SPC Festo 16622

Soft Stop SPC11

Manual Electronic/ Pneumatics System Description Soft Stop Type SPC11......

Manual 196 724 en 0404b [683 573]

Contents and general instructions

Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Breuer Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Holder Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0404b Designation . . . . . . . . . . . . . . . . . . . . . . P.BESPC11SYSEN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 724

E (Festo AG & Co. KG, D 73726 Esslingen, 2004) Internet: http://www.festo.com EMail: [email protected] The reproduction, distribution and utilization of this docu ment as well as the communicaton of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility module or design. I


Temposonics

is a registered trademark of MTS Sensortechnologie GmbH & Co

Trademarks

II

Festo P.BESPC11SYSEN en 0404b


ContentsDesignated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on the use of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Productspecific terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1. Summary of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Method of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 Display and connecting elements of the SPC11 . . . . . . . . . . . . . . . . . . . . . . . 2. Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 Fitting the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Notes on installing the pneumatic components . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Pneumatic emergency stop circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Installing the electronic components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1 Connecting elements of the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2 Connecting the operating voltage and I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3 Connecting the proportional directional control valve and the measuring system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 General instructions on commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.1 Basic principles of configuring and operating the SPC11 . . . . . . . . . . . . . . . 4.2 Preparameterising in the office . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 Parameters A, C and S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.2 Parameters L and r (only with type SPC11INC) . . . . . . . . . . . . . . . . . . . . . . .Festo P.BESPC11SYSEN en 0404b

V VI VI VI VII IX XI 11 13 17 19 21 23 31 33 34 315 322 323 324 329 41 43 44 48 48 48 III


4.2.3 4.2.4 4.2.5 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.4 4.4.1 4.4.2 4.4.3 4.4.4 5. 5.1 5.2 5.3 A. A.1 A.2 A.2.1 A.2.2 A.2.3 B. B.1 B.2

Parameter o (options) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preparations for the teach procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start the teach procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach the intermediate positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conclude teach procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carry out teach procedure again . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instructions on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switchon behaviour after successful commissioning . . . . . . . . . . . . . . . . . . The first positioning task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controlling the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Use the taught intermediate position as the sensor position . . . . . . . . . . . . Diagnosis and error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error messages on the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Faults during operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Optimising the positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The SPC11 remote inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Remarks on startup via digital inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . Setting timedependency diagram parameters . . . . . . . . . . . . . . . . . . . . . . . Initiating and starting teach procedure timedependency diagram . . . . . . . Teaching the intermediate position time dependency diagram . . . . . . . . . . Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

410 413 418 421 422 424 427 432 432 433 436 438 440 442 51 53 55 57 A1 A3 A4 A6 A7 A8 B1 B3 B5

IV Festo P.BESPC11SYSEN en 0404b


Designated useThe SPC11 has been designed to be fit into a machine or an automated system. In conjunction with permitted drives and measuring systems as well as with a proportional directional control valve type MPYE5..., the SPC11 enables: fast movement into the mechanical end positions and one or two selectable intermediate positions manual movement between the end positions. Depending on the drive used, fixed stops may be necessary in order to protect the drive. The end positions can be set by means of fixed stops. The end position cushioning, movement to the intermediate positions and manual positioning are electronically controlled. The SPC11 may only be used as follows: in accordance with designated use in its original state without any modifications by the user in faultless technical condition only in conjunction with permitted drive/measuring system combinations. When used together with commercially available compo nents, such as sensors and actuators, the specified limits for pressures, temperatures, electrical data, torques etc. must be observed. National and local safety regulations (such as workers compensation associations, TV technical inspec tion associations, VDE Engineers Association) must also be observed.

V


Safety instructionsNote The SPC11 product family in all ist variants may be used in safetyoriented applications only in connection with addi tional measures in accordance with EN 9541. A comple mentary risk analysis by the user/designer is essential.

ServicePlease consult your local Festo repair service if you have any technical problems.

Target audienceThis manual is directed exclusively at technicians trained in control and automation technology.

VI Festo P.BESPC11SYSEN en 0404b


Notes on the use of this manualThis system manual contains basic general information on operating, fitting, installing and commissioning the SPC11. This manual refers to the versions listed in the following: Note Observe the expanded functions of the previous version.

VersionSoft Stop SPC11... from software status 03 May 04 or Version 1.40 1) SPC11...TLF SPC11...LWG SPC11...AIF SPC11INC

New in this versionFault acknowledgement possible via input I6 2) The following options can be set: 3) Output O5 can deliver Ready or Error signal Input I4 can be used for Stop signal or Move signal (P.04) The following can be switched off: Positioning time monitoring Constant adaptation Soft end position behaviour Software status (SW) see rating plate; after being switched on, the software version is displayed briefly. 2) There must be a 0signal at input Remote (I8). 3) About the oparameter (see section 4.2).

1)

Special information on installing and commissioning the SPC11 in conjunction with the drive you are using can be found in the manual DriveSpecific Supplement".

VII


DescriptionSystem Description SPC11 Soft Stop electronics/ pneumatics (this manual) Drivespecific supplement for operating the SPC11 with a certain drive (e.g. DSMI...)

TitleP.BESPC11SYS...

ContentsGeneral instructions on installing and commissioning Special installation and commission ing instructions as well as parameter settings for the relevant drive 1)

P.BESPC11......

1) These manuals contain the permitted drivevalve combinations, cylinder diameters, lengths and mass loads as well as the parameter settings valid here for the SPC11.

Note For installation and commissioning you will require the system manual as well as the DriveSpecific Supplement" manual for the drive used.

VIII Festo P.BESPC11SYSEN en 0404b


Important user instructions Danger categoriesThis manual contains instructions on the possible dangers which may occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc.), printed on a shaded background and marked additionally with a picto gram. A distinction is made between the following danger warnings: Warning This means that failure to observe this instruction may result in serious personal injury or damage to property.

Caution This means that failure to observe this instruction may result in personal injury or damage to property.

Please note 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.

IX


Marking special informationThe following pictograms mark passages in the text contain ing special information. Pictograms Information: Recommendations, tips and references to other sources of information.

Accessories: Information on necessary or sensible accessories for the Festo product.

Environment: Information on environmentfriendly 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 specified. Hyphens indicate general activities.

X Festo P.BESPC11SYSEN en 0404b


Productspecific terms and abbreviationsThe following productspecific abbreviations are used in this manual: Term/abbreviation0signal 1signal Absolute path measuring system Amplification stage

MeaningInput or output supplies 0 V Input or output supplies 24 V Path measuring system with fixed (absolute) assignment of measurement variable and reading The amplification stage influences the acceleration behaviour of the drive, for example. The amplification stage should usually be set as specified in the DriveSpecific Supplement" manual. If the positioning behaviour is later optimised, only the cushioning stage should be modified. The positioning behaviour is determined by the amplification and cushioning stages. The cushioning stage serves to optimise the approach behaviour when moving to the end positions. The term drive" is used in this manual for the linear unit (DGP(I)(L)...), cylinder (DNC(I)...) or rotary drive (DSMI). Digital input Path measuring system in which the measurement variable refers to a reference point and is determined by counting equally large measurement steps (increments). Digital output Parameters which must be set in order that the system can be operated. The amplification stage, the cushioning stage and the system parameter belong here. Programmable Logic Controller/Industrial PC Characteristic value which describes the system structure, the features and components of the drive used. During the teach procedure, the SPC11 checks the set parameters, learns the position of the mechanical fixed stops as well as various characteristic system values and saves these in the integrated EEPROM.

Cushioning stage

Drive I Incremental path measuring system O Parameters

PLC/IPC System parameters Teach procedure

XI


XII Festo P.BESPC11SYSEN en 0404b

Summary of components

Chapter 1

11

1. Summary of components

Contents

1. 1.1 1.2 1.3

Summary of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Method of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display and connecting elements of the SPC11 . . . . . . . . . . . . . . . . . . . . . . .

11 13 17 19

12 Festo P.BESPC11SYSEN en 0404b


1.1 Structu reIn conjunction with permitted drives and measuring systems as well as with a proportional directional control valve type MPYE5..., the SPC11 enables: fast movement into the mechanical end positions and one or two selectable intermediate positions manual movement between the end positions. The end position cushioning,

movement to the intermediate positions and manual positioning are electronically con trolled. A distinction is made between the following types of SPC11: Type DescriptionSPC11POTTLF Enables connection to the linear potentiometer type MLOPOT...TLF. SPC11POTLWG Enables connection to the connecting rod potentiometer type MLOPOT...LWG and the rotary drive with integrated measuring system type DSMI... . SPC11MTSAIF Enables connection of the linear drive with integrated digital measuring system type DGPI(L).........AIF or the digital measuring system type MMEMTS...AIF. SPC11INC Enables connection of an incremental measuring system (e.g. piston rod drive with integrated incremental measuring system type DNCI......).

13


The diagram below shows the basic layout of a drive with the SPC11 using, as an example, a linear unit with a linear poten tiometer.

2

3

4

1P.02 P.01

5

8 6 7

1Drive (linear unit) 2Measuring system (here, externallinear potentiometer)

5Soft Stop SPC11 6Proportional directional control valvetype MPYE5......

3Fixed stops 4Line voltage connection and I/Ocoupling (e.g with PLC)

7Service unit(without lubricator, with 5 m filter)

8Compressed air source (5 to 7 bar)

Fig. 1/1: Layout of a drive with SPC11 (example linear drive) With the SPC11, movement is controlled. During commission ing, the end positions (cylinder end positions or position of the fixed stops) as well as the desired intermediate positions

are learnt" by the SPC11.



During operation, the SPC11 controls movement of the move able mass into the saved end positions and intermediate positions at the highest possible speed. Shortly before the learnt" end position or intermediate position is reached, the moveable mass is braked so that it comes to a standstill. To keep the moveable mass in the learnt" end position, it is pressed against the fixed stop with a pressure equal at maxi mum to the operating pressure.

AdvantagesCompared with pneumaticimpact drives with pulsevalve control, this control procedure permits higher positioning speeds. Also, the following measures, which would be re quired for controlling a drive with a pulse valve, are no longer necessary: the use of restrictors the use of limit switches the use of mechanical end position cushioning (shock absorbers) the maintenance of fixed stops. Compared with pneumaticimpact drives with pulsevalve control, the SPC11 permits: higher machine cycle times less vibration of the system lower maintenance costs.

15


ComponentsIn order to implement fast positioning with electronically closedloop controlled end position cushioning, you will require the following components: the Soft Stop SPC11 a proportional directional control valve type MPYE5... a service unit with a 5 m filter, without lubricator a permitted path measuring system (external or integrated with the drive) a drive, if possible with mechanical guide if possible, two fixed stops (depending on the drive used) a 24 V DC power supply if necessary, components for a pneumatic emergency stop circuit.



1.2 operation Metho d ofTasks of the SPC11 The SPC11 takes over the following tasks: It ascertains characteristic system values of the connected components It saves the desired end positions and intermediate positions It specifies the end positions and intermediate positions It compares the nominal and actual positions and controls positioning by appropriate actuation of the proportional directional control valve (status control). Method of operation The SPC11, the valve, the drive and the measuring system are connected together to form a closedloop control circuit. In this closedloop control circuit, the position of the move able mass represents the control variable. This control cir cuit is therefore also called positioning control. In the following text, the term moveable mass" also refers to piston, slide and flange shaft. The following diagram shows the basic layout of a positioning control circuit with the SPC11.


17


1Measuring system 2Actual positionvalue

1

2

3

6 3SPC11 4Valve control(nominal value)

5Proportionaldirectional control valve

6Drive, e.g. lineardrive

Fig. 1/2: Positioning control circuit with pneumatic components

5

4

The measuring system registers continuously the position of the moveable mass and transmits this in the form of an elec tric signal to the SPC11. The SPC11 compares the current position with the target position (the taught" end positions Po.1 and Po.2 or the intermediate positions Po.3 and Po.4) and calculates from this value the positioning signal for the proportional directional control valve. The proportional directional control valve controls the drive by pressurising one cylinder chamber and exhausting the other. The flow is blocked in the valve slide midposition.



1.3

Display and connecting elements of the SPC11The diagram below shows the display and connecting elements of the SPC11.

123 8

4 7

6 1Control: operating voltage connectionand I/O coupling

5 5Type plate see side 6Groove for identification signs(type IBS 6x10)

2Valve: valve connection 3Display 4Operating buttons

7Measuring system connection(here type SPC11POTTLF)

8Earth (ground) connection

Fig. 1/3: Display and connecting elements of the SPC11 With the SPC11POT... and SPC11MTS..., the connecting cable for the measuring system is firmly connected to the SPC11. With the SPC11INC, the measuring system connec tion is in the form of a socket.

19



Fitting

Chapter 2

21

2. Fitting

Contents

2. 2.1

Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fitting the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21 23


2. Fitting

Note When fitting the pneumatic components, observe also the notes on fitting in the operating instructions supplied and the notes on installation in chapter 3.

2.1 Fittin g the SPC1 approx. 91.8 mm 1The SPC11 can be fastened to a flat surface with the aid of the support brackets. The diagram below shows the mounting surface and the di mensions for the four threaded holes screw size 42 mm M4. Fasten the SPC11 with

at least 3 screws.118.4 mm

63 mm 78 mm

109.4 mm

1

1Plug in fitted stateFig. 2/1: Fitting dimensions of the SPC11

23

2. Fitting


Installation

Chapter 3

31

3. Installation

Contents

3. 3.1 3.2 3.2.1 3.3 3.3.1 3.3.2 3.3.3

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on installing the pneumatic components . . . . . . . . . . . . . . . . . . . . . . . Pneumatic emergency stop circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing the electronic components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting elements of the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting the operating voltage and I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting the proportional directional control valve and the measuring system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

31 33 34 315 322 323 324 329


3. Installation

3.1 Genera l instruct ions on installa tionWarning Sudden unexpected movements of the connected actua tors and uncontrollable movements of loose tubing can cause injury to human beings and damage to property. Before carrying out installation and/or maintenance work, switch off the operating voltage and the

compressed air supply either simultaneously or in the following sequence: 1. compressed air supply 2. operating voltage.

Caution The use of components which have not been released for operation with the SPC11 may lead to malfunctioning. Use only the special matching components from Festo for setting up and wiring the system.

33

3. Installation

3.2

Notes on installing the pneumatic componentsNote Observe the following instructions on installing the pneu matic components. Only then can you guarantee faultless operation.

1

2345

6

987 1...9Notes on installation, see the following pagesFig. 3/1: Overview of pneumatic installation


3. Installation

Compressed air supply (1)Use only dried, nonlubricated, 5 m filtered compressed air from 5 to 7 bar. You will require a service unit with a 5 m filter for protecting the proportional directional control valve against damage.

Service unit(2)Use a service unit consisting of a compressed air filter and a regulating valve (e.g. type LFR...D... with 5 m filter element) as well as a safety startup valve (e.g. HEL......): without lubricator with a 5 m filter with sufficiently large standard flow corresponding to the air requirement of the connected drive during positioning. Reference value: twice the rated flow of the valve (type MPYE5...), e.g.: Valve typeMPYE51/8LF010B MPYE51/8HF010B MPYE51/4010B MPYE53/8010B

Service unitLFRM1G1/8C10RG or LFR1/8D5MMINI LFRM1G1/4C10RG or LFR1/4D5MMINI LFRM2G1/4C10RG or LFR3/8D5MMIDI LFRM2G3/8C10RG or LFR3/4D5MMAXI

Use a microfilter if you cannot avoid slight oil mist from the compressed air supply.

35

3. Installation

Compressed air reservoir (3)If the positioning behaviour does not conform to your require ments, and if you ascertain fluctuations in pressure of over 1 bar at the measuring point, then proceed as follows: Fit a compressed air reservoir (e.g. type VZS...B) be tween the service unit and the proportional directional control valve. In this way you can reduce fluctuations in pressure during operation. You can compensate for slight excesses in the permitted pressure by using supply tubing with a larger diameter. Reservoir volume: The reservoir volume should be at least four times as large as the volume of the drive used. VP=4*VZ V P = buffer volume V Z = cylinder volume (linear drive: V Z = r 2 * * L Z ) L Z = cylinder stroke length


3. Installation

Compressed air tubing and screw connectors (4)Use only straight screw connectors. If angled connectors cannot be avoided, use plug connectors from the Quick Star series. Cut compressed air tubing and hoses to the required size, as specified in the manual for the drive used. Arrange the tubing between the valve (MPYE5...) and the drive symmetrically. Use only clean compressed air tubing and connectors. Details on permitted temperatures and pressure ranges for tubing and connectors can be found in the products catalogue. Do not install restrictors in the supply lines. Arrange the tubing so that it does not project into the positioning range. For good positioning behaviour during operation, fluctuations in pressure of max. 1 bar are permitted in front of the propor tional directional control valve. In order to check the stability of the supply pressure, you can fit a pressure measuring point directly in front of the proportional directional control valve.

37

3. Installation

Proportional directional control valve (5)Arrange the tubing between the valve (MPYE5...) and the drive symmetrically. Recommendation for linear drives and drives with piston rod: tubing length = cylinder length. The diagram below shows as an example the tubing of a cylin der with an MPYE5... when an SPC11 is used without an emergency stop circuit.

1

2

1Proportional directional control valve type MPYE5...... 2Service unit with 5 m filter, without lubricatorFig. 3/2: Pneumatic circuit diagram Fit the valve in accordance with the operating instructions supplied with the valve.


3. Installation

If the proportional directional control valve is to be used in an environment subjected to heavy electrical interfer ence, it should be insulated from the mounting surface. Fitting onto moving parts If fitted to moving parts, the proportional directional con trol valve must be mounted at rightangles to the direc tion of movement. Acceleration forces then have no influ ence on the valve slide setting.

1

2

3 1Fitting at right angles to the direction of movement 2Not permitted 3Proportional directional control valvetype MPYE5...... Fig. 3/3: Fitting to moving parts Use silencers with a large flow rate UCM5, U1/8, U1/4 or U3/8.

39

3. Installation

Reducing loud exhaust noises Fit larger silencers with the aid of tubing or: Pass the ducted exhaust into a small compressed air reservoir and exhaust this with a large silencer. Make sure that there is sufficient flow through the screw connectors and tubing (with PUN8 tubing length max. 1 m).

21

3

1Ducted exhaust 2Compressed air reservoir 3SilencerFig. 3/4: Ducted exhaust

310


3. Installation

Drive (6)Use only the permitted combinations of drives and measuring systems approved of by Festo for the SPC11. The drivevalve combinations, cylinder diameters, cylinder lengths and mass loads permitted for the drive used can be found in the DriveSpecific Supplement" manual. Connect the drive, guide, measuring system and the load free of play in the direction of movement and flush with each other. If necessary, provide a sufficiently large supply of energy in order to minimise the effects of transverse forces on the posi tioning behaviour. Observe the maintenance intervals specified in the operating instructions for the drive (see operating instructions for the cylinder/drive or the guide).

311

3. Installation

Path measuring system (7)See also DriveSpecific Supplement". Fit the measuring system and the drive symmetrically so that the centre of the usable measuring system stroke corresponds to the centre of the complete cylinder stroke. With type MLOPOT...TLF: The remaining path of the measuring system slide must be identical in the cylinder end positions on both sides.

1Remaining slidepath

11

Fig. 3/5: Symmetrically mounted measuring system (with type MLOPOT...TLF) With type MLOPOT...LWG: The remaining slide path of the measuring system must be identical in the cylinder end positions on both sides and can be calculated as follows: Calculation formula DescriptionL M Measuring system length L Z Cylinder length L R Remaining slide path

(L M L Z ) +L R 2

312


3. Installation

With type MMEMTS...AIF: Note The mechanical work path (possible slide path) of measur ing system type MMEMTS...AIF is longer than the electri cal work path (usable stroke length). Fit measuring system type MMEMTS...AIF so that the elec trical work path (see type designation MMEMTS...AIF) of the measuring system is symmetrical to the complete cylinder stroke.

1Remaining slidepath

1

1

2Electrical workpath (usable stroke length)

3Mechanical workpath (possible slide path)

2 3

Fig. 3/6: Usable stroke length with type MMEMTS...AIF

313

3. Installation

Fixed stops (8)Fixed stops may be necessary, depending on the drive used. See also DriveSpecific Supplement".

Mass load (9)Fit the mass load free of play. Possible moveable mass loads see DriveSpecific Supplement".


3. Installation

3.2.1 Pneumatic emergency stop circuitIn order to put the system into a safe state in the event of a fault, you will require a pneumatic emergency stop circuit. From the types listed below, select the one which best suits the construction and operating characteristics of your sys tem: Drive pressureless during emergency stop Drive clamped during emergency stop Drive moves at reduced speed into the left or righthand end position during emergency stop. Please note If the operating voltage supply for the SPC11 is switched off, the proportional directional control valve type MPYE... will move to the mechanical midposition. Due to the asym metrical voltagepressure curve of the proportional direc tional control valve when the supply pressure is switched on, the slide can move slowly into one of the end positions.

Variants of emergency stop circuitsThe following four diagrams show as an example four variants of emergency stop circuits for a linear drive. In each case the emergency stop situation is represented. For requirements and recommendations concerning the components used, see Fig. 3/11 and Fig. 3/12.

315

3. Installation

Variant 1: Drive pressureless during emergency stop

1Emergency stopactuated1V1

1A

1V2

11V3 Emergency Stop 24 V 1V4

1G1

1R1

Fig. 3/7: Drive pressureless during emergency stop

316


3. Installation

Variant 2: Drive clamped during emergency stop


1A

1V2

1Emergency Stop 24 V 1V3

1G1

1R1

Fig. 3/8: Drive clamped during emergency stop


317

3. Installation

Variant 3: Drive moves at reduced speed into the righthand end position during emergency stop


1A

1V2

11V3 1V4

Emergency Stop 24 V

1G1

Fig. 3/9: Drive moves at reduced speed into the righthand end position during emergency stop

1R1


3. Installation

Variant 4: Drive moves at reduced speed into the lefthand end position during emergency stop


1A

1V4

1V2

11V3 Emergency Stop 24 V

1G1

Fig. 3/10: Drive moves at reduced speed into the lefthand end position during emergency stop

1R1

319

3. Installation

Components for variants 1...4 Identifying components1V1, 1V2

Requirements

Recommendation/type

5/2way valve with pneumatic spring return with auxiliary pilot air with reversible flow direction flow matches the proportional directional control valve used (1V3) Proportional directional control valve type MPYE... flow matches the drive used (1 A) For suitable valvedrive combinations, see the drivespecific supplement for the drive used. Exhaust restrictor with silencer specifies the speed at which the drive moves into the desired end position; adjustable with appropriate silencer screwed directly into the restrictor must be fitted near valves 1V1, 1V2. Compressed air regulating valve with 5 m filter cartridge standard flow matched to the air requirement of the connected drive Requirements see also section 3.2 Compressed air reservoir (optional) Requirements see section 3.2

With CPE10... and CPE14...: type CPE...M1BH5LS... With CPE18... and CPE24...: type CPE...M1B5LS...

1V3

Type MPYE5...010B

1V4

Type GRLA...B with U...

1R1

Type LFR...D5M...

1G1

Type CRVZS...

Fig. 3/11: Components for variants 1...4


3. Installation

ComponentMPYE... GRLA...B CPE... LFR......MINI LFR......MIDI LFR......MAXI

Type/size...M5... ...1/8LF... ...1/8HF... ...1/4... ...3/8... ...M5... ...1/8... ...1/8... ...1/4... ...3/8... CPE10... CPE14... CPE18... CPE24... ...1/8... ...1/4... ...1/4... ...1/2... ...1/2...

Fig. 3/12: Dimensions for variants 1...4

321

3. Installation

3.3

Installing the electronic componentsCaution Cables with high levels of noise can cause electromagnetic interference. Do not place the following cables in the vicinity of cables with high levels of interference: measuring system cable proportional directional control valve cable.

Caution An incorrect connection assignment may cause damage to the SPC11. Use only the original cables. Make sure that the connection assignments of the measuring system cables and valve cables are correct.

Caution Incorrect or missing earthing can cause interference. When using the DGP(L) and the DNC(I): Connect the drive with low impedance (short cable with large crosssectional area) to the earth potential, if the drive is not mounted on an earthed machine stand.

322


3. Installation

3.3.1 Connecting elements of the SPC11The diagram below shows the connecting elements of the SPC11, using the SPC11POTTLF as an example.

1Measuring systemconnection (here for type MLOPOT...TLF or DNCM...)Festo P.BESPC11SYSEN en 0404b

2

2Earth (ground)connection

3Valve connection 1 4Operating voltageconnection as well as inputs and outputs Fig. 3/13: Connecting elements of the SPC11

4

3

323

3. Installation

3.3.2 Connecting the operating voltage and I/OsWarning Use only power units which guarantee reliable isolation of the operating voltages as per IEC 742/EN 60742/VDE 0551 with at least 4 kV insulation strength (Protected Extra Low Voltage PELV). Switch power packs are permitted, provid ing they guarantee reliable isolation in accordance with EN 60950/VDE 0805. By the use of PELV power units, protection against electric shock (protection against direct and indirect contact) is guar anteed with the SPC11 in accordance with EN 602041/ IEC 204. Safety transformers with the adjacent symbol must be used for supplying PELV networks. The SPC11 must be earthed to ensure that it functions correctly (e.g. EMC).

Caution In order to avoid interference caused by electromagnetic influences: SConnect the earth connection on the lefthand side of the housing with low impedance (short cable with large crosssectional area) to the earth potential. SUse only the following original cable to connect the line voltage and inputs/outputs. Original cable to connect the line voltage and inputs/outputs. Type designationKMPVSUBD155 KMPVSUBD1510

Cable length5m 10 m

324


3. Installation

The operating voltage is supplied together with the circuit for the inputs/outputs (see Fig. 3/8) via the 15pin plug marked with Control" (see Fig. 3/8). Pin 15 (whiteyellow): DC + 24 V Pin 14 (browngreen): 0 V Tolerance: 10 % to + 25 % Connect a protective conductor with sufficient cross sectional area to the drive, if this is not mounted on an earthed ma chine stand. The following diagram shows the pin numbering of the Control" connection. The pin assignment with core colours for the original cable KMPVSUBD15... can be found in the following section.

1Pin 1 8Pin 8 8 9Pin 9 aEPin 15 1

aE

9Fig. 3/14: Control" connection

Short description of the I/O signals at the Control connection The function of the input I4 and outputs O4 and O5 can be configured (see section 4.2.3). The following tables describe the factory settings. Further information on the I/O signals can be found in section 4.4. 325

3. Installation

Inputs on the 15pin Control" plug (I = input)Pin Pin assignment and core colours 1 I8 Remote white {/ 2 I7 Description 1signal deactivates operating buttons and activates the relevant remote inputs (pins 2...4) With 0signal at I8 (remote): Input without function. With 1signal at I8 (remote): Function of the operating buttons {/ callable 3) With 0signal at I8 (remote): Faults are acknowledged via a rising edge at this input: With 1signal at I8 (remote): Function of the operating buttons Enter/Teach/Esc can be called up 3) With 0signal at I8 (remote): Input without function. With 1signal at I8 (remote): Function of the operating buttons +/} callable 3) With 0signal at the inputs P.01, P.02 and P.03: With factory setting P.04: A 1signal (min. switchon duration 20 ms) issues the order to move to the taught intermediate position P.04. 4) With 0signal at the inputs P.01, P.02 and P.04: A 1signal (min. switchon duration 20 ms) at this input issues the order to move to the taught intermediate position P.03. 4) With 0signal at the inputs P.01, P.03 and P.04: A 1signal (min. switchon duration 20 ms) at this input issues the order to move to the end position P.02. 4) With 0signal at the inputs P.02, P.03 and P.04: A 1signal (min. switchon duration 20 ms) at this input issues the order to move to the end position P.01. 4)

Reset Error 1) 3 I6 green Enter/Teach/ Esc

+/}4 I5 yellow

P.04 2) 5 I4 grey

6 I3 P.03 pink

7 I2 P.02 blue

8 I1 P.01 red

1) 2) 3) 4)

A prerequisite is a 0signal at input I8 (remote). Function of I4 can be configured (see section 4.2.3); P.04 (factory setting) or Stop See appendix A A change of direction is possible at any time.


3. Installation

Outputs on the 15pin Control" plug (O = output)Pin Pin assignment and core colours Error 1) 9 O5 black Description Factory setting: Provides a 1signal when an error occurs (see chapter 5). Provides a 0signal in the normal operating state Factory setting: Supplies a 1signal if the moveable mass is in the taught intermediate position P.04. Supplies a 1signal for 50 ms if intermediate position P.04 is overrun. Supplies a 1signal if the moveable mass is in the taught intermediate position P.03. Supplies a 1signal for 50 ms if intermediate position P.03 is overrun. Supplies a 1signal if the moveable mass is in end position P.02. Supplies a 1signal if the moveable mass is in end position P.01 (on the side with the electrical connection for the potentiometer).

P.04 2) 10 O4 violet

11 O3 P.03 greypink

12 O2 P.02 redblue 13 O1 P.01 whitegreen

1) 2)

Function of O5 can be configured (see section 4.2.3); Error (factory setting) or Ready Function of O4 can be configured (see section 4.2.3); P.04 (factory setting) or Stop

Line voltage on the 15pin Control" plugPin Pin assignment and core colours 14 0V browngreen 15 24 V supply whiteyellow Description 0V DC +24 V (tolerance 10 % to + 25 %)


327

3. Installation

Connection example type SPC11...... Note With measuring systems type MLOPOT...LWG: In order to earth the system, connect the earthing cable on the flat plug of the measuring system to the earth connec tion on the SPC11.

1 2

teyellow 0V browngreen O1: P.01 whitegreen

15 14 13 12 11 pink grey yellow green brown white 6 5 4 3 2

O4: P.04 *) violet O5: Error *) black I1: P.01 red I2: P.02 blue

3410 9 8 7

O2: P.02 redblue 24 V O3: P.03 greypink whi I3: P.03 I4: P.04 *) I5: +/} I6: Enter/Teach/Esc I7: {/ I8: Remote*)

1 The function of this input/output can be configured (see section 4.2.3).

1Pin assignment for Control connection 3With linear drives, end position P.01 lies on the side with the electrical with core colours for cable connection to the measuring system KMPVSUBD15... O.. = output, I.. = input 4Earth/ground 2Sensors for moving to the positions (P.04 only for factory setting)Fig. 3/15: Connection example type SPC11... 328Festo P.BESPC11SYSEN en 0404b

3. Installation

3.3.3 Connecting the proportional directional control valve and the measuring systemConnecting the measuring system Use only the permitted combinations of drives and measuring systems approved of by Festo for the SPC11. The connecting cable for the measuring system is connected either fixed to the SPC11 or to the drive. Note Interference due to electromagnetic influences can be avoided if a short cable is used. Use only the original cable.

Observe also, where applicable, the operating instructions for the measuring system. Fasten the plug with the aid of the integrated screw, in order to prevent unintentional loosening, e.g. due to shock. Connecting the proportional directional control valve The valve connection provides the power supply for the valve and the control voltage for positioning the valve slide. Use only the original cable for connecting the valve. Type designationKMPYEAIF1GSGD2 KMPYEAIF1GSGD0,3

Cable length2m 0.3 m


329

3. Installation

1Pin 1 4Pin 4 7Pin 7

4

7

1Fig. 3/16: Valve connection, pin assignment and core colours Pin no. on the valve plug1 2 2 3 4

Pin Pin assignment and core colours of the cable type KMPYE...1 24 V load voltage for the valves (blue) 2 0 V (brown) 3 0 V (green) 4 Vs (positioning signal 0...10 V) (yellow) 5 Signal GND (grey) 6 n.c.: not connected (pink) 7 24 V supply for the valves (white)

1

Tighten the plugs with the aid of the union nut in order to prevent unintentional loosening, e.g. due to shock.


Commissioning

Chapter 4

41

4. Commissioning

Contents

4. 4.1 4.1.1 4.2 4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.4 4.4.1 4.4.2 4.4.3 4.4.4

Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General instructions on commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic principles of configuring and operating the SPC11 . . . . . . . . . . . . . . . Preparameterising in the office . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameters A, C and S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameters L and r (only with type SPC11INC) . . . . . . . . . . . . . . . . . . . . . . . Parameter o (options) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preparations for the teach procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start the teach procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach the intermediate positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conclude teach procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carry out teach procedure again . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instructions on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switchon behaviour after successful commissioning . . . . . . . . . . . . . . . . . . The first positioning task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controlling the SPC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Use the taught intermediate position as the sensor position . . . . . . . . . . . .

41 43 44 48 48 48 410 413 418 421 422 424 427 432 432 433 436 438 440 442


4. Commissioning

4.1 Genera l instruct ions on commi ssionin gThis chapter describes parameterisin g and commissioni ng with the aid of the three buttons on the SPC11. A 1signal at the Remote input (I8) blocks the SPC11 buttons. Button func tions can then be called up via the digital inputs (I5...7). Detailed information on this can be found in appendix A.

Warning During commissioning and during operation the moveable mass is moved at the highest possible acceleration and speed. Make sure that: Nobody can place his/her hand in the positioning range of the moveable mass, unless the compressed air supply is switched off. The complete positioning range is free of any objects.

Warning Incorrectly set parameters can damage the fixed stops and the drive. Be very careful when setting the parameters.

43

4. Commissioning

4.1.1 Basic principles of configuring and operating the SPC11 ParametersThe SPC11 must be familiar with certain conditions of use. These conditions of use are described by the following para meters: Display ParametersAmplification stage Cushioning stage

DescriptionInfluences the acceleration Dependent on drive, behaviour of the drive valve and mass load; see Drive SpecificDriveSpecific Influences the runin behaviour Supplement when moving to the end positions and intermediate positions. Characteristic values for setting up the drive with reference to the drive type First character: Characteristic value for the ratio of drive and measuring system length Second character: Characteristic value for the ratio of drive length and drive diameter. Nominal stroke length in 1 mm Only with the use of an increments (e.g. nominal stroke incremental path measuring system 1) 300 mm: L = 300) (see section 4.2.2) Offset between the end position P.01 and the axis zero point in 1 mm increments Permits various options (e.g. Ready signal instead of Error signal, Stop signal instead of P.04 etc., see section 4.2.3)

System parameters

Nominal stroke length of the drive

Offset axis zero point

Option parameters (Options)1)

e.g. with drive DNCI...... in connection with type SPC11INC


4. Commissioning

The parameters can be entered: before commissioning (preparameterising without drive in the office) when commissioning.

Button functionsThe SPC11 buttons are only active when a 0signal is present at the Remote input (I8). Button{/

DescriptionReduce the input value or position value 1) (the drive moves in the direction of the measuring system zero point) Hold the button pressed down for at least 2 sec onds in order to confirm parameter values or to start the teach procedure. Press the button briefly in order to interrupt the procedure. Increase the input value or position value 1) (the drive moves away from the measuring system zero point). Press the button briefly in order to modify the value by 1. Hold the button pressed down in order to modify the value continuously.

Enter/Teach (> 2 s) Esc (< 1 s) +/}

1)

A 1signal at the remote input (I8) blocks the SPC11 buttons. Functions can then be called up via the digital inputs. Detailed information on this can be found in appendix A.

45

4. Commissioning

Display on the SPC11The display on the SPC11 indicates: parameters or status information. The first position of the display shows identifying letters for parameters or status information. The last two positions show the appropriate value, the stage or the number.

1Identifying lettersfor parameters or status type

1

2

2Value, stage orstatus information

3Point forseparation Fig. 4/1: Composition of the display on the SPC11

3


4. Commissioning

Possible status informationDisplay Description When the letter (t) flashes: The SPC11 waits for the teach task. When the dots (...) flash: The teach procedure is being carried out. 0signal. In operation (e.g. manual positioning): The moveable mass stands controlled but is not in a taught position (P.01...P.04). The outputs O1...4 therefore supply a 0signal. The moveable mass stands in end position P.01 (end position when measuring system is connected). The moveable mass stands in end position P.02 (opposite end position). The moveable mass stands in end position P.03 (taught intermediate position).

Only with type The moveable mass stands in end position P.04 (taught intermediate position). SPC11MTSA Stop signal over Stop input I4 IF: The SPC11 checks whether Fault number (Error; value range: 01...0.19); see chapter 5 the measuring system is connected Reference travel is being carried out. (find measuring system). When the SPC11 is switched on: The moveable mass stands uncontrolled and is not in a taught position (P.01...P.04). The outputs O1...4 therefore supply a

47

4. Commissioning

4.2 rising in the office Prepa ramete 4.2.1 Parameters A, C and SThe permitted values of the parameters A, C, and S for the drive you are using can be found in the appropriate axis specific supplement.

4.2.2 Parameters L and r (only with type SPC11INC)The parameters L and r are only queried when incremental path measuring systems are used (e.g. positioning drive DNCI...... in connection with type SPC11INC). With incremental path measuring systems, the SPC11 requires the following information: Nominal stroke length (L) of the drive (see type plate) Offset axis zero point (r) offset between the end position P.01 and the axis zero point (see Fig. 4/2).

1Axis zero point(piston rod run in

12

3

2Offset axis zeropoint (r)P.01

3Fixed stop

(here for end position P.01) Fig. 4/2: Reference points for incremental path measuring systems with SPC11INC

P . 0 2


4. Commissioning

Nominal stroke length (L) of the drive [mm]

Nominal stroke length (L) of the drive, see type designation on the type plate (e.g. type DNCI32300PA has a nominal stroke length of 300 mm).

Offset axis zero point (r) [mm]

For a good positioning behaviour, the SPC11 must know the positioning range used by the drive. The offset axis zero point specifies the offset between the end position P.01 and the axis zero point. With an offset of 0 cm, the end position P.01 lies in the axis zero point.

Remarks on reference travel With incremental path measuring systems, the measurement variable refers to a reference point and is determined by counting equally large measurement steps (increments). The relationship between measurement variable and current posi tion is created through the reference travel. Referencing in the teach procedure In the teach procedure (see also section 4.3.1), the end positions P.01 and P.02 are approached. This creates the relationship between measurement variable and current position. Reference travel is not necessary.

Reference travel after POWER ON

After the SPC11 operating voltage is switched on again, the relationship between measurement variable and current position is lost. Reference travel into the end positions P.01 or P.02 is necessary (see also section 4.4).


49

4. Commissioning

4.2.3 Parameter o (options)With this parameter, you can change the signal behaviour of the SPC11 and switch off certain standard functions. Note The factory setting (oparameter = 0) means: No option selected. Standard behaviour active. Standard behaviour at factory setting (oparameter = 0): Output A5 supplies Error signal Positioning time monitoring (10 s) active Constant adaptation active Soft end position behaviour active Input I4 can be used for the positioning order to the taught intermediate position P.04 In the factory setting (oparameter = 0), the above behaviour is identical to the previous version (there no options were selectable). Internally, the decimal value is interpreted as binary. A spe cific option is assigned to each bit (see following table). Only allowable option combinations can be set. This results in a possible value range of 00 to 79 for the oparameter.


4. Commissioning

Bit

Decimal value at 1 1

Parameter o (options)Option

Description

0

Output O5: Ready signal (instead of Error signal)

Use O5 for Ready signal instead of Error signal. Permits monitoring of operational readiness: The output O5 supplies a 1signal if the SPC11 is ready to operate. A 0signal at this output indicates that the SPC11 is not yet ready to operate, or there is a system or positioning error. Switches off the time monitoring during a positioning order. It is then not monitored whether the position is reached within approx. 10 s. Switch off constant adaptation. Adaptation is then active after operating voltage is switched on only within the first 20 strokes. 1) Switches off soft end position behaviour. Travelling into the end position takes place with somewhat more remaining energy. You can reduce the cycle time with this function (up to max. 15 %, depending on drive and mass load).

1

2

Switch off positioning time monitoring Switch off con stant adaptation Switch off soft end position behaviour

2

4

3

8

4 5

16 32

Reserved Input I4: Stop without return travel (instead of positioning tast to P.04) Input I4: Stop with return travel (instead of positioning task to P.04) Use I4 for Stop signal instead of Move signal (to P.04). Permits stopping the drive even during the teach pro cedure. Output O4 supplies a 1signal. One of the following options can be selected: Stop without return travel (bit 5): With the 0 signal at input I4, the drive stops with the brake incline deter mined i th t h procedure. 2) 3) i d in the teach d Stop with return travel (bit 6): With a 0signal at input I4, the current position is taken over as the Stop position after an internally required signal processing time. The drive is braked with maximum power and travelled back to the Stop position. 2)

6

64

1) 2)

With oscillating mass load, constant adaptation can negatively influence travel behaviour. A stop during the teach procedure stops the drive without control. The procedure must then be restarted. A stop during the first travel task causes error E19. The drive is uncontrolled. Direction of movement recognition remains active. 3) The brake inclines are dependent on direction and are automatically determined in the teach procedure.

411

4. Commissioning

Possible conditions after stop signal over input I4Stop time Condition after stop Display Teach procedure Drive is uncontrolled. Output O4 supplies 1signal. Reference travel Teaching of P.03 Drive is controlled. Output O4 supplies 1signal. Operation Drive is controlled. Output O4 supplies 1signal if the drive is stopped.

Note

Restart teach procedure (by Teach button/input) Restart reference travel to P.01 or P.02 Continue teaching of P.03 Continue operation

Determine value of the oparameterDifferent combinations of options are possible. You determine the value to be set through addition of the individual decimal values of the desired options. Example: Options Bit CalculationUse O5 for Ready signal instead of Error signal 0 Switch off soft end position behaviour 3 Use I4 for Stop signal (stop without return 6 travel) instead of Move signal Total (value to be set) +1 +8 + 64 = 73

Alternative calculationBit no. 6 5 4 3 2 Bit value 1 0 0 1 0 Calculation 1 * 2 0)1 * 2 3)1 * 2 6+73 10 01


4. Commissioning

4.2.4 Set parametersAt the factory, all the parameters are zero (status at delivery). When the power supply is switched on, the SPC11 in this case expects entry of the parameters. In preparation for commis sioning, the parameters can be set in the office" without setting up the drive. This simplifies the commissioning of large series in production. Set the parameters without drive (in the office) as follows: Warning Incorrectly set parameters can damage the fixed stops and the drive. Be very careful when setting the parameters.

The right amplification and cushioning stages and the system parameter for your drive can be found in the drivespecific supplement. The values specified here are examples. Instead, enter the values valid for setting up your drive. 1. Switch on the operating voltage for the SPC11. The SPC11 will then show briefly the version number of the internal firmware. The SPC11 then expects the amplification stage to be entered. The display shows the letter A (Amplification stage). The figures indicate the stage (here 0). (A.00) 2. Set amplification stage with +/, e.g. 02. (A.02) 3. Hold the Enter key pressed down for more than 2 seconds (> 2 s). The value will then be transferred to the SPC11 and

413

4. Commissioning

the cushioning stage will be shown (here 0). This is shown by the letter C (Cushioning stage). (C.00) 4. Set cushioning stage with +/, e.g. 04. (C.04) 5. Hold the Enter key pressed down > 2 seconds. The value will then be transferred and the system parameter shown (here 0). (S.00) 6. Set system parameters with +/, e.g. 01. (S.01) 7. Hold the Enter key pressed down > 2 seconds. The value will then be taken over. If you do not use an incremental path measuring system, the option parameter (o.00) is displayed. Then read further at point 14.. If you use an incremental path measuring system (e.g. drive DNCI...... in connection with type SPC11INC), the drive length (nominal stroke) (L) is now queried. (L.00) 8. Press any desired button to display the drive length in mm (threedigit number). (000) 9. Set drive length in mm with +/ (see rating plate), e.g. 300 for 300 mm. 414 Festo P.BESPC11SYSEN en 0404b

4. Commissioning

(300) 10. Hold the Enter key pressed down > 2 seconds. The value will then be taken over and the identifying letter for the offset axes zero point (r) displayed. (r.) 11. Press any desired button to display the offset axis zero point (r) in mm (threedigit number). (000) 12. Set offset axes zero point (see also section 4.2.2) in mm with +/, e.g. 20 for 20 mm. (020) 13. Hold the Enter key pressed down > 2 seconds. The value will then be taken over and the option para meter is displayed. (o.00) 14. Set option parameters (see also section 4.2.3) with +/, e.g. 73. (o.73) 15. Hold the Enter key pressed down > 2 seconds. The value will then be transferred and the readiness to carry out the teach procedure will be indicated by a flashing t". The parameters are thus saved and preparameterising (in the office) is completed. The t flashes.

415

4. Commissioning

When all prerequisites for carrying out the teach procedure have been made (see sections 4.3.1), the teach procedure can be started (see sections 4.3.2). 16. If you wish to conclude precommissioning, switch off the operating voltage.

Switchon behaviour after successful precommissioning (in the office)When the operating voltage is switched on again, the SPC11 shows briefly the firmware version number and then one after the other the values of the set parameters. The SPC11 then indicates readiness to carry out the teach procedure (t..). The t flashes (see Fig. 4/3).


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Start: Switchon reactionFirmware version number

Display of firmware versionWait approx. 0.5 second

The current value is displayed here

Display of amplification stageWait approx. 1 second

Display of cushioning stageWait approx. 1 second

Display of system parametersWait approx. 1 second

Display of drive length (stroke) *)Wait approx. 1 second

Display offset axes zero point *)Wait approx. 1 second

Display of option parametersWait approx. 1 second The t flashes

The SPC11 waits for a teach order*)

Only when incremental path measuring systems are used (e.g. positioning drive DNCI...... in connection with type SPC11INC)

Fig. 4/3: Switchon behaviour of the SPC11 after precommissioning (in the office) The teach procedure can be started (see section 4.3.1).

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4.2.5 Changing parametersNote The option parameter o can be changed without a new teach procedure being necessary. After the parameters A, C, S, L or r are changed, the teach procedure must be per formed again. If necessary, the set parameters can be modified, e.g. in order to correct entry errors or to optimise positioning behaviour. This can be carried out in one of the following ways: PossibilitiesActivate modification mode

DescriptionIn this mode the set parameter values are retained and can be modified or trans ferred. Taught intermediate positions are retained. All parameter values are then set to 0. Taught intermediate positions are deleted.

Create status as at delivery

Activate modification mode Condition The measuring system must be connected. There must be a 0signal at input Remote (I8). The drive must be at a stand still.

Caution When the modification mode is activated, the valve slide assumes the mechanical midposition. During positioning the mass can therefore move uncushioned into an end position. Make sure that the drive is standing still before you acti vate the modification mode.

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Use the buttons as follows to activate the modification mode: 1. Make sure that the drive is standing still. 2. Press all three buttons on the SPC11 at the same time. The display shows the letter A (Amplification stage) and the stage set (here 02). (A.02) If you have activated the modification mode by mistake, you can abort the procedure by switching off the power supply. If you have already carried out the teach procedure, you can in this way avoid the need to carry out this procedure again. With the +/ buttons, you can modify the parameter displayed and transfer it with Enter. When you change the parameters A, C, S, L or r: When the last parameter has been transferred, the SPC11 then indicates readiness to carry out the teach procedure (t flashes). Create status as at delivery The measuring system must not be connected. There must be a 0signal at input Remote (I8). The compressed air sup ply must be switched off. Use the buttons as follows to create the status as at delivery: 1. If necessary, switch off the compressed air and the power supplies. 2. Disconnect the measuring system cable from the measur ing system.

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3. Switch on the power supply. The SPC11 will then show fault E01 (measuring system not connected...). (E.01) 4. Press all three buttons at the same time (> 2 s). The display shows the letter A (Amplification stage). The value is reset to 0. (A.00) With the +/ buttons, you can set the value again and transfer it with Enter. Then set the other parameters again in the same way (see section 4.2.4).


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4.3 Commi ssionin g proced ureWarning Faults in the system structure and incorrect parameters can cause the slide to move to an end position uncu shioned. The fixed stop or the drive may then be de stroyed. You must observe the following instructions in order to prevent such collisions. The SPC11 learns" the

location of the end positions (cylinder end positions or fixed stop positions) by means of the teach procedure. The teach procedure must be carried out during the first commissioning and always when the fixed stops have been adjusted or when compo nents and tubing have been replaced. During the teach procedure the SPC11 can recognise faulty drive tubing or incorrectly set parameters. The teach procedure must therefore be carried out again if the tubing is disconnected and then reconnected, or if the parameters A, C, S, L or r are modified. Make sure that the maximum permitted mass load is observed during operation. Recommendation: Place appropriate warning signs on your system.

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4.3.1 Preparations for the teach procedureTeach procedure During the teach procedure movement is made at first cyclically and slowly to the end positions P.01 and P.02. In this way the SPC11 learns the mechanical end positions and some characteristic system values such as friction and hysteresis. The SPC11 saves these values in the integrated EEPROM. In order to check the set parameters for plausibility, the moveable mass is first brought dynamically into the centre of the positioning stroke used and then moved to just in front of end position P.01. Note When an incremental path measuring system is used (e.g. with type DNCI......): During the teach procedure, movement is made to the end positions P.01 and P.02. This creates the relationship between measurement variable and current position. Reference travel is not necessary. The teach procedure is concluded when the moveable mass is pressed against end position P.01 and the output O1 supplies a 1signal. Before commissioning can be undertaken, the pneumatic drive must be ready for operation. The teach procedure should be carried out with maximum permitted mass load. During the teach procedure there must be a 0signal at inputs P.01 to P.04. Proceed as follows in order to prepare the teach procedure: 1. Check the complete system structure, especially the drive tubing (see chapter 3). Special specifications for your drive can be found in the DriveSpecific Supplement". 2. Check the electrical circuitry.

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3. If fixed stops are used: Set the fixed stops accurately in the desired end posi tions. The positioning stroke permitted for the drive used can be found in the DriveSpecific Supplement". 4. Check whether the parameters have already been correctly set in precommissioning. The permitted values of the parameters A, C, and S for the drive you are using can be found in the appropriate axisspecific supplement. The currently set values will be shown briefly when the operating voltage is switched on (see also Fig. 4/3). If the SPC11 is in the status at delivery: When the operating voltage is switched on, the SPC11 waits for the amplification stage (A) to be entered.

In this case, set the parameters as described in section 4.2.4. If the parameters have already been set: When the operating voltage is switched on, the SPC11 shows briefly the set parameters one after the other, so that they can be checked. The SPC11 then indicates readiness to carry out the teach procedure (t flashes). (t flashes)

The teach procedure can now be started (see sections 4.3.2).

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4.3.2 Start the teach procedureCondition There must be a 0signal at inputs I1...4. The parameters must be set correctly. The maximum mass load and, if appli cable, the fixed stops must be fitted correctly. To be able to start the teach procedure with the buttons, a 0signal must be present at the Remote input (I8).

Warning In order to avoid damage caused by uncushioned movement into the end positions, proceed as follows: with the first commissioning when the fixed stops have been adjusted after changing the parameters A, C, S, L, r or after replacing components or tubing. 1. Make sure that: the compressed air supply and the operating voltage of the SPC11 are switched off the abovementioned prerequisites are fulfilled. 2. Switch on the operating voltage for the SPC11. The SPC11 will then show briefly the version number of the firmware. The set parameters are then shown, so that they can be checked. 3. Now switch on the compressed air supply (5 to 7 bar). As the valve slide assumes the electrical midposition, the moveable load can move slowly into one of the end posi tions due to the asymmetrical voltagepressure curve of the proportional directional control valve.

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Caution During the teach procedure, the moveable mass moves at first slowly, then at the highest possible acceleration and speed. Make sure that: Nobody can place his/her hand in the positioning range of the moveable mass, unless the compressed air supply is switched off. The complete positioning range is free of any objects. 4. If teaching has not yet taken place, the SPC11 indicates readiness to carry out the teach procedure (t flashes). (t flashes) Then proceed as described under 5. If teaching has already taken place, the moveable mass stands controlled in a taught position (P.01...P.04) or in any (P..) position. Proceed as follows: Hold the Enter/Teach button pressed down for at least 2 seconds. The SPC11 then indicates readiness to carry out the teach procedure (t flashes). 5. Hold the Enter/Teach button down at least 2 seconds in order to start the teach procedure. The SPC11 then carries out the teach procedure. The moveable mass moves at first slowly, then dynamically. The display shows the following: The dots flash at the same rate. The teach procedure can last several minutes, depending on the drive used. It is concluded when the drive is at end posi tion P.01. The display shows the following:

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The O1 output supplies a 1signal The drive is now ready for operation. When the teach procedure is concluded, the SPC11 knows the locations of the mechanical end positions (P.01...P.02). You can now teach manually the intermediate positions (P.03...P.04) or trigger a positioning task to the end positions (P.01...P.02).


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4.3.3 Teach the intermediate positionsThe SPC11 permits fast movement into up to two selectable intermediate positions. The desired intermediate positions are learnt" by manual movement or by shifting the moveable mass and then saving. The learnt" intermediate positions can be approached during operation. The intermediate positions can also be used as sensor posi tions, as the relevant output (O3...O4) supplies a 1signal for 50 ms when the intermediate positions are travelled over (see section 4.4.4). Condition The drive must be ready for operation. There must be a 0signal at inputs I1...4. In the procedure using the buttons on the SPC11, a 0signal must be present at the Remote input (I8). The supply pressure must be switched on or off, depending on the variant.

Variants ProcedureThe supply pressure is The moveable mass can brought into the switched off desired position very accurately by hand during the teach procedure. The supply pressure is The mass can be moved manually. Very switched on accurate positioning can, under certain circumstances, be difficult and may take a considerable amount of time.

The following explains how to teach the intermediate posi tions when the supply pressure is switched on. If you wish to teach the intermediate positions with the supply pressure switched off, you must proceed in exactly the same manner. However, the mass will not start moving automatically when the button is pressed { or }, but must be brought into the desired intermediate position by hand. The button {or} must still be pressed at the appropriate position.


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In order to teach an intermediate position with the supply pressure switched on, proceed as follows: 1. Briefly press the button { or } . The teachable position number (e.g. 3) will then flash. The position number flashes. 2. If you do not wish to teach the intermediate position shown, press briefly the ESC button. The process will then be interrupted. Then repeat step 1. The next teachable position number will then flash. Note The following function will cause the drive to be set in motion. Make sure that: Nobody can place his/her hand in the positioning range of the moveable mass, unless the compressed air supply is switched off. The complete positioning range is free of any objects. 3. If you wish to teach the intermediate position shown, hold the button { or } pressed down for as long as is re quired to move the mass. The mass will then move in the appropriate direction. 4. Release the button when the mass is to stop moving. The mass now stands controlled in the current position. 5. Repeat steps 3 and 4 until the moveable mass reaches the desired position. The position number flashes. 6. When the moveable mass has reached the desired posi tion, confirm with Enter (> 2 s ), in order to save the posi tion. The current position will then be saved as the inter mediate position. The appropriate output (O3 or O4) supplies a 1signal. 428 Festo P.BESPC11SYSEN en 0404b

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No flashing. 7. If you wish to teach the next intermediate position, repeat the steps listed as from step 1. Repetition accuracy The repetition accuracy when moving to the intermediate positions depends on the type of drive and on the length of the measuring system. Detailed dimensions for repetition accuracy with the drive you are using can be found in the drivespecific supplement.

Note Observe the following instructions in order to achieve good positioning behaviour and the repetition accuracy speci fied. The distance between the intermediate position and the drive end position must be at least 10 % of the complete cylinder stroke length or of the complete rotary angle, in order to provide a sufficient compressed air cushion. Positioning paths between taught positions should not be less than 3 % of the complete cylinder stroke length or of the complete rotary angle. With linear drives and cylinders the positioning paths should be at least 20 mm. If the intermediate positions P.03 and P.04 lie at the same point and if movement is made to one of the intermediate positions (e.g. to P.03), only the output corresponding to the order (e.g. O3) will be set when the intermediate posi tion is reached. The output bit of the other intermediate position will be set for 50 ms only if the position is tra velled over (overswing) (sensor function).


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Overview of the commissioning sequence on the SPC11Set the parameters and start the automatic teach procedure (SPC11 in status at delivery)Switch onFirmware version number

Display of firmware versionWait approx. 0.5 second

Setting: Amplification stage (A) Cushioning stage (C) System parameters (S)

Set (only for SPC11INC): Nominal stroke length (L) Offset axes zero point (r)

value with +/. Conclude each entry with Enter.

Set respective

Setting (optional) oparameterEnter button The t flashes

The SPC11 waits for the teach taskTeach button/input

Teach procedure is carried out Mass is pressed against the end position; O1 supplies a 1signal

Precommissioning is concluded. Teach task can be started.The dots flash The teach task is concluded successfully

P.03 and P.04 can be taught (see next page).

Fig. 4/4: Setting the param. and starting the teach procedure 430 Festo P.BESPC11SYSEN en 0404b

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Overview Teaching the intermediate positions

The mass stands in position e.g. P.01; O... supplies a 1signal P.03 and P.04 can be taught the desired position.

1The t flashes. Teach P.01...02 again: Teach button/input The SPC11 waits for the teach task The dots flash

The dots flash

Positioning task via

Order type?

Move manually in order to teach positions 3...4 { or }

Start: Enter/Teach

Teach procedure will be carried out again Position number flashes See at 1 Teach mode for positions 3...4 active (e.g. P.03). The mass moves in the desired direction. The mass now stands controlled in the current position.

See at 1

The position is saved. The mass stands controlled, e.g. P.03; O... supplies a 1signal No Position save?

Yes

Enter/Teach

Fig. 4/5: Teaching the intermediate positions (P.03 and P.04)

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4.3.4 Conclude teach procedureAdaptation The positioning behaviour is monitored continuously during operation. Internal characteristic values are adapted here to the actual state of the drive, e.g. in order to compensate for wear etc. during the service period. After commissioning, the positioning behaviour improves by adaptation automatically after approximately 20 to 30 strokes. Therefore, after teaching the end positions and intermediate positions, always allow 20 to 30 positioning cycles to be carried out.

4.3.5 Carry out teach procedure againWhen the SPC11 is ready to operate, the teach procedure can be started again, e.g. with the aid of the Teach button. The SPC11 then indicates readiness to carry out the teach pro cedure (t flashes). The procedure can then be discontinued if the power supply is switched off. If the Teach button is pressed again (for at least 2 seconds), the teach procedure will be started (see section 4.3.2). If the end positions are taught again, the adaptation values will be deleted. Intermediate positions already taught" are retained.

Note If, after you have taught the end positions again, the previ ously taught intermediate positions (P.03 and P.04) now lie outside the positioning range, positioning commands to move to the intermediate positions will be acknowledged with error E14. As soon as the intermediate positions lie again in the permitted positioning range by adjustment of the end stops and teaching again of the end positions, positioning commands to move to the intermediate posi tions will be carried out again.


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4.4 Instruct ions on operati onWarning Damage may occur if maximum permitted limits, such as mass loads, mass moments of inertia, swivel frequencies etc. are exceeded. Make sure that the maximum specified limits of the drive used are observed (see operating in structions for the relevant drive).

Warning In order to avoid damage due to uncushioned movement into the end positions: SAlways carry out the teach procedure again after adjust ing the fixed stops or when components and tubing have been replaced. SObserve the permitted mass load.

Warning In order to avoid undesired movements of the actuators, always proceed as follows: Switching on Always switch on first the operating voltage supply and S then the compressed air supply. Switching off Switch off the operating voltage supply and the com S pressed air supply at the same time or in the following sequence: 1. compressed air supply 2. operating voltage.

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Reference travel after POWER ON

Only for incremental path measuring systems: After the SPC11 operating voltage is switched on again, the relationship between measurement variable and current position is lost. For that reason, you must always carry out reference travel after switching on again. Reference travel can take place either in the end position P.01 or the end position P.02.

Starting reference travel

Reference travel is started after POWER ON through a positioning task to P.01 or P.02. Other positioning tasks are not permitted after POWER ON and result in the error E18 reference travel".

Process of reference travel If the drive is already in the desired end position when refer ence travel is started: A movement toward the end position is impossible. To check whether compressed air supply is lacking or the drive is already in the end position, pressure is added briefly in the opposite direction.

Note Here the drive carries out a short compensating movement in the opposite direction. If the drive is not yet in the desired end position when refer ence travel is started: The drive moves slowly toward the end position. During the reference travel, the message rEF" is displayed. Reference travel is concluded when the moveable mass is pressed against the corresponding end position (P.01 or P.02) and the assigned output (O1 or O2) supplies a 1signal.


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Positioning orders

A positioning order remains permanently stored if the power supply is switched on. If the power supply is switched off and then on again, the positioning order (P.01...P.04) at in puts I1...I4 will then be processed. If there is no positioning order when the power supply is switched on and if the moveable mass is not at one of the end positions, the valve slide will remain in the electrical midposi tion. Due to the asymmetrical voltagepressure curve of the proportional directional control valve, the slide can now move slowly into one of the end positions.


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4.4.1 Switchon behaviour after successful commissioningIf commissioning has already been carried out, the SPC11 is ready to operate after a few seconds.Start: Switchon reactionFirmware version number

Display of the firmware versionCurrent value

Display of the: Amplification stage (A) Cushioning stage (C) System parameters (S)Wait approx. 1 second Wait approx. 1 second Wait approx. 1 second Current value

Only for use of Set (for SPC11INC): incremental path measuring systems

Wait approx. 1 second

Nominal stroke length (L) Offset axes zero point (r)Current value Wait approx. 1 second

Display of the oparameter

Current value

Wait approx. 1 second

Not with use of incremental path (type SPCINC ) SPC11 is ready to operate. The axis is pressed actively into the end position and waits for the positioning task.

Yes No measuring systems Position P.01 or P.02? The axis stands uncontrolled and waits for: Positioning order (SPC11 is ready to operate) Reference travel (only for type SPC11INC)

Fig. 4/6: Switchon reaction of the SPC11 after commissioning 436 Festo P.BESPC11SYSEN en 0404b

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Switchon reaction with use of an absolute path measuring systemPosition of the moveable mass Outside of positions P... Display Status positioning task. A positioning task to the appropriate end position is generated and the moveable mass is then pressed against that end position. The corresponding output (O1 or O2) supplies a 1signal. The moveable mass remains uncontrolled in the taught position (P...). The SPC11 waits for the first

In end positions P.01...P.02

Switchon reaction with use of an incremental path measuring systemPosition of the moveable mass Unknown: reference travel required Display StatusFesto The moveable mass remains uncontrolled in the P.BESPC11SYSE taught position (P..). The SPC11 waits for starting N en 0404b

of

reference travel to P.01 or P.02.

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4.4.2 The first positioning taskDuring the first positioning task the SPC11 checks whether the mass moves in the desired direction. If the mass moves in the wrong direction, the SPC11 will diagnose incorrectly con nected tubing in the system and display error E12 (incorrect direction of movement). The SPC11 then reacts as follows: The valve slide of the proportional directional control valve will then be brought into the electrical midposition (flow blocked) The ERROR output supplies a 1signal. No new positioning task will be accepted. This safety function helps to prevent damage as a result of incorrectly connected tubing in the system. In the case of incorrectly connected tubing in the system: Switch off the operating voltage and correct the tubing. If the moveable mass is already in one of the end positions when the operating voltage is switched on, a positioning task into this end position will be generated and the mass will be pressed against the end position. If the drive moves out of the end position instead of remaining in that end position, the SPC11 will also diagnose incorrectly connected tubing in the system and will display an error. The fault may be due to one of the following causes: the compressed air supply is still switched off. the drive has been moved manually or moved from the end position by external forces, or it has moved itself (e.g. when fitted in a vertical position). the drive moves briefly out of the end position because the system has been pressurised too quickly (asymmetri cal pressure buildup in the cylinder chambers).


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In order to avoid such causes, proceed as follows: Pressurise the complete system slowly (e.g. by using the safety startup valve type HEL... or HEM...). No unex pected movements of the actuators will then occur. Make sure that the moveable mass cannot move itself or be moved manually (e.g. by means of a clamping unit) out of the end position when the operating voltage is switched on.

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4.4.3 Controlling the SPC11You can move the mass into the saved end positions or inter mediate positions with the command inputs P.01...P.04. When an end position is reached, the moveable mass will be pressed against the stop with a pressure equal at maximum to the operating pressure. When an intermediate position is reached, the moveable mass stands controlled in that posi tion. A 1signal at the remote input deactivates the operating buttons and activates the corresponding remote inputs (pins 2...4). This makes it possible to manually travel over external operating buttons or a higherorder PLC, for example (Pin assignment, see section 3.3.2).

Time behaviour in the positioning task 2I1: P.01 I2...4: P.02...4 Drive is moving 1 0 1 0 of the O5 output can be configured (see 4.2.3); Error (factory setting) or Ready 0 1 0 1

O1:

SPC Festo 16622

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