Festo Контроллеры двигателя SFC-LAC User Manual Page 172
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5. Commissioning
5−68
Festo GDCP−SFC−LACI−DN−EN en 0812NH
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 value
s for position or force/torque
are managed in the PLC.
The function is used in the following situations:
moving to any position.
the target po
sitions 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:Positio
ning mode control mode, possibly
energy optimised,
CDIR.B0:Setpoint position absolute/relative
FHPP control byte 4: Velocity setpoint value,
FHPP
control bytes 5 ... 8:Position setpoint value
2. With a rising edge at START (CPOS.B1) the controller
accepts the setpoint position and starts the posi
tioning
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.
- Motor Controller 1
- SFC−L ACI 1
- Intended use 11
- Safety instructions 12
- Target group 13
- Scope of delivery 13
- Important user instructions 14
- Danger categories 14
- Information on the version 17
- Term / abbreviation Meaning 18
- 1 Tool load 20
- 2 Additional load 20
- System summary 23
- 1.1.2 Operating principle 27
- 1. System summary 34
- Measuring reference system 34
- Special features of homing 38
- 1.2 Communication 40
- Festo−specific classes Class 44
- FHPP standard 45
- 1.3 Commissioning options 48
- Chapter 2 49
- 2.1 General Information 51
- 2. Fitting 52
- 2.3 Mounting the controller 53
- 2.3.1 Wall mounting 53
- 2.3.2 H−rail mounting 54
- 1 H−rail 54
- 2 Tension springs 54
- 3 Distance between 54
- Installation 55
- 3.1 Installation overview 57
- 3.2 Power supply 60
- 1 2 3 4A1 5 A2 62
- 3.3 Earthing 64
- 3.4 Motor connection 65
- 3. Installation 67
- Tab.3/6:BiSS Interface 67
- 3.5 Parameterising interface 68
- 3.6 Controller interface 70
- 1 Capacitive 71
- 2 Housing 71
- 3.7.1 Field bus cable 72
- 3.7.3 Bus power supply 74
- Bus out 76
- 1 Protective cover 80
- 2 Resistor for bus 80
- Out1 Out2In1In2 81
- Connection Pin Function 81
- Chapter 4 85
- Key Function 89
- 4.2 The menu system 90
- (1 ... 31) 91
- 4.3 [Diagnostic] menu 92
- Tab.4/3:[Diagnostic] menu 94
- 4.4 [Positioning] menu 95
- 4.5 [Settings] menu 97
- 4.5.5 [Settings] [Jog mode] 101
- New Password: 102
- [ ? x x ] = 0 102
- ESC <Menu> 102
- Commissioning 105
- Contents 106
- 5.1.1 Checking the drive 109
- 5.1.3 Before switching on 110
- Station number (MAC ID) 114
- Baudrate (baud rate) 114
- Setting parameters 117
- 5.2.4 Carrying out homing 118
- Overview 118
- Start homing 119
- (negative) nominal stroke 122
- 5.2.9 Test run 126
- 5.3 Commissioning with FCT 127
- 5.3.1 Installing the FCT 128
- 5.3.2 Procedure 129
- Starting the FCT 129
- Device Control 130
- 5.5.1 FHPP operating modes 134
- Record selection 134
- Direct mode 135
- 5. Commissioning 137
- Output data Direct mode 139
- Input data Direct mode 139
- Control byte 2 (CPOS) 141
- Status byte 1 (SCON) 143
- Status byte 2 (SPOS) 144
- 3. Fault handling 150
- 5.6 Drive functions 160
- 5.6.1 Homing 160
- 5.6.2 Jog mode 162
- 1 Ready for teaching 165
- 2 Value transferred 165
- 5.6.9 Using hardware enable 180
- Reaction 180
- 2 High impedance 181
- 5.7 Notes on operation 193
- Password protection 196
- Service and maintenance 196
- Chapter 6 197
- 6.1 Diagnostics options 199
- 6.2 LED status displays 201
- Voltage supply 201
- Malfunction indicator 201
- Bus status 202
- 6.3 Error messages 203
- · See section 6.6 204
- · Carry out a homing run 205
- Error Fault no 206
- Tab.6/6:Fault messages 209
- 6.4.1 Overview 210
- 6.4.2 Diagnostic memory 211
- Technical appendix 215
- A.1 Technical data 217
- A. Technical appendix 218
- Electrical data 218
- DeviceNet data 218
- A.2 Accessories 219
- Appendix B 221
- B.1.1 DeviceNet Classes 223
- Process Data FHPP 226
- Record Sets FHPP 229
- Axis Data FHPP 231
- Rules Description 240
- Evaluating errors 241
- B.3.2 Positioning 247
- B.4.1 FHPP parameter groups 250
- Name SIPNU 252
- Encoder Resolution 260
- B.4.4 Device data 261
- Version FCT PlugIn BCD 262
- Version Axis Interface 262
- Supported Drive Modes 263
- Controller Serial Number 263
- Controller Type 263
- Festo Order Number 265
- HMI Parameter 266
- B.4.5 Diagnosis 268
- Fault Number 269
- Time Stamp 269
- Additional Information 269
- Device Errors 271
- DeviceNet Diagnosis 272
- Extended Device Errors A 273
- Extended Device Errors B 273
- Extended Device Errors C 274
- Device Warnings 274
- B.4.6 Process Data 275
- Digital Inputs 276
- Digital Outputs 276
- Cycle Number 277
- Velocity Monitoring 277
- FHPP Status Data 277
- FHPP Control Data 278
- Control Word 279
- Status Word 281
- Bit Value Description 282
- Record Control Byte 1 287
- Record Control Byte 2 288
- Target Position 289
- Record Delay 290
- Velocity 291
- Acceleration 292
- Deceleration 293
- Jerk Acceleration 294
- Work Load 295
- Position Window Time 296
- Following Record 297
- Jerk Deceleration 298
- B.4.8 Project data 299
- General project data 299
- Max Velocity 300
- Max Acceleration 300
- Motion Profile Type 300
- Force mode 301
- Teaching 302
- Jog mode 303
- Direct Mode Work Load 305
- Direct mode: Force m ode 306
- Speed Limit 307
- Interpolation Time 307
- Mechanical parameters 308
- Gear Ratio 309
- Feed Constant Linear Axis 309
- Position Factor 310
- Axis Parameter 311
- Parameter homing run 312
- Homing Velocities 313
- Homing Required 313
- Homing Max Torque/Force 313
- Controller parameters 314
- Target Position Window 315
- Position Control Parameter 316
- Motor Data 316
- Drive Data 317
- Electronic type plate 318
- Max. Current 319
- Motor Rated Current 319
- Motor Rated Torque/Force 319
- B.4.10 Supplementary objects 321
- Offset Reference Point 323
- Commutation Status 323
- Record Power Consumption 323
- Start Delay Commutation 327
- Limit Switch Polarity 333
- Limit Switch Selector 333
- Homing Switch Selector 333
- Automatic Brake Time 335
- CI interface 337
- C.1 The CI interface 339
- Access procedure 342
- Data type 344
- C.1.5 Checking the data 345
- C.2 Reference CI 347
- C. CI interface 348
- Name CI Object FHPP 348
- Name FHPPCI ObjectName 349
- Password 357
- Device Type 358
- Record Number CI 359
- Version FCT PlugIn Min 360
- Version FCT PlugIn Opt 360
- Record Table Element CI 361
- Appendix D 369
- , 5−41 371
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