Festo SFC-LAC CO Series User manual

Manual
Motor controller
Type SFC−LAC−...−CO
(CANopen)
Manual
540 656
en 0708NH
[687 401]
Motor controller
SFC−LAC

Adobe®and Reader®are either a registered trademark or a
trademark of Adobe Systems Incorporated in the United
States and/or other countries.

Contents and general instructions
I
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0708NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−SFC−LAC−CO−EN. . . . . . . . . . . . . . . . . . . . .
Order no. 540 656. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© Festo AG&Co. KG, D73726 Esslingen, Germany, 2007
Internet: http://www.festo.com
E−Mail: [e-mail]
The reproduction, distribution and utilization of this docu−
ment as well as the comunication of its contents to others
without express authorization is prohibited. Offenders will
be held liable for the payment of damages. All rights re−
served in the event of the grant of a patent, utility module
or design.

Contents and general instructions
II Festo P.BE−SFC−LAC−CO−EN en 0708NH

Contents and general instructions
III
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Contents
Designated use IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of delivery XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manuals for the motor controller type SFC−LAC XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Information on the version XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product−specific terms and abbreviations XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen specific terms and abbreviations XVIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Overview 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Components 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Operating principle 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Operational safety 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Communication 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Data exchange in CANopen 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2 Data profiles FHPP and DS402 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3 Operating modes 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Measuring reference system 1−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Reference travel methods 1−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Commissioning options 1−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dimensions of the controller 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Mounting the controller 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Notes on mounting electric drives 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−SFC−LAC−CO−EN en 0708NH
3. Installation 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview of installation 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Voltage supply 3−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Earthing 3−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Motor connection 3−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Parametrizing interface 3−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Control interface 3−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7 Connecting the field bus 3−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.1 Field bus cable 3−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2 Field bus baud rate and field bus length 3−17. . . . . . . . . . . . . . . . . . . . .
3.7.3 Bus power supply 3−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.4 Connection with field bus plugs/adapters from Festo 3−19. . . . . . . . . .
3.7.5 Connection with other Sub−D plugs (IP20) 3−23. . . . . . . . . . . . . . . . . . . .
3.8 Bus termination with terminating resistors 3−24. . . . . . . . . . . . . . . . . . . . . . . . . .
4. The control panel (only type SFC−LAC−...−H2−...) 4−1. . . . . . . . . . . . . . . . . . . . .
4.1 Composition and function of the control panel 4−4. . . . . . . . . . . . . . . . . . . . . . .
4.2 The menu system 4−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 [Diagnostic] menu 4−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 [Positioning] menu 4−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Menu [Settings] 4−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 [Settings] [Axis type] 4−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 [Settings] [Axis parameter] 4−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.3 [Settings] [Homing paramet.] 4−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.4 [Settings] [Position set] 4−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.5 [Settings] [Jog mode] 4−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.6 [Settings] [CO parameter] 4−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.7 [Settings] [Password edit] 4−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Menu command HMI control" 4−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−SFC−LAC−CO−EN en 0708NH
5. Commissioning 5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Preparations for commissioning 5−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Check the drive 5−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Check the power supply 5−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Before switching on 5−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 SFC−LAC in conjunction with CMXR 5−6. . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.5 Simultaneous attempts to access the controller 5−7. . . . . . . . . . . . . . .
5.2 Commissioning with the control panel (only type SFC−LAC−...−H2) 5−8. . . . . . . .
5.2.1 Set the CAN bus parameters 5−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Setting the drive type 5−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Setting the reference run parameters 5−11. . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Activating device control 5−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Carrying out a reference run 5−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Teaching the axis zero point 5−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.7 Teaching software end positions 5−17. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.8 Set tool load 5−18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.9 Teach position records 5−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.10 Test run 5−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Commissioning with FCT 5−22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Installing the FCT 5−23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Procedure 5−24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Commissioning on a CANopen master 5−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1 Overview of commissioning on the field bus 5−27. . . . . . . . . . . . . . . . . .
5.4.2 Configuration of the CANopen master (I/O configuration") 5−28. . . . .
5.4.3 Communication 5−29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.4 Parametrizing via SDOs 5−30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.5 PDO mapping 5−30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Festo profile for handling and positioning (FHPP) 5−33. . . . . . . . . . . . . . . . . . . . .
5.5.1 FHPP operating modes 5−33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.2 Structure of the cyclic I/O data (FHPP standard) 5−35. . . . . . . . . . . . . .
5.5.3 Description of the I/O data (Record select) 5−37. . . . . . . . . . . . . . . . . . .
5.5.4 Description of the I/O data (Direct mode) 5−38. . . . . . . . . . . . . . . . . . . .
5.5.5 Description of the control bytes CCON, CPOS, CDIR 5−39. . . . . . . . . . . .
5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB) 5−42. . . . . . .
5.5.7 Examples of control and status bytes (FHPP standard) 5−45. . . . . . . . .

Contents and general instructions
VI Festo P.BE−SFC−LAC−CO−EN en 0708NH
5.6 Drive functions 5−58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Reference travel 5−58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Jog mode 5−60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Teaching via the field bus 5−62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.4 Record select: Carrying out a record 5−64. . . . . . . . . . . . . . . . . . . . . . . .
5.6.5 Record Select: Switch to next record 5−69. . . . . . . . . . . . . . . . . . . . . . . .
5.6.6 Direct mode: Specify a position or force 5−70. . . . . . . . . . . . . . . . . . . . .
5.6.7 Direct mode: Continuous nominal value specification
(Continuousmode) 5−74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.8 Standstill monitoring 5−76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Notes on operation 5−78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and fault display 6−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Diagnosispossibilities 6−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 LED status displays 6−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Fault messages 6−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Diagnostic memory 6−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Diagnosis via CANopen 6−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Node guarding (reaction to bus failure) 6−15. . . . . . . . . . . . . . . . . . . . . .
6.5.2 Emergency messages 6−16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Diagnosis via parameter channel (FPC) 6−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical specifications A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Converting the units of measurement A−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VII
Festo P.BE−SFC−LAC−CO−EN en 0708NH
B. Parametrizing in accordance with FHPP−FPC B−1. . . . . . . . . . . . . . . . . . . . . . . .
B.1 The Festo Parameter Channel (FPC) B−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1 Structure B−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.2 Task identifiers, reply identifiers, fault numbers B−5. . . . . . . . . . . . . . .
B.1.3 Rules for task−reply processing B−8. . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.4 Example of parametrizing via FPC (PDO2) B−10. . . . . . . . . . . . . . . . . . . .
B.2 Parameters as per FHPP B−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.1 Parameter groups B−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.2 Overview of parameter numbers (PNU) B−13. . . . . . . . . . . . . . . . . . . . . .
B.2.3 Representing the parameter entries B−20. . . . . . . . . . . . . . . . . . . . . . . .
B.2.4 Device data B−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.5 Diagnosis B−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.6 Processing data B−32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.7 Position set table (record list) B−35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.8 Project data B−47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.9 Axis parameters for electric drives 1 B−56. . . . . . . . . . . . . . . . . . . . . . . .
B.2.10 Supplementary objects B−67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 Status machine FHPP B−73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Object directory DS204 and CI C−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1 Object directory DS402 and CI C−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2 Object descriptions C−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.1 Communication profile area C−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.2 Manufacturer specific profile area C−20. . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.3 Standardized device profile area C−26. . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3 Status machine DS402 C−35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.4 The CI interface C−39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.4.1 Procedure for data transmission C−40. . . . . . . . . . . . . . . . . . . . . . . . . . .
C.4.2 CI commands C−43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. Index D−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VIII Festo P.BE−SFC−LAC−CO−EN en 0708NH

Contents and general instructions
IX
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Designated use
The single field controller type SFC−LAC−... is used as a
position controller and position servo for the electric linear
module, type HME−...
This manual deals with the basic functions of the SFC−LAC and
the CANopen interface of the SFC−LAC−...−CO.
The linear module HME−... and additional components are
documented in separate operating instructions.
The SFC−LAC and the connectable modules and cables may
only be used as follows:
asdesignated
 only in industrial applications
infaultless technical condition
inorignial condition without modification (only the con
versions or modifications described in the documentation
supplied with the product are permitted).
·Follow the safety instructions and use all the components
and modules as described in the documentation.
·Observe also the standards specified in the relevant
chapters, as well as national and local laws and technical
regulations.
·Observe the maximum values of all additional compo
nents (e. g. sensors, actuators).

Contents and general instructions
XFesto P.BE−SFC−LAC−CO−EN en 0708NH
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
components 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 move 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 reach into the operating
range of the axes or other connected actuators and that
no objects lie in the positioning range while the system
is still connected to a power supply.
Warning
Faults in parametrizing can cause injury to human beings
and damage to property.
·Only enable the controller if the axis system has been
installed and parametrized by technically qualified staff.

Contents and general instructions
XI
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing
positioning systems.
Service
Please consult your local Festo Service or write to the
following e−mail address if you have any technical problems:
[e-mail]
Scope of delivery
The SFC−LAC is supplied with the following:
 single field controller, optionally with control panel
 FCT configuration package (Festo configuration tool)
 user documentation on CD ROM.
The following are available as accessories (see appendix A.2):
 connecting cable
 mounting attachments
 user documentation in paper form.

Contents and general instructions
XII Festo P.BE−SFC−LAC−CO−EN en 0708NH
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.
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
XIII
Festo P.BE−SFC−LAC−CO−EN en 0708NH
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
XIV Festo P.BE−SFC−LAC−CO−EN en 0708NH
Manuals for the motor controller type SFC−LAC
This manual contains basic general information on operating,
mounting, installing and commissioning electric positioning
drives with the motor controller type SFC−LAC−...−CO. It also
contains information on the functions of the CANopen inter
face as well as information on commissioning with the Festo
Configuration Tool (FCT) software package.
Information on additional components can be found in the
operating instructions supplied with the product.
Type Designation Table of contents
Operating package with
brief description +
descriptions on CD ROM
P.BP−SFC−LAC Brief overview: Important
commissioning instructions and
preliminary information.
Manuals: Contents as described
below.
Manual Motor controller SFC−LAC−CO
P.BE−SFC−LAC−CO−...
Installation, commissioning and
diagnosis of electric axes with
the SFC−LAC with communication
via CANopen.
Help system for software Festo Configuration Tool Help
(contained in the FCT software)
Function descriptions of the
Festo Configuration Tool
configuration software.
Further manuals depending
on the control interface
Variants
P.BE−SFC−LAC−IO−...
P.BE−SFC−LAC−PB−...
P.BE−SFC−LAC−DN−...
Installation, commissioning and
diagnosis of electric axes with
the SFC−LAC with communication
via a different control interface.
Operating instructions Linear module
HME−...
Installing and commissioning the
linear module.

Contents and general instructions
XV
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Information on the version
The hardware version specifies the version status of the
mechanical and electronic components of the SFC−LAC. The
firmware version specifies the version status of the operating
system of the SFC−LAC.
You can find the specifications on the version status as
follows:
 Hardware version and firmware version under Device
data" in the Festo Configuration Tool, when there is active
linkage to the SFC−LAC.
 Firmware version on the control panel under [Diagnostic]
[Software information].
Firmware
version from
What is new? Which FCT−PlugIn?
V 01.02 Motor controller with CANopen interface
Type SFC−LAC−...−CO, supports electric linear module type:
 HME−16−100
 HME−16−200
 HME−16−320
 HME−25−100
 HME−25−200
 HME−25−320
 HME−25−400
SFC−LAC 2.2.0

Contents and general instructions
XVI Festo P.BE−SFC−LAC−CO−EN en 0708NH
Product−specific terms and abbreviations
Term/abbreviation Meaning
0−signal 0 V present at input or output (positive logic, corresponds to LOW).
1−signal 24 V present at input or output (positive logic, corresponds to HIGH).
Axis zero point
(AZ = axis zero point)
See overview of measuring reference system in section 1.3.
Controller Control electronics which evaluate the control signals and provide the
power supply for the motor via the power electronics.
Drive The component of a positioning system which transfers force from a
motor to the effective load, defines the guidance for the positioning
motion and enables a reference switch to be attached.
The HME−... is an integrated unit comprising a linear motor, a displace
ment encoder and a linear axis. See also Fig.1/1.
EMC Electromagnetic compatibility
Festo Configuration Tool
(FCT)
Software with uniform project and data management for all supported
device types. The special requirements of a device type are supported
with the necessary descriptions and dialogues by means of PlugIns.
Festo Parameter Channel
(FPC)
FHPP−specific parameter access via PDO2.
FHPP standard FHPP sequence control via PDO1.
HME Type designation for an electric linear module
HMI Human Machine Interface" refers to the control panel on the variant
SFC−LAC−...−H2. [HMI = on] means that parametrizing and operation can
begin using the control panel or FCT. The control interface is then
deactivated.
I/O Input and/or output.
Jog mode Manual positioning in positive or negative direction (see section 5.6.2)
Load voltage,
logicvoltage
The load voltage supplies the power electronics of the controller and
thereby the motor. The logic voltage supplies the evaluation and control
logic of the controller.
MMI Man Machine Interface". Corresponds to HMI.

Contents and general instructions
XVII
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Term/abbreviation Meaning
PLC Programmable logic controller; in brief: controller.
Positioning mode
(Profile position mode)
See overview of measuring reference system in section 1.2.3.
Position set Positioning command defined in the position set table (= movement
task, positioning task) Contains specifications on target position,
speed, acceleration and further specifications.
Project zero point
(PZ = project zero point)
See overview of measuring reference system in section 1.3.
Reference point (REF) See overview of measuring reference system in section 1.3.
Reference run (homing) See overview of measuring reference system in section 1.3.
Reference switch Built−in sensor used for determining the reference position. Must not be
shifted in the case of linear module HME.
Reference travel (homing)
method
See overview of measuring reference system in section 1.3.
Software end position See overview of measuring reference system in section 1.3.
Teach Accept an actual position in the position record table or as axis zero
point, project zero point or software end position. The desired position
can be approached in jog mode. See section 5.6.3.
Tool load For example: the mass of a gripper attached to the front plate of the
HME (including fastening elements). The tool load applies to all
position records. Compare work load.
Work load The mass of a work item. Applies only to a single position record.
Compare tool load.
Tab.0/1: Index of terms and abbreviations

Contents and general instructions
XVIII Festo P.BE−SFC−LAC−CO−EN en 0708NH
CANopen specific terms and abbreviations
Term/abbreviation Meaning
0x1234 or 1234h Hexadecimal numbers are marked by a prefixed 0x" or by a suffixed h".
BCD Binary coded decimal
EDS Electronic Data Sheet; contains the specific properties of the slave
(e.g.number of I/Os, parameters, etc.).
LSB Least significant bit (lower−value bit)
MSB Most significant bit (higher−value bit)
Object Directory The Object Directory contains all device parameters and current processing
data which are directly accessible via SDO.
The object directory possesses 3 ranges:
 1xxxh: Identification of the device and communication parameter
 2xxxh: specific device functions
 6xxxh: standardized parameters for drives as per DS402.
The identification of an entry (Object") in the Object Directory is made via
a 16−bit index and an 8−bit subindex.
PDO Process data object
PDOs are generally transmitted event−orientated, cyclically or on demand.
A message can be received and evaluated simultaneously by all slaves.
The assignment of application objects on a PDO takes place with PDO
mapping".
In a PDO the values of several objects can also be transmitted and the
recipients of the PDOs can use only parts of the data depending on their
PDO mapping entries.
SDO Service data object
SDOs are used mainly for transmitting acyclic data, eg. for initializing dur
ing the boot procedure. With SDOs you can access all entries in the Object
Directory. The relevant Object Directory entries can be addressed with the
index and subindex of the entry. Within an SDO only one object can be
accessed. A reply is always sent to an SDO: A pair of CAN telegrams per
object are transmitted.
Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be in
stalled or switched in at the end of bus segment cables.
Tab.0/2: Index of CANopen terms and abbreviations