC−LACI−IO−EN en 0812NHParameter / Description CIFCTOut2: UseValue Out 2 is used as:0No function1

5. Commissioning5−49Festo GDCP−SFC−LACI−IO−EN en 0812NHParameter / Description CIFCTOut 2: Setting condition rising/fallingValue = 0

5. Commissioning5−50Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.6 Using a brake/clamping unitOne of the local digital outputs (Out1 o

5. Commissioning5−51Festo GDCP−SFC−LACI−IO−EN en 0812NHOverview of parameters when using a brake/clamping unitParameter / Descripti

5. Commissioning5−52Festo GDCP−SFC−LACI−IO−EN en 0812NHExample of an automatic brake1010Drive movesT Automatic1010T Switch−offMC1010

5. Commissioning5−53Festo GDCP−SFC−LACI−IO−EN en 0812NH5.5.7 Position sampling (on−the−fly measurement)A local digital input (IN1 or

5. Commissioning5−54Festo GDCP−SFC−LACI−IO−EN en 0812NHParameter / Description CIFCTTransfer edge status to status word (CI objec

5. Commissioning5−55Festo GDCP−SFC−LACI−IO−EN en 0812NH5.6 Notes on operationWarningThere is a danger of injury.Electric axes can

5. Commissioning5−56Festo GDCP−SFC−LACI−IO−EN en 0812NHCautionErrors in the parameterisation can cause injury to peopleand materi

5. Commissioning5−57Festo GDCP−SFC−LACI−IO−EN en 0812NHNoteDamage to components.Movement to the mechanical end positions is not pe

Contents and general safety instructionsXIIFesto GDCP−SFC−LACI−IO−EN en 0812NHSFC−LACI motor controller manualThis manual contains ba

5. Commissioning5−58Festo GDCP−SFC−LACI−IO−EN en 0812NHPassword protectionThe factory setting does not provide active protection

Diagnostics and error display6−1Festo GDCP−SFC−LACI−IO−EN en 0812NHChapter 6

6. Diagnostics and error display6−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContents6.1 Diagnostics options 6−3 . . . . . . . . . .

6. Diagnostics and error display6−3Festo GDCP−SFC−LACI−IO−EN en 0812NH6.1 Diagnostics optionsLEDs LEDs indicate the ready status, p

6. Diagnostics and error display6−4Festo GDCP−SFC−LACI−IO−EN en 0812NH6.2 LED status displays1LEDs Power (green)I/F (green/red)

6. Diagnostics and error display6−5Festo GDCP−SFC−LACI−IO−EN en 0812NHInterface (I/F)I/F 1)StatusPositioning status (motion complete)

6. Diagnostics and error display6−6Festo GDCP−SFC−LACI−IO−EN en 0812NH6.3 Diagnostic memoryThe diagnostic memory contains the las

6. Diagnostics and error display6−7Festo GDCP−SFC−LACI−IO−EN en 0812NHThe faults are divided into logical groups according to th

6. Diagnostics and error display6−8Festo GDCP−SFC−LACI−IO−EN en 0812NH6.4 Fault messages6.4.1 WarningsWarnings have no influence

6. Diagnostics and error display6−9Festo GDCP−SFC−LACI−IO−EN en 0812NH6.4.2 ErrorsIf there is an error, the drive will be stoppe

Contents and general safety instructionsXIIIFesto GDCP−SFC−LACI−IO−EN en 0812NHInformation on the versionThe hardware version specifies

6. Diagnostics and error display6−10Festo GDCP−SFC−LACI−IO−EN en 0812NHError Faultno.*)ObjectPossible cause and remedyINTERPOLATIONC

6. Diagnostics and error display6−11Festo GDCP−SFC−LACI−IO−EN en 0812NHError Faultno.*)ObjectPossible cause and remedyCOMMUTATIONPOINT

6. Diagnostics and error display6−12Festo GDCP−SFC−LACI−IO−EN en 0812NHError Faultno.*)ObjectPossible cause and remedyDIGITAL−POWER−

6. Diagnostics and error display6−13Festo GDCP−SFC−LACI−IO−EN en 0812NH6.4.3 Warning Index Pulse Warning"In the homing run t

6. Diagnostics and error display6−14Festo GDCP−SFC−LACI−IO−EN en 0812NH

Technical appendixA−1Festo GDCP−SFC−LACI−IO−EN en 0812NHAppendix A

A. Technical appendixA−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContentsA.1 Technical data A−3 . . . . . . . . . . . . . . . .

A. Technical appendixA−3Festo GDCP−SFC−LACI−IO−EN en 0812NHA.1 Technical dataGeneralProtection class of the entire system accordingt

A. Technical appendixA−4Festo GDCP−SFC−LACI−IO−EN en 0812NHElectrical dataLoad voltage supplyNominal voltageNominal current (max.

A. Technical appendixA−5Festo GDCP−SFC−LACI−IO−EN en 0812NHA.2 AccessoriesConnection Cables Type Length [m]Power supply Power supply ca

Contents and general safety instructionsXIVFesto GDCP−SFC−LACI−IO−EN en 0812NHProduct−specific terms and abbreviationsTerm / abbreviat

A. Technical appendixA−6Festo GDCP−SFC−LACI−IO−EN en 0812NH

A. Technical appendixA−7Festo GDCP−SFC−LACI−IO−EN en 0812NHA.3 Converting the units of measurementThe CI interface works with incr

A. Technical appendixA−8Festo GDCP−SFC−LACI−IO−EN en 0812NH

Supplementar y informationB−1Festo GDCP−SFC−LACI−IO−E N en 0812NHAppendix B

B. Supplementary informationB−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContentsB.1 The CI interface B−3 . . . . . . . . . . . .

B. Supplementary informationB−3Festo GDCP−SFC−LACI−IO−EN en 0812NHB.1 The CI interfaceB.1.1 Using the parametrising interfaceThe par

B. Supplementary informationB−4Festo GDCP−SFC−LACI−IO−EN en 0812NHB.1.2 Accessing the CI objectsCI objects are accessed via FCT

B. Supplementary informationB−5Festo GDCP−SFC−LACI−IO−EN en 0812NHB.1.3 Access via a terminal programFor data transmission you will

B. Supplementary informationB−6Festo GDCP−SFC−LACI−IO−EN en 0812NHB.1.4 Composition of the CI commandsThe CI objects implemented

B. Supplementary informationB−7Festo GDCP−SFC−LACI−IO−EN en 0812NHSyntax of the read and write commandsAcc 1)Command ReplyWW 2)=IIIIS

Contents and general safety instructionsXVFesto GDCP−SFC−LACI−IO−EN en 0812NHTerm / abbreviation MeaningPositioning record Positioning co

B. Supplementary informationB−8Festo GDCP−SFC−LACI−IO−EN en 0812NHData typeThe transmitted value (1, 2 or 4 data bytes as hex

B. Supplementary informationB−9Festo GDCP−SFC−LACI−IO−EN en 0812NHNoteAll length specifications (even speeds and similar) aresaved

B. Supplementary informationB−10Festo GDCP−SFC−LACI−IO−EN en 0812NHB.1.5 Checking the dataPermitted value ranges Transferred paramet

B. Supplementary informationB−11Festo GDCP−SFC−LACI−IO−EN en 0812NHChecksum <PS> If checksum checking of telegrams received fr

B. Supplementary informationB−12Festo GDCP−SFC−LACI−IO−EN en 0812NHB.2 CI object directoryNoteThe following table contains an over

B. Supplementary informationB−13Festo GDCP−SFC−LACI−IO−EN en 0812NHName CI objectNameSubIndexManufacturer hardware version BCD (hardwa

B. Supplementary informationB−14Festo GDCP−SFC−LACI−IO−EN en 0812NHName CI objectNameSubIndexFHPP jog mode − time phase 1 20E9h 21

B. Supplementary informationB−15Festo GDCP−SFC−LACI−IO−EN en 0812NHName CI objectNameSubIndexVelocity monitoring 2802h 1...2Communication

B. Supplementary informationB−16Festo GDCP−SFC−LACI−IO−EN en 0812NHName CI objectNameSubIndexActual velocity (actual speed) 606Ch Ta

B. Supplementary informationB−17Festo GDCP−SFC−LACI−IO−EN en 0812NHName CI objectNameSubIndexHoming velocities 6099h 1...2Max. accelerat

Contents and general safety instructionsXVIFesto GDCP−SFC−LACI−IO−EN en 0812NH

B. Supplementary informationB−18Festo GDCP−SFC−LACI−IO−EN en 0812NHB.2.1 Representation of the CI objectsPasswordCI 20FAh 1...02h Arr

B. Supplementary informationB−19Festo GDCP−SFC−LACI−IO−EN en 0812NHB.2.2 Group 1xxx: Communication Profile AreaDevice typeCI 1000h 00h

B. Supplementary informationB−20Festo GDCP−SFC−LACI−IO−EN en 0812NHB.2.3 Group 2xxx: Manufacturer Specific Profile AreaRecord numbe

B. Supplementary informationB−21Festo GDCP−SFC−LACI−IO−EN en 0812NHRecord number FHPPCI 2033h 01h...03h Array uint8 r(w)Description FHPP

B. Supplementary informationB−22Festo GDCP−SFC−LACI−IO−EN en 0812NHStandstill timeoutCI 2041h 00h Var uint16 rwDescription Standstill m

B. Supplementary informationB−23Festo GDCP−SFC−LACI−IO−EN en 0812NHCommutation statusCI 2050h 00h Var uint8 rDescription State of the c

B. Supplementary informationB−24Festo GDCP−SFC−LACI−IO−EN en 0812NHVersion FCT plug−in opt.CI 2068h 00h Var V−string rDescription Opti

B. Supplementary informationB−25Festo GDCP−SFC−LACI−IO−EN en 0812NHDevice controlCI 207Dh 00h Var uint8 rwDescription Corresponds to HM

B. Supplementary informationB−26Festo GDCP−SFC−LACI−IO−EN en 0812NHFHPP continuous mode interpolation timeCI 20B6h 00h Var uint16 rwD

B. Supplementary informationB−27Festo GDCP−SFC−LACI−IO−EN en 0812NHDiagnostic eventCI 20C8h 01h...10h Array uint8 rDescription Type of f

System overview1−1Festo GDCP−SFC−LACI−IO−EN en 0812NHChapter 1

B. Supplementary informationB−28Festo GDCP−SFC−LACI−IO−EN en 0812NHTime stampCI 20CAh 01h...10h Array uint32 rDescription Time stamp:

B. Supplementary informationB−29Festo GDCP−SFC−LACI−IO−EN en 0812NHHMI scalingCI 20D0h 01h, 02h Array uint8 rDescription Units of measu

B. Supplementary informationB−30Festo GDCP−SFC−LACI−IO−EN en 0812NHCI record table elementCI 20E0h 01h...0Bh Struct rwDescription Edit

B. Supplementary informationB−31Festo GDCP−SFC−LACI−IO−EN en 0812NHRecord table elementJerk acc.(Jerk)20E0h 05h uint32(Jerk)Acceleration

B. Supplementary informationB−32Festo GDCP−SFC−LACI−IO−EN en 0812NHAxis parameterCI 20E2h 01h...06h Struct rwDescription Axis parameter

B. Supplementary informationB−33Festo GDCP−SFC−LACI−IO−EN en 0812NHRecord delayCI 20E4h 01h...20h Array int32 rwDescription Waiting time

B. Supplementary informationB−34Festo GDCP−SFC−LACI−IO−EN en 0812NHPosition window timeCI 20E6h 01h...22h Array uint16 rwDescription Da

B. Supplementary informationB−35Festo GDCP−SFC−LACI−IO−EN en 0812NHJerk accelerationCI 20E7h 01h...22h Array uint32 rwDescription Accelera

B. Supplementary informationB−36Festo GDCP−SFC−LACI−IO−EN en 0812NHWork loadCI 20E8h 01h...22h Array uint32 rwDescription Applied load:

B. Supplementary informationB−37Festo GDCP−SFC−LACI−IO−EN en 0812NHRecord control byte 1CI 20EAh 01h...22h Array uint8 rwDescription Rec

Adobe® and Reader® are registered trade marks of AdobeSystems Incorporated in the USA and/or other countries.

1. System overview1−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContents1.1 Components overview 1−3 . . . . . . . . . . . . . . .

B. Supplementary informationB−38Festo GDCP−SFC−LACI−IO−EN en 0812NHRecord control byte 2CI 20EBh 01h...20h Array uint8 rwDescription R

B. Supplementary informationB−39Festo GDCP−SFC−LACI−IO−EN en 0812NHTarget positionCI 20ECh 01h...22h Array int32 rwDescription Target pos

B. Supplementary informationB−40Festo GDCP−SFC−LACI−IO−EN en 0812NHVelocityCI 20EDh 01h...21h Array uint32 rwDescription Velocity in [i

B. Supplementary informationB−41Festo GDCP−SFC−LACI−IO−EN en 0812NHAccelerationCI 20EEh 01h...22h Array uint32 rwDescription Acceleration

B. Supplementary informationB−42Festo GDCP−SFC−LACI−IO−EN en 0812NHDecelerationCI 20EFh 01h...22h Array uint32 rwDescription Deceleration

B. Supplementary informationB−43Festo GDCP−SFC−LACI−IO−EN en 0812NHData memory controlCI 20F1h 01h...03h Array uint8 wDescription Command

B. Supplementary informationB−44Festo GDCP−SFC−LACI−IO−EN en 0812NHCI receive checksum activeCI 20F3h 00h Var uint8 rwDescription When

B. Supplementary informationB−45Festo GDCP−SFC−LACI−IO−EN en 0812NHUser device nameCI 20FDh 00h Var V−string rwDescription Device name

B. Supplementary informationB−46Festo GDCP−SFC−LACI−IO−EN en 0812NHJerk decelerationCI 21E1h 01h...22h Array uint32 rwDescription Jerk w

B. Supplementary informationB−47Festo GDCP−SFC−LACI−IO−EN en 0812NHTeach targetCI 21FCh 00h Var uint8 rwDescription The parameter that

1. System overview1−3Festo GDCP−SFC−LACI−IO−EN en 0812NH1.1 Components overview1Higher−ordercontrol2 Software level:Festo Configura−tion

B. Supplementary informationB−48Festo GDCP−SFC−LACI−IO−EN en 0812NHLocal digital output 1CI 2421h 01h...09h Struct rwDescription Confi

B. Supplementary informationB−49Festo GDCP−SFC−LACI−IO−EN en 0812NHLocal digital output 2CI 2422h 01h...0Ah Struct rwDescription Configu

B. Supplementary informationB−50Festo GDCP−SFC−LACI−IO−EN en 0812NHPosition monitoringCI 2800h 01h...02h Array int32 rDescription Positi

B. Supplementary informationB−51Festo GDCP−SFC−LACI−IO−EN en 0812NHCommunication errorCI 2FF0h 00h Var uint16 rDescription Transmission e

B. Supplementary informationB−52Festo GDCP−SFC−LACI−IO−EN en 0812NHDevice warningsCI 2FF2h 00h Var uint16 r(w)Description Reading or d

B. Supplementary informationB−53Festo GDCP−SFC−LACI−IO−EN en 0812NHExtended device faults ACI 2FFAh 00h Var uint16 r(w)Description (rese

B. Supplementary informationB−54Festo GDCP−SFC−LACI−IO−EN en 0812NHVersion axis interfaceCI 2FFDh 00h Var uint16 rDescription Version

B. Supplementary informationB−55Festo GDCP−SFC−LACI−IO−EN en 0812NHB.2.4 Group 6xxx: Standardised Device Profile AreaControl wordCI 6

B. Supplementary informationB−56Festo GDCP−SFC−LACI−IO−EN en 0812NHStatus wordCI 6041h 00h Var uint16 rDescription Reading the control

B. Supplementary informationB−57Festo GDCP−SFC−LACI−IO−EN en 0812NHBit CommentValue14 0x4000 Confirmation for teaching  or An edge

1. System overview1−4Festo GDCP−SFC−LACI−IO−EN en 0812NHTo construct a positioning system with the SFC−LACI, youneed the follow

B. Supplementary informationB−58Festo GDCP−SFC−LACI−IO−EN en 0812NHOperation modeCI 6060h 00h Var int8 wDescription Operation mode of

B. Supplementary informationB−59Festo GDCP−SFC−LACI−IO−EN en 0812NHDrag fault timeoutCI 6066h 00h Var uint16 rwDescription Drag fault m

B. Supplementary informationB−60Festo GDCP−SFC−LACI−IO−EN en 0812NHTarget torque/forceCI 6071h 00h Var int16 rwDescription Nominal valu

B. Supplementary informationB−61Festo GDCP−SFC−LACI−IO−EN en 0812NHActual torque/forceCI 6077h 00h Var int16 rDescription Actual value i

B. Supplementary informationB−62Festo GDCP−SFC−LACI−IO−EN en 0812NHPolarityCI 607Eh 00h Var uint8 rDescription Reversal of direction.

B. Supplementary informationB−63Festo GDCP−SFC−LACI−IO−EN en 0812NHQuick stop decelerationCI 6085h 00h Var uint32 rwDescription Braking

B. Supplementary informationB−64Festo GDCP−SFC−LACI−IO−EN en 0812NHGear ratioCI 6091h 01h, 02h Array uint32 rDescription Gear unit ra

B. Supplementary informationB−65Festo GDCP−SFC−LACI−IO−EN en 0812NHHoming methodCI 6098h 00h Var uint8 rwDescription Reference travel (h

B. Supplementary informationB−66Festo GDCP−SFC−LACI−IO−EN en 0812NHTorque/force modeCI 60F6h 01h...05h Struct rwDescription Configuratio

B. Supplementary informationB−67Festo GDCP−SFC−LACI−IO−EN en 0812NHPosition control parameter setCaution: Risk of injury to people

1. System overview1−5Festo GDCP−SFC−LACI−IO−EN en 0812NH1.2 Operating principle3456712Fig.1/2: Simplified diagram of control structur

B. Supplementary informationB−68Festo GDCP−SFC−LACI−IO−EN en 0812NHDigital outputsCI 60FEh 01h...02h Array uint32 rDescription Mapping

B. Supplementary informationB−69Festo GDCP−SFC−LACI−IO−EN en 0812NHMotor dataCI 6410h ... Record r(w)Description Drive dataSerial number

B. Supplementary informationB−70Festo GDCP−SFC−LACI−IO−EN en 0812NHMotor dataActual current6410h 19h uint32 rActual current in [mA]A

B. Supplementary informationB−71Festo GDCP−SFC−LACI−IO−EN en 0812NHDrive manufacturerCI 6504h 00h Var V−string rDescription Festo AG &am

B. Supplementary informationB−72Festo GDCP−SFC−LACI−IO−EN en 0812NHDrive dataCI 6510h RecordDescription SFC−LACI dataOutput stagetemp6

B. Supplementary informationB−73Festo GDCP−SFC−LACI−IO−EN en 0812NHDrive dataHoming switch polarity6510h 14h int16 rwlarityReference s

B. Supplementary informationB−74Festo GDCP−SFC−LACI−IO−EN en 0812NHDrive dataDevice control6510h 43h uint16 rwIdentical to 207Dh.To

IndexC−1Festo GDCP−SFC−LACI−IO−EN en 0812NHAppendix C

C. IndexC−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContentsC. Index C−1 . . . . . . . . . . . . . . . . . . . . . . . .

C. IndexC−3Festo GDCP−SFC−LACI−IO−EN en 0812NHAAbsolute position specification 5−17 ACK 5−32 Acknowledge error 5−38 , 5−39 Applie

1. System overview1−6Festo GDCP−SFC−LACI−IO−EN en 0812NHThe SFC−LACI has three types of memory:FLASH The FLASH memory stores th

C. IndexC−4Festo GDCP−SFC−LACI−IO−EN en 0812NH[Positioning] menu 4−10 [Settings] menu 4−12 Key functions 4−5 Overview of comman

C. IndexC−5Festo GDCP−SFC−LACI−IO−EN en 0812NHErrors 6−9 ESD 3−5 FFault numbers 6−7 FCT XIV , 5−20 Festo Configuration Tool X

C. IndexC−6Festo GDCP−SFC−LACI−IO−EN en 0812NHKKey function, Overview 4−5 LLED 6−4 MMaster password 4−16 MC 5−31 Measuring ref

C. IndexC−7Festo GDCP−SFC−LACI−IO−EN en 0812NHPParametrising interface 3−4 , 3−14 , B−3 Password 4−16 , 5−58 Path generator, en

C. IndexC−8Festo GDCP−SFC−LACI−IO−EN en 0812NHReference run (homing)Definition 1−11 On the control panel 5−11 via the controlle

C. IndexC−9Festo GDCP−SFC−LACI−IO−EN en 0812NHTerminal program B−5 Test run 5−19 Text designations XI The CI interface B−3 Tool

1. System overview1−7Festo GDCP−SFC−LACI−IO−EN en 0812NH1.3 Operational reliabilityA complex system of sensors and monitoring funct

1. System overview1−8Festo GDCP−SFC−LACI−IO−EN en 0812NH· Note the following points:ActionReactionCancelling the ENABLEsignal at t

1. System overview1−9Festo GDCP−SFC−LACI−IO−EN en 0812NHWarningThere is no plausibility check to see whether the deceleration (b

1. System overview1−10Festo GDCP−SFC−LACI−IO−EN en 0812NH1.4 Operating modes of the SFC−LACI−IOProfile position mode Positioning m

1. System overview1−11Festo GDCP−SFC−LACI−IO−EN en 0812NH1.5 Measuring reference systemHoming Homing determines the position of the

Contents and general safety instructionsIFesto GDCP−SFC−LACI−IO−EN en 0812NHOriginal de. . . . . . . . . . . . . . . . . .

1. System overview1−12Festo GDCP−SFC−LACI−IO−EN en 0812NHMeasuring reference system 1)REFAZaLSE USE1230fbcPZdegTP/APREF Homing point

1. System overview1−13Festo GDCP−SFC−LACI−IO−EN en 0812NHCalculation rulesPointCalculation ruleAxis zero point AZ = REF + aProject

1. System overview1−14Festo GDCP−SFC−LACI−IO−EN en 0812NH1.6 Homing run methods1.6.1 Homing methods to switch with index searchTh

1. System overview1−15Festo GDCP−SFC−LACI−IO−EN en 0812NHHoming methods to switch with index search Switch negative (at the retr

1. System overview1−16Festo GDCP−SFC−LACI−IO−EN en 0812NHSpecial features of homingto reference switch If a reference signal is

1. System overview1−17Festo GDCP−SFC−LACI−IO−EN en 0812NH1.6.2 Homing methods to the stopExact homing by reference to a fixed st

1. System overview1−18Festo GDCP−SFC−LACI−IO−EN en 0812NH1.7 Commissioning optionsYou can parameterise and commission the SFC−LACI

Assembly2−1Festo GDCP−SFC−LACI−IO−EN en 0812NHChapter 2

2. Assembly2−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContents2.1 General information 2−3 . . . . . . . . . . . . . . . . . .

2. Assembly2−3Festo GDCP−SFC−LACI−IO−EN en 0812NH2.1 General informationCautionUncontrolled drive motion may cause personal injury a

Contents and general safety instructionsIIFesto GDCP−SFC−LACI−IO−EN en 0812NH

2. Assembly2−4Festo GDCP−SFC−LACI−IO−EN en 0812NH2.2 Dimensions of the controller120 mm247 mmFig.2/1: Dimensions of the controlle

2. Assembly2−5Festo GDCP−SFC−LACI−IO−EN en 0812NH2.3 Mounting the controllerYou can mount the SFC−LACI in one of two ways:1. Wall

2. Assembly2−6Festo GDCP−SFC−LACI−IO−EN en 0812NH2.3.2 Hat−rail mountingProcedure:1. Make sure that the mounting surface can suppo

Installation3−1Festo GDCP−SFC−LACI−IO−EN en 0812NHChapter 3

3. Installation3−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContents3.1 Installation overview 3−3 . . . . . . . . . . . . . . . .

3. Installation3−3Festo GDCP−SFC−LACI−IO−EN en 0812NH3.1 Installation overviewWarningBefore carrying out fitting, installation and/or

3. Installation3−4Festo GDCP−SFC−LACI−IO−EN en 0812NH1 Parametrisinginterface (RS232)2 Controller interface3 Power supply4 Earth termi

3. Installation3−5Festo GDCP−SFC−LACI−IO−EN en 0812NHIf unused plug connectors are touched, there is a danger thatdamage may occ

3. Installation3−6Festo GDCP−SFC−LACI−IO−EN en 0812NH3.2 Power supplyWarning· Use only PELV circuits as per IEC/DIN EN 60204−1 f

3. Installation3−7Festo GDCP−SFC−LACI−IO−EN en 0812NHConnection Pin Designation Function Colour 1)A1 Load voltage +48 VDC load Black, 1A

Contents and general safety instructionsIIIFesto GDCP−SFC−LACI−IO−EN en 0812NHContentsIntended use VII . . . . . . . . . . . . .

3. Installation3−8Festo GDCP−SFC−LACI−IO−EN en 0812NHRequirements to be met by the power supplyVoltage Use Currents48 VDC+5/−10%L

3. Installation3−9Festo GDCP−SFC−LACI−IO−EN en 0812NH3.2.1 Function of the hardware enableApplication of 24 VDC to pin 3 (relativ

3. Installation3−10Festo GDCP−SFC−LACI−IO−EN en 0812NH3.3 EarthingNote· Connect one of the earth terminals of the SFC−LACI atlow

3. Installation3−11Festo GDCP−SFC−LACI−IO−EN en 0812NH3.4 Motor connectionThe linear motor is controlled via the motor connection

3. Installation3−12Festo GDCP−SFC−LACI−IO−EN en 0812NHDisplacement encoder for BiSS interfaceThe BiSS interface is a 2−wire inte

3. Installation3−13Festo GDCP−SFC−LACI−IO−EN en 0812NHFig.3/3: Sensor data communicationBits Type Label[19:30] DATA Cycle counter 12 b

3. Installation3−14Festo GDCP−SFC−LACI−IO−EN en 0812NH3.5 Parametrising interfaceSerial interface for parametrizing, commissioning a

3. Installation3−15Festo GDCP−SFC−LACI−IO−EN en 0812NHInformation on commissioning and parameterising theSFC−LACI via the parametris

3. Installation3−16Festo GDCP−SFC−LACI−IO−EN en 0812NH3.6 Controller interfaceCommunication with the higher−order controller (PLC/IP

3. Installation3−17Festo GDCP−SFC−LACI−IO−EN en 0812NHConnection to the SFC−LACIPin Designation Function Cable colour 1)181 24VDC_EXT Ele

Contents and general safety instructionsIVFesto GDCP−SFC−LACI−IO−EN en 0812NH3. Installation 3−1 . . . . . . . . . . . . . .

3. Installation3−18Festo GDCP−SFC−LACI−IO−EN en 0812NH3.6.1 Specifications of the controller interfaceI/O specificationSignal level

3. Installation3−19Festo GDCP−SFC−LACI−IO−EN en 0812NH3.7 Local digital inputs and outputs341Out1 Out2 In1 In2341 341341Conne cti o n Pi

3. Installation3−20Festo GDCP−SFC−LACI−IO−EN en 0812NH3.7.1 Specifications of the outputsThe local digital outputs are supplied b

3. Installation3−21Festo GDCP−SFC−LACI−IO−EN en 0812NH3.7.2 Specifications of the inputs Based on DIN/EN 61131, Part 2 (IEC 1131−

3. Installation3−22Festo GDCP−SFC−LACI−IO−EN en 0812NH

The control panel (only type SFC−LACI−...−H2)4−1Festo GDCP−SFC−LACI−IO−EN en 0812NHChapter 4

4. The control panel (only type SFC−LACI−...−H2)4−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContents4.1 Design and function of the con

4. The control panel (only type SFC−LACI−...−H2)4−3Festo GDCP−SFC−LACI−IO−EN en 0812NHThe control panel of the SFC−LACI−...−H2 pr

4. The control panel (only type SFC−LACI−...−H2)4−4Festo GDCP−SFC−LACI−IO−EN en 0812NH4.1 Design and function of the control pa

4. The control panel (only type SFC−LACI−...−H2)4−5Festo GDCP−SFC−LACI−IO−EN en 0812NHOperator keys Basic functions of the operato

Contents and general safety instructionsVFesto GDCP−SFC−LACI−IO−EN en 0812NH5. Commissioning 5−1 . . . . . . . . . . . . . . .

4. The control panel (only type SFC−LACI−...−H2)4−6Festo GDCP−SFC−LACI−IO−EN en 0812NH4.2 The menu systemStatus display and mai

4. The control panel (only type SFC−LACI−...−H2)4−7Festo GDCP−SFC−LACI−IO−EN en 0812NHMenu command Description} Diagnostic Displays

4. The control panel (only type SFC−LACI−...−H2)4−8Festo GDCP−SFC−LACI−IO−EN en 0812NH4.3 [Diagnostic] menuIn order to display th

4. The control panel (only type SFC−LACI−...−H2)4−9Festo GDCP−SFC−LACI−IO−EN en 0812NH[Diagnostic] [...] Description[Axis parameter]

4. The control panel (only type SFC−LACI−...−H2)4−10Festo GDCP−SFC−LACI−IO−EN en 0812NH4.4 [Positioning] menuStarting a homing ru

4. The control panel (only type SFC−LACI−...−H2)4−11Festo GDCP−SFC−LACI−IO−EN en 0812NHThe Positioning" menu includes entrie

4. The control panel (only type SFC−LACI−...−H2)4−12Festo GDCP−SFC−LACI−IO−EN en 0812NH4.5 Menu [Settings]For parametrising the

4. The control panel (only type SFC−LACI−...−H2)4−13Festo GDCP−SFC−LACI−IO−EN en 0812NH4.5.1 [Settings] [Axis type]The connected d

4. The control panel (only type SFC−LACI−...−H2)4−14Festo GDCP−SFC−LACI−IO−EN en 0812NH4.5.3 [Settings] [Homing parameters]Setting

4. The control panel (only type SFC−LACI−...−H2)4−15Festo GDCP−SFC−LACI−IO−EN en 0812NH4.5.4 [Settings] [Position set]Parametrising

Contents and general safety instructionsVIFesto GDCP−SFC−LACI−IO−EN en 0812NH6. Diagnostics and error display 6−1 . . . . . . . .

4. The control panel (only type SFC−LACI−...−H2)4−16Festo GDCP−SFC−LACI−IO−EN en 0812NH4.5.5 [Settings] [Jog Mode]You can use t

4. The control panel (only type SFC−LACI−...−H2)4−17Festo GDCP−SFC−LACI−IO−EN en 0812NHEntering a passwordAs soon as a password

4. The control panel (only type SFC−LACI−...−H2)4−18Festo GDCP−SFC−LACI−IO−EN en 0812NH4.6 Menu command HMI control"To sel

Commissioning5−1Festo GDCP−SFC−LACI−IO−EN en 0812NHChapter 5

5. Commissioning5−2Festo GDCP−SFC−LACI−IO−EN en 0812NHContents5.1 Preparations for commissioning 5−3 . . . . . . . . . . . .

5. Commissioning5−3Festo GDCP−SFC−LACI−IO−EN en 0812NH5.1 Preparations for commissioningWarningThere is a danger of injury.Electric

5. Commissioning5−4Festo GDCP−SFC−LACI−IO−EN en 0812NH5.1.1 Checking the driveNoteDuring operation, the drive must not strike a

5. Commissioning5−5Festo GDCP−SFC−LACI−IO−EN en 0812NH5.1.3 Before switching onWhen the SFC−LACI is switched on, the controller in

5. Commissioning5−6Festo GDCP−SFC−LACI−IO−EN en 0812NH5.1.4 Simultaneous attempts to access the controllerCautionSimultaneous or al

5. Commissioning5−7Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2 Commissioning with the control panel (only type SFC−LACI−...−H2)Information

Contents and general safety instructionsVIIFesto GDCP−SFC−LACI−IO−EN en 0812NHIntended useThe single−axis field controller (Single Fiel

5. Commissioning5−8Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.1 Setting the reference run parametersSwitch the SFC−LACI on. When the

5. Commissioning5−9Festo GDCP−SFC−LACI−IO−EN en 0812NHWhen homing to a fixed stop:1. Measure the distance between your reference

5. Commissioning5−10Festo GDCP−SFC−LACI−IO−EN en 0812NHSetting parameters1. Set the following: Homing method [Homing method] Searc

5. Commissioning5−11Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.3 Carry out a reference runOverviewWarningDanger of injury!Electric axes

5. Commissioning5−12Festo GDCP−SFC−LACI−IO−EN en 0812NHStart homing1. Select [Positioning] [Homing].2. Start the homing run with S

5. Commissioning5−13Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.4 Teach the axis zero pointFactory setting Axis zero point with: Homing

5. Commissioning5−14Festo GDCP−SFC−LACI−IO−EN en 0812NHNoteIf the axis zero point is modified:Existing software end positions an

5. Commissioning5−15Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.5 Teaching the software end positionsFactory settings by homing method:Ref

5. Commissioning5−16Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.6 Setting the tool massThe weight of tools (e.g. grippers) on the f

5. Commissioning5−17Festo GDCP−SFC−LACI−IO−EN en 0812NH5.2.7 Teaching positioning recordsRequirements: The drive must be set up com