Festo SFC-DC series User manual

Manual Electronic
Motor controller
type SFC−DC−...−IO
Manual
540 418
en 0801a
[731 438]
Motor controller
SFC−DC

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Contents and general instructions
I
Festo P.BE−SFC−DC−IO−EN en 0801a
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0801a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−SFC−DC−IO−EN. . . . . . . . . . . . . . . . . . . . . . .
Order no. 540 418
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E(Festo AG&Co. KG, D73726 Esslingen, Federal Republic of
Germany, 2008)
Internet: http://www.festo.com
E−Mail: [e-mail]
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.

Contents and general instructions
II Festo P.BE−SFC−DC−IO−EN en 0801a

Contents and general instructions
III
Festo P.BE−SFC−DC−IO−EN en 0801a
Contents
Designated use VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of delivery VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manuals for the Single Field Controller SFC−DC XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Information on the version XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product−specific terms and abbreviations XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Positioning with electric drives 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Structure of the SFC−DC 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Method of operation 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Reference coordinates and working area 1−12. . . . . . . . . . . . . . . . . . . .
1.2 EMERGENCY STOP concept 1−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Commissioning options 1−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Control panel (only type SFC−DC−...−H2−...) 1−17. . . . . . . . . . . . . . . . . . . .
1.3.2 Festo Configuration Tool (FCT) 1−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dimensions of the controller 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Fitting the controller 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Notes on fitting of electric axes 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview of installation 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Power supply 3−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Earthing 3−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Motor connection 3−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−SFC−DC−IO−EN en 0801a
3.5 Controller 3−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 I/O controller (only type SFC−DC−...−IO) 3−11. . . . . . . . . . . . . . . . . . . . . .
3.6 Serial interface 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7 Input for external reference switch 3−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Control panel (only type SFC−DC−...−H2−...) 4−1. . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Composition and function of the control panel 4−4. . . . . . . . . . . . . . . . . . . . . . .
4.2 The menu system 4−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Accessing the main menu 4−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Diagnostic" menu 4−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Device control HMI control" 4−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4 Settings" menu 4−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.5 Positioning" menu 4−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Commissioning 5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Preparing for commissioning 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Check the connection to the mains power supply 5−3. . . . . . . . . . . . . .
5.1.2 Check the drive 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 General instructions on commissioning 5−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Commissioning with the control panel (only type SFC−DC−...−H2−..) 5−7. . . . . . . .
5.3.1 Setting the axis type 5−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Setting the reference run parameters 5−9. . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Carrying out reference travel 5−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Teach the axis zero point and the software end positions 5−17. . . . . . .
5.3.5 Positioning with position sets 5−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.6 Teach the position sets 5−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.7 Test run 5−22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Commissioning with the Festo Configuration Tool 5−23. . . . . . . . . . . . . . . . . . . . .
5.4.1 Installing and starting the Festo Configuration Tool 5−23. . . . . . . . . . . .
5.4.2 Procedure for commissioning with the Festo Configuration Tool 5−24. .

Contents and general instructions
V
Festo P.BE−SFC−DC−IO−EN en 0801a
5.5 I/O function test (only type SFC−DC−...−IO) 5−26. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Communication with the higher−level controller
(only type SFC−DC−...−IO) 5−27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Description of the I/Os 5−28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Function description (pulse−time diagrams) 5−34. . . . . . . . . . . . . . . . . .
5.6.3 I/O specification 5−41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Instructions on operation 5−42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and error treatment 6−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Diagnostic options 6−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 LED status displays 6−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Fault messages on the display (only type SFC−DC−...−H2−...) 6−6. . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical specifications A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Supplementary information B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 The Command Interpreter (CI) B−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2 Procedure for data transfer B−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 Object directory B−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.1 Objects for device description B−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.2 General Objects B−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.3 Objects for parametrizing and commissioning B−8. . . . . . . . . . . . . . . .
B.3.4 Objects for creating position sets B−9. . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.5 Objects for controlling B−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.6 Objects for setting the operating mode and control B−10. . . . . . . . . . . .
B.3.7 Objects for diagnosis B−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4 CI commands B−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−SFC−DC−IO−EN en 0801a
B.5 Object description B−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.5.1 Object classification (overview) B−14. . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.5.2 Group 1xxx B−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.5.3 Group 2xxx B−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.5.4 Group 6xxx B−28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.6 Converting the measuring units B−47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index C−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VII
Festo P.BE−SFC−DC−IO−EN en 0801a
Designated use
The motor controller (Single Field Controller) type SFC−DC−...
serves as a position controller and position servo for the elec
trical mini−slide type SLTE−....
This manual deals with the basic functions of the SFC−DC and
the I/O interface of the SFC−DC−...−I0. Additional information
on field bus variants of the SFC−DC can be found in the corre
sponding separate manuals.
The electric slide SLTE and additional components are docum
ented in separate operating instructions.
It is absolutely necessary to observe the Technical safety
instructions" as well as the designated use of the relevant
components and modules. Please observe also the safety
instructions in the operating instructions for the pneumatic
components used.
The SFC−DC and the connectable modules and cables may
only be used as follows:
inaccordance with designated use
 only in industrial applications
 without any modifications by the user. Only the conver
sions or modifications described in the documentation
supplied with the product are permitted.
infaultless technical condition.
If additional commercially−available components such as sen
sors and actuators are connected, the specified limits for
pressures, temperatures, electrical data, torques, etc. must
not be exceeded.
Please observe the standards specified in the relevant
chapters and comply with technical regulations, as well as
with national and local regulations.

Contents and general instructions
VIII Festo P.BE−SFC−DC−IO−EN en 0801a
Safety instructions
When commissioning and programming positioning systems,
you must observe the safety regulations in this manual as
well as those in the operating instructions for the other com
ponents used.
The user must make sure that nobody is in the operating
range of the connected actuators or axis system. Access to
the possible danger area must be prevented by suitable
measures such as protective screens and warning signs.
Warning
Electric axes can move suddenly with high force and at
high speed. Collisions can lead to serious injury to human
beings and damage to components.
Make sure that nobody can gain access to the operating
range of the axis or of other connected actuators and that
no objects lie in the path of the axis while the system is still
connected to a power supply.
Warning
Faults in parametrization can cause injury to people and
damage to property.
Enable the controller only if the axis system is correctly
installed and parametrized.

Contents and general instructions
IX
Festo P.BE−SFC−DC−IO−EN en 0801a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing posi
tioning systems.
Service
Please consult your local Festo repair service at the following
e−mail address if you have any technical problems:
[e-mail]
Scope of delivery
The scope of delivery of the Single Field Controller type
SFC−DC includes the following:
 Single Field Controller, optionally with control panel
 FCT configuration package (Festo Configuration Tool)
 User documentation on CD ROM
Available as accessory (see appendix A.2):
 Connecting cable
 Fastening elements
 User documentation in paper form

Contents and general instructions
XFesto P.BE−SFC−DC−IO−EN en 0801a
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto
gram. A distinction is made between the following danger
warnings:
Warning
This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
This means that failure to observe this instruction may
result in personal injury or damage to property.
Please note
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.

Contents and general instructions
XI
Festo P.BE−SFC−DC−IO−EN en 0801a
Marking special information
The following pictograms mark passages in the text
containing special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Environment:
Information on environment−friendly use of Festo products.
Text markings
·The bullet indicates activities which may be carried out in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
 Hyphens indicate general activities.

Contents and general instructions
XII Festo P.BE−SFC−DC−IO−EN en 0801a
Manuals for the Single Field Controller SFC−DC
This manual contains basic general information on operating,
fitting, installing and commissioning electric positioning
drives with the Single Field Controller type SFC−DC−.... It also
contains information on the functions of the I/O interface for
type SFC−DC−...−IO as well as on commissioning with the Festo
Configuration Tool software package.
Product variants are available for coupling to field bus sys
tems. Special information on this can be found in the manual
for the relevant product variant.
Information on components, such as the electric slide type
SLTE−... or the reference switch can be found in the operating
instructions supplied with the relevant product.
Type Title Contents
Docu package with brief
description + manuals on
CD ROM
P.BE−SFC−DC−UDOK Brief description: Important in
structions on commissioning and
preliminary information.
Manuals: Contents as described
below.
Manual Single Field Controller SFC−DC
P.BE−SFC−DC−IO−..
Installation, commissioning and
diagnosis of electric axes with the
Single Field Controller SFC−DC
with communication via I/O inter
face.
Help system for software Festo Configuration Tool Help
(contained in the FCT software)
Function description of the Festo
Configuration Tool configuration
software.
Further manuals
(in preparation)
Field bus variants
type P.BE−SFC−DC−CO−..
type P.BE−SFC−DC−PB−..
type P.BE−SFC−DC−DN−..
Communication and commission
ing the relevant field bus.
Operating instructions Electric slide
type SLTE−...
Fitting and commissioning of the
electric slide as a drive element.
Information on the version

Contents and general instructions
XIII
Festo P.BE−SFC−DC−IO−EN en 0801a
The hardware version specifies the version status of the
mechanical parts and electronics of the SFC−DC.
The firmware version specifies the version status of the
operating system of the SFC−DC.
You can find the specifications on the version status as
follows:
 Hardware version and firmware version in the Festo
Configuration Tool with active device connection to the
SFC−DC under Device data"
 Firmware version on the control panel under [Diagnostic]
[Software information].
Firmware
version from
What is new? Which FCT plug−in?
V1.10 Single Field Controller with I/O interface
type SFC−DC−...−IO, supports electric mini−slide type:
 SLTE−10−50−LS5,0−DC−VCSC−G04
 SLTE−10−80−LS5,0−DC−VCSC−G04
 SLTE−16−50−LS7,5−DC−VCSC−G04
 SLTE−16−80−LS7,5−DC−VCSC−G04
 SLTE−16−100−LS7,5−DC−VCSC−G04
 SLTE−16−150−LS7,5−DC−VCSC−G04
SFC−DC V01.00.00

Contents and general instructions
XIV Festo P.BE−SFC−DC−IO−EN en 0801a
Product−specific terms and abbreviations
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0−signal 0 V are present at input or output (positive logic, corresponds to LOW).
1−signal 24 V are present at input or output (positive logic, corresponds to HIGH).
Axis zero point (AZ) Measuring reference point for the project zero point and the software end
positions. Corresponds to the project zero point in the SFC−DC−...−IO
(offset = 0). The reference point for the axis zero point is the reference
point.
Axis Complete actuator, consisting of controller, motor, encoder, if applicable,
gear and drive.
Controller Control electronics which evaluate the control signals and provide the
power supply for the motor via the power electronics (power electronics +
controller + position controller).
Drive Mechanical component of an axis which transfers the drive power for the
movement, defines the guide for the positioning movement, and enables
the work load and the reference switch to be fitted.
The electric slide type SLTE is an integrated unit consisting of a motor,
encoder, gear unit and drive.
EMC ElectroMagnetic Compatibility
Encoder With the SLTE: magnetic pulse generator (rotor position transducer). The
electric signals generated are sent to the controller, which then calculates
the position and speed on the basis of the signals received.
Festo Configuration
Tool (FCT)
Software with uniform project and data management for all supported
device types. The special wishes of a device type are supported by plug−ins
with the necessary descriptions and dialogues.
I
O
I/O
Input
Output
Input and/or output
Positioning mode
(Profile Position mode)
Operating mode for processing a position set.
PLC Programmable logic controller; in brief: controller.

Contents and general instructions
XV
Festo P.BE−SFC−DC−IO−EN en 0801a
Term/abbreviation Meaning
Position set Positioning command defined in the position set table, consisting of target
position, positioning mode, positioning speed and accelerations. Maximum
31 position sets are possible on the SFC−DC with I/O control.
Project zero point (PZ) Measuring reference point for all positions in positioning tasks (Project
Zero point). The project zero point forms the basis for all absolute position
specifications (e.g. in the position set table or with direct control via the
control or diagnostic interface). Reference point for the project zero point
is the axis zero point (on the SFC−DC−...−IO the project zero point PZ and the
axis zero point AZ are identical).
Referencing
(Homing mode)
Operating mode in which reference travel is carried out.
Referencing method Method for defining the reference position: against a fixed stop
(overcurrent/speed evaluation) or with reference switch.
Reference point (REF) Relative point for the relative measuring system. The reference point de
fines a known position/orientation within the positioning path of the drive.
Reference switch External sensor (e.g. type SME−10/SMT−10) which serves for ascertaining
the reference position and is connected directly to the controller.
Reference travel The reference position and therefore the source of the measuring reference
system of the axis will be defined by the reference travel.
SLTE... Type designation, electric slide.
Software end position Programmable stroke limitation (reference point = axis zero point)
Software end position, positive:
Max. limit position in positive direction (away from the motor); must not be
exceeded during positioning.
Software end position, negative:
Min. limit position in negative direction (towards the motor); must not be
exceeded during positioning.
Teach mode Operating mode for setting positions by moving to the target position e.g.
when creating position sets.
Tip mode Manual positioning in positive or negative direction (only on field bus
variants of the SFC−DC via the field bus or only with FCT or operator panel)
Tab.0/1: Index of terms and abbreviations

Contents and general instructions
XVI Festo P.BE−SFC−DC−IO−EN en 0801a

System summary
1−1Festo P.BE−SFC−DC−IO−EN en 0801a
Chapter 1

1. System summary
1−2 Festo P.BE−SFC−DC−IO−EN en 0801a
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Positioning with electric drives 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Structure of the SFC−DC 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Method of operation 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Reference coordinates and working area 1−12. . . . . . . . . . . . . . . . . . . .
1.2 EMERGENCY STOP concept 1−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Commissioning options 1−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Control panel (only type SFC−DC−...−H2−...) 1−17. . . . . . . . . . . . . . . . . . . .
1.3.2 Festo Configuration Tool (FCT) 1−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . .