Festo SPC200 Series User manual

Electronics manual
Stepping motor
indexer module
Type SPC200−SMX−1
Manual
188 895
en 0503b
[693 858]
SPC200 Smart Positioning Controller

Contents and general instructions
I
Festo P.BE−SPC200−SMX−1−EN en 0503b
Author P. Mauch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Editor M. Holder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Translation transline Deutschland. . . . . . . . . . . . . . . . . . . . .
Layout Festo AG & Co. KG, Dept. KG−GD. . . . . . . . . . . . . . . .
Type setting KI−DT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0503b. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−SPC200−SMX−1−EN. . . . . . . . . . . . . . . . . . .
Order no. 188 895. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E(Festo AG & Co. KG, D73726 Esslingen, Federal Republic
of Germany, 2003)
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 re
served in the event of the grant of a patent, utility module
or design.

Contents and general instructions
II Festo P.BE−SPC200−SMX−1−EN en 0503b

Contents and general instructions
III
Festo P.BE−SPC200−SMX−1−EN en 0503b
Contents
Designated use V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on software version IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the use of this manual X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of abbreviations XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 System structure 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Basis structure for operating a stepping motor axis 1−4. . . . . . . . . . . . . . . . . . .
1.2.1 Connecting and display elements
of the stepping motor indexer module 1−7. . . . . . . . . . . . . . . . . . . . . . .
1.3 Drive packages 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Stepping motor controller 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Electromechanical linear drive 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Accessories 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 EMERGENCY STOP concept 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Fitting and removing the stepping motor indexer module 2−4. . . . . . . . . . . . . . .
2.2 Fitting the electric axis and the stepping motor controller 2−7. . . . . . . . . . . . . .
2.2.1 Arrangement of the sensors 2−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General instructions 3−3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Overview of electrical installation 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Connecting the sensors 3−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Connecting the stepping motor controller and the stepping motor 3−8. . . . . . .
3.4 Connecting the control cable 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−SPC200−SMX−1−EN en 0503b
4. Commissioning 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Procedure for commissioning 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Preparations for commissioning 4−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Commissioning with WinPISA 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Selecting a specification for the axis 4−8. . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Configuration of the axis parameters 4−11
. . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Configuration of the application parameters 4−12. . . . . . . . . . . . . . . . . .
4.3.4 Configuration of the settings for analogue reference value
specification 4−22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.5 Loading the axis configuration into the SPC200 4−22. . . . . . . . . . . . . . .
4.3.6 Functional check of the stepping motor axes 4−23. . . . . . . . . . . . . . . . .
4.4 Commissioning with the control panel 4−27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Setting project−specific parameters 4−28. . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Functional check of the stepping motor axes 4−30. . . . . . . . . . . . . . . . .
4.5 Program example 4−34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Instructions on operation 4−35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Diagnosis and error treatment 5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 General instructions on diagnosis 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 On−the−spot diagnosis 5−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Diagnosis with WinPISA 5−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Diagnosis on the control panel 5−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Emergency travel 5−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Notes on judging the positioning behaviour 5−11. . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical specifications A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Internal circuitry A−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Index A−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
V
Festo P.BE−SPC200−SMX−1−EN en 0503b
Designated use
The stepping motor indexer module type SPC200−SMX−1 has
been designed for coupling a suitable stepping motor con
troller to the SPC200. With this stepping motor controller the
SPC200 can control a stepping motor axis. Maximum 3 step
ping motor indexer modules can be fitted in a rack.
Basic components and modules for the SPC200 are described
in the user manual type P.BE−SPC200−... . The safety instruc
tions specified in the manuals must always be observed and
the relevant components and modules must only be used as
intended. Please observe also the safety instructions in the
operating instructions for the pneumatic components used.
The SPC200 and the modules and cables to be connected are
only to be used as follows:
Asspecified in industrial applications.
 Without any modifications by the user.
Only the conversions or modifications described in the
documentation supplied with the product are permitted.
 iIn faultless technical condition.
When used together with commercially available compo
nents, such as actuators, the specified limits for pressures,
temperatures, electrical data, torques etc. must be observed.
National and local safety regulations must also be observed.

Contents and general instructions
VI Festo P.BE−SPC200−SMX−1−EN en 0503b
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
fitting, installing, commissioning, programming and diagnos
ing stepping motor axes.
Service
Please consult your local Festo repair service if you have any
technical problems.

Contents and general instructions
VII
Festo P.BE−SPC200−SMX−1−EN en 0503b
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
VIII Festo P.BE−SPC200−SMX−1−EN en 0503b
Marking special information
The 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 environment−friendly use of Festo products.
Text markings
SThe 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
IX
Festo P.BE−SPC200−SMX−1−EN en 0503b
Notes on software version
Please note
This manual refers to stepping motor indexer modules
type SPC200−SMX−1 with software version as from 1.42.
Observe the different positioning speeds depending on the
software version of the stepping motor indexer module:
Function Range Software version 1) Axis moves with
Reference
travel
Switching ranges of the
limit switches or the refer
ence switch (depending on
as from 1.42 Start−Stop frequency
ence switch (depending on
the reference travel mode)
or after a limit switch fault
as from 1.0 1/4 Start−Stop frequency
Outside the switching
ranges of the limit or refer
ence switches
all Reference speed
Emergency
travel
Switching range of the limit
switches and movement
before reaching the limit
as from 1.43
(in preparation)
Start−Stop frequency
before reaching the limit
switch up to 1.42 1/2 Start−Stop frequency
1) Determining the software version see section 5.3

Contents and general instructions
XFesto P.BE−SPC200−SMX−1−EN en 0503b
Notes on the use of this manual
This manual contains basic general information on fitting,
installing and commissioning the SPC200, as well as a de
scription of its method of operation as a stepping motor con
troller. The manual deals with the SPC200 Smart Positioning
Controller with operating system version as from 4.6 and
fitted stepping motor indexer module with firmware version
as from 1.42 (see section 5.3, Status display) as well as
WinPISA as from version 4.3.
Manuals on the SPC200 Smart Positioning Controller
Type Title Contents
System manual SPC200 Smart Positioning Controller,
user manual
type P.BE−SPC200−...
Installation, commissioning and
diagnosis with SPC200; standard
components and modules
Software manual WinPISA software package
type P.SW−WIN−PISA−..
Functions of the WinPISA software
package
Help system Help system for WinPISA (contained
in WinPISA)
WinPISA help system
Manuals Field bus module
type P.BE−SPC200−COM−...
Installation, commissioning and
diagnosis of the relevant field bus
module
Stepping motor indexer module
type P.BE−SPC200−SMX−1−...
Installation, commissioning and
diagnosis with a stepping motor
Electric positioning system
type P.BE−ATP−...
Further information on electric
positioningsystems
Special information on commissioning, programming and
diagnosing the SPC200 with the WinPISA software package
can be found in the appropriate manual for WinPISA.

Contents and general instructions
XI
Festo P.BE−SPC200−SMX−1−EN en 0503b
Information on the electric axes, drive packages with step
ping motors and stepping motor controllers as well as sen
sors can be found in the documentation supplied with the
product.
Caution
If the permitted operating conditions of the components
used are not observed, faults may occur during operation.
Consider in particular the specifications for the permitted
operating conditions of the motors and drives used in the
documentation enclosed (manufacturer data), e.g. for the
permitted start−stop frequency or the minimum positioning
speeds.

Contents and general instructions
XII Festo P.BE−SPC200−SMX−1−EN en 0503b
List of abbreviations
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
Drive package Stepping motor controller, in some cases with gear
Electric axis Combination of motor, coupling (coupling housing with coupling and
flange), electromechanical linear axis, as well as the necessary
cables and sensors.
Electromechanical
Linear drive
Linear guide with spindle or toothed−belt drive
I Digital input
I/Os Digital inputs and outputs
Modules Function cards which can be plugged into the rack of the SPC200.
Q Digital output
Record Select mode Operating mode of the SPC200 which supports close coupling with a
higher−order PLC/IPC.
Resolution Steps per mm positioning path, depends on the motor used, the
drive as well from the configured step mode (see section 4.3.3).
Start−stop frequency Frequency with which the stepping motor can start and stop reliably
at the required rotational speed (without loss of step).
Start/Stop mode Operating mode of the SPC200 which supports both autonomous
operation and control by a higher−order PLC/IPC.
Step mode The step mode defines the step width (rotary angle of the motor per
impulse). Therefore the steps per turn are defined too.

System summary
1−1Festo P.BE−SPC200−SMX−1−EN en 0503b
Chapter 1

1. System summary
1−2 Festo P.BE−SPC200−SMX−1−EN en 0503b
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 System structure 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Basis structure for operating a stepping motor axis 1−4. . . . . . . . . . . . . . . . . . .
1.2.1 Connecting and display elements of the
stepping motor indexer module 1−7. . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Drive packages 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Stepping motor controller 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Electromechanical linear drive 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Accessories 1−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 EMERGENCY STOP concept 1−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary
1−3
Festo P.BE−SPC200−SMX−1−EN en 0503b
1.1 System structure
Stepping motor drives must be connected to the SPC200 by
means of special stepping motor indexer modules. Each step
ping motor indexer module type SPC200−SMX−1 enables a
stepping motor axis to be coupled on.
......
1
2
3
4
5
6
7
8
9
1Programmer/PC for commissioning
2SPC200 with stepping motor indexer
module
3Stepping motor controller
4Control cabinet
5Electromechanical linear drive
6Reference/limit switches
7Coupling and flange
8Motor, in some cases with gear
9Pneumatic axis (optional)
Fig.1/1: System overview

1. System summary
1−4 Festo P.BE−SPC200−SMX−1−EN en 0503b
1.2 Basis structure for operating a stepping motor axis
With just the following modules the SPC200 can control a
stepping motor controller:
12 34
1Power supply module
2Diagnostic module
3I/O module (optional field bus module)
4Stepping motor indexer module
Fig.1/2: Basis structure for a stepping motor controller

1. System summary
1−5
Festo P.BE−SPC200−SMX−1−EN en 0503b
Module Description
Power supply module Enables the power supply and the axis
interface designed as a field device to be
connected.
Diagnostic module Enables the control panel to be fitted
and a PC to be connected.
I/O or field bus module Enables control of the I/Os or
communication via the field bus.
Stepping motor indexer
module
Enables a stepping motor controller to
be controlled.
A system structure with the modules shown above offers the
followingfacilities:
 One or two pneumatic axes can be controlled
 Control of one stepping motor axis
 Programming and diagnosis via a PC or a control panel
 Coordination via I/Os or via the field bus
Providing a sufficient number of unused locations are avail
able, up to 3 stepping motor indexer modules can be fitted in
the SPC200 for controlling 3 electric axes.
The SPC200 can be controlled via I/Os or via the field bus in
the operating mode Start/Stop or in the Record Select mode.
The address range required for this is provided by the I/O
module or the field bus module.

1. System summary
1−6 Festo P.BE−SPC200−SMX−1−EN en 0503b
For setting up a stepping motor axis with the SPC200 you will
require the following components:
 The SPC200 Smart Positioning Controller with stepping
motor module type SPC200−SMX−1
 The control cable from the SPC200 to the stepping motor
controller (see manual for stepping motor controller)
Astepping motor drive package from Festo, consisting of
a stepping motor controller, a stepping motor and, in
some cases, also gears. Other stepping motor controllers
are possible, providing they have compatible connections.
 Mains filter, fuses etc. for the stepping motor controller
 Motor cable for connecting the stepping motor controller
and the stepping motor
 Motor flange and coupling
 Linear drive (e.g. DGE(L)−...), with accessories
 Suitable sensors for reference and limit switches
When selecting the sensors, note that the accuracy of the
switchover point of the sensors determines the accuracy of
the reference point.
You must make sure that the switchover point always lies
within a step resolution.