spc200 smart positioning controllerelectronics manual field bus module for profibus−dp type...

Electronics manual

Field bus modulefor PROFIBUS−DPtype SPC200−COM−PDP

Manual188 893en 0901c[744 896]

SPC200 Smart Positioning Controller

Contents and general instructions

IFesto P.BE−SPC200−COM−PDP−EN en 0901c

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 0901c. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Title P.BE−SPC200−COM−PDP−EN. . . . . . . . . . . . . . . . . . . . . .

Order no. 188 893. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG�&�Co. KG, D�73726 Esslingen, 2009)Internet: �http://www.festo.comE−Mail: �[email protected]

The copying, distribution and utilization of this documentas well as the communication of its contents to others with�out expressed authorization is prohibited. Offenders will beheld liable for the payment of damages. All rights are re�served, in particular the right to carry out patent, utilitymodel or ornamental design registration.


II Festo P.BE−SPC200−COM−PDP−EN en 0901c

PROFIBUS® is a registered trademarks of their respective trademark holders in certaincountries.


IIIFesto P.BE−SPC200−COM−PDP−EN en 0901c

Contents

Designated use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product−specific terms and abbreviations XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Notes on the use of this manual XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firmware versions of the field bus modules PROFIBUS�DP XV . . . . . . . . . . . . . . . . . . . . .

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 System structure 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Connecting and display elements of the field bus module 1−4 . . . . . . . . . . . . . .

1.3 Basic structure for operation on the PROFIBUS−DP 1−5 . . . . . . . . . . . . . . . . . . . .

1.4 Operating modes of the SPC200 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Controlling the SPC200 via the PROFIBUS 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 I/O signals 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Fitting and removing the field bus module 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 General instructions on installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Connecting to the field bus 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Connecting the SPC200 via a branch line 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Connection for optical−fibre waveguide 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−SPC200−COM−PDP−EN en 0901c

4. Commissioning 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Procedure for commissioning 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Supplementary instructions on commissioning with WinPISA 4−4 . . . . . . . . . . .

4.1.2 Steps for commissioning the SPC200 as a field bus slave 4−8 . . . . . . . . . . . . . . .

4.2 Setting the PROFIBUS address of the SPC200 4−9 . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Instructions on setting the PROFIBUS address with the control panel 4−9 . . . . .

4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA 4−10 . . . . . . . . . . . .

4.3 Installing the device master file (GSD file) and symbol files 4−12 . . . . . . . . . . . . .

4.4 Basic principles of configuration 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 FREEZE and SYNC 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Configuration of the I/O address range 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 DP identifiers for the I/O signals 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 DP identifiers for the parameter channel (optional) 4−19 . . . . . . . . . . . . . . . . . . . .

4.4.5 DP identifiers for transmitting the actual postions (optional) 4−20 . . . . . . . . . . . .

4.4.6 DP identifier for transmission of the setpoint positions (optional) 4−21 . . . . . . . .

4.5 Configuration with a master 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Configuration with STEP 7 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Configuring with DP masters of other manufacturers 4−27 . . . . . . . . . . . . . . . . . .

4.5.3 Instructions on commissioning the PROFIBUS 4−33 . . . . . . . . . . . . . . . . . . . . . . . .

4.5.4 Switch−on reaction of the field bus module 4−34 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.5 Response monitoring 4−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Commissioning on the field bus 4−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.1 Internal I/O addresses with the Start/Stop mode 4−38 . . . . . . . . . . . . . . . . . . . . .

4.6.2 Internal I/O addresses with Record Selection mode 4−39 . . . . . . . . . . . . . . . . . . .

4.6.3 Program examples 4−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.4 Reading and writing consistent data with the S7 4−43 . . . . . . . . . . . . . . . . . . . . . .

4.7 Sequence plans for the programmer 4−44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.1 Creating readiness to operate 4−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.2 Start NC record in Record Select mode 4−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.3 Start program or NC record 4−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.4 Carry out fault quitting 4−51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−SPC200−COM−PDP−EN en 0901c

5. Parameter channel 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 General instructions 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Structure of the parameter channel (PKW) 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Task identifiers, reply identifiers and fault numbers 5−5 . . . . . . . . . . . . . . . . . . .

5.2.2 Rules for task reply processing 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Description of the parameters 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. Diagnosis and error treatment 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 General instructions on diagnosis 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 On−the−spot diagnosis 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Diagnosis with WinPISA 6−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Diagnosis via PROFIBUS−DP 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Structure of the device−related diagnosis 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Diagnosis via programmer/PC 6−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Data types A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 Integer16 A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.2 Unsigned16 A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.3 Unsigned32 A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.4 Bit array A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.5 Integer32 A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Number formats of the nominal and actual values in the processing data A−6 .

A.3 Technical specifications A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE−SPC200−COM−PDP−EN en 0901c


VIIFesto P.BE−SPC200−COM−PDP−EN en 0901c

Designated use

The field bus module type SPC200−COM−PDP enables theSPC200 to be coupled to the PROFIBUS−DP. With this field busmodule the SPC200 can be operated as a slave on the rel�evant field bus. Only one field bus module may be installedon the SPC200.

This manual contains information on installing, commission�ing and diagnosing the PROFIBUS−DP field bus.

Basic components and modules for the SPC200 are describedin the system manual type P.BE−SPC200−...�. The safety in�structions listed in the manuals must always be observed andthe relevant components and modules must only be used asintended. Please observe also the safety instructions listed inthe operating instructions for the pneumatic componentsused. The SPC200 and the modules and cables to be con�nected are only to be used as follows:

� in accordance with designated use

� only in industrial applications

� without any modifications by the user. Only the conver�sions or modifications described in the documentationsupplied with the product are permitted

� in faultless technical condition.

When used together with commercially available compo�nents, such as sensors and actuators, the specified limits forpressures, temperatures, electrical data, torques etc. must beobserved. National and local safety regulations must also beobserved.


VIII Festo P.BE−SPC200−COM−PDP−EN en 0901c

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosing rel�evant field bus slaves.

Service

Please consult your local Festo service centre if you have anytechnical problems.


IXFesto P.BE−SPC200−COM−PDP−EN en 0901c

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich may occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto�gram. A distinction is made between the following dangerwarnings:

WarningThis means that failure to observe this instruction mayresult in serious personal injury or damage to property.

CautionThis means that failure to observe this instruction mayresult in personal injury or damage to property.

Please noteThis means that failure to observe this instruction mayresult in damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo�nents.

Electrostatically sensitive components may be damaged ifthey are not handled correctly.


X Festo P.BE−SPC200−COM−PDP−EN en 0901c

Marking special information

The following pictograms mark passages in the text contain�ing special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation.

Accessories:Information on necessary or sensible accessories for theFesto product.

Environment:Information on environment−friendly use of Festo products.

Text markings

S The bullet indicates activities which may be carried out inany order.

1. Figures denote activities which must be carried out in thenumerical order specified.

� Hyphens indicate general activities.


XIFesto P.BE−SPC200−COM−PDP−EN en 0901c

Product−specific terms and abbreviations

The following product−specific abbreviations are used in thismanual:

Term/abbreviation Meaning

123 d Decimal DP identifiers or parameter numbers (PNU) are marked with asubscript �d".

123 h Hexadecimal DP identifiers or parameter numbers (PNU) are marked witha subscript �h".

AK See under reply identifier or task identifier

BCD Binary coded decimal

Bus segment Bus cable between two terminating resistors. A bus segment containsmaximum 32 slaves. A PROFIBUS−DP system consists of at least one bussegment with at least two slaves. With the aid of repeaters further bussegments can be connected.

Byte 8 bits; basis type for PROFIBUS telegrams

Consistency A data range, which is defined as consistent, is transmitted complete, i.e. in a bus cycle.

GSD file Device master file in which all specific features of the slave are saved (e.g. number of I/Os, number of diagnostic bytes etc.).

I Digital input of the SPC200

I/Os Inputs and outputs

LSB Least significant bit (lower−value bit)

MSB Most significant bit (higher−value bit)

Modules Function cards which can be plugged into the rack of the SPC200.

Parameter channel(PKW)

Telegram part used for transmitting parameters(PKW = parameter identifier value)

Parameter identifier(PKE)

Integral part of the parameter channel (PKW) which contains the task andreply identifiers (AK) and the parameter number (PNU).


XII Festo P.BE−SPC200−COM−PDP−EN en 0901c


Parameter number(PNU)

Parameters which can be transmitted via the parameter channel areaddressed with the parameter number (PNU). The parameter number isan integral part of the parameter identifier (PKE) and serves foridentifying or addressing the individual parameter.

PKE See under parameter identifier

PKW See under parameter channel

PLC/IPC Programmable logic controller/industrial PC

PNU See under parameter number

PROFIBUS PROcess FIeld BUS; German processing and field bus standarddetermined in the PROFIBUS standard EN 50170 volume 2.

PROFIBUS address Serves for clear identification of a bus slave on the PROFIBUS

Q Digital output of the SPC200

Record Select mode Operating mode of the SPC200 which supports close coupling with ahigher−order PLC/IPC.

Referencing A procedure necessary with relative−measuring systems, in whichmovement is made to a defined reference point, to which the positions tobe moved to in operation refer.

Repeater Operating medium for amplifying bus signals and for coupling segmentsover long distances.

Reply identifier (AK) Integral part of the parameter channel in reply telegrams specifying thetype of reply of a parameter processing.

Reply telegram Telegram sent from the slave to the master (slave reply)

Start/Stop mode Operating mode of the SPC200 which supports both autonomousoperation and control by a higher−order PLC/IPC.

Subindex (IND) Integral part of the parameter channel (PKW) which addresses an elementof an array parameter (sub−parameter number)

Task identifier (AK) Integral part of the parameter channel in task telegrams specifying thetype of reply of a parameter processing.

Task telegram Telegram sent from the master to the slave (master task)


XIIIFesto P.BE−SPC200−COM−PDP−EN en 0901c


Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must beinstalled or switched in at the end of bus segment cables.

Work data Telegram data without protocol frame data. The work data are determinedwhen the field bus slave is configured.

Fig.�0/1: Terms and abbreviations


XIV Festo P.BE−SPC200−COM−PDP−EN en 0901c

Notes on the use of this manual

The following Festo manuals are necessary for the completedocumentation of the modular valve terminal, depending onwhat you have ordered and on the further equipment for yourcomplete system:

Type Title Contents

System manual SPC200 Smart Positioning Controllertype P.BE−SPC200−...

Installation, commissioning anddiagnosis with SPC200; standardcomponents and modules

Software manual Software package WinPISAtype P.SW−WIN−PISA−...

Functions of the WinPISA softwarepackage

Help system Help system for WinPISA(contained in WinPISA)

WinPISA help system

Manuals Field bus moduletype P.BE−SPC−COM...

Installation, commissioning anddiagnosis of the relevant field busmodule

Stepping motor moduletype P.BE−SPC−SMX−1−...

Installation, commissioning anddiagnosis when used with a steppingmotor

Fig.�0/2: Manuals on the SPC200

Special information on commissioning, programming anddiagnosing the SPC200 with the WinPISA software packagecan be found in the appropriate manual for WinPISA. Informa�tion on the pneumatic components can be found in the oper�ating instructions supplied with the product.


XVFesto P.BE−SPC200−COM−PDP−EN en 0901c

Firmware versions of the field bus modules PROFIBUS�DP

Please noteIn order to transmit the digital setpoint values you will re�quire:

� WinPISA as from version 4.41

� fieldbus modules for PROFIBUS−DP with firmware ver�sion as from V 2.1

� SPC200 with operating system version as from V 4.82.

Please noteIn order to use the parameter channel and for transmittingthe actual values you will require:

� WinPISA as from version 4.3

� fieldbus modules for PROFIBUS−DP with firmware ver�sion as from V 2.0

� SPC200 with operating system version as from V 4.6.

Firmware version V 2.1 and V2.0 are downwards compatibleto firmware version V 1.x.


XVI Festo P.BE−SPC200−COM−PDP−EN en 0901c

System summary

1−1Festo P.BE−SPC200−COM−PDP−EN en 0901c

Chapter 1

1. System summary

1−2 Festo P.BE−SPC200−COM−PDP−EN en 0901c

Contents

1.1 System structure 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Connecting and display elements of the field bus module 1−4 . . . . . . . . . . . . . .

1.3 Basic structure for operation on the PROFIBUS−DP 1−5 . . . . . . . . . . . . . . . . . . . .

1.4 Operating modes of the SPC200 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Controlling the SPC200 via the PROFIBUS 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 I/O signals 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary


1.1 System structure

Special field bus modules are available for coupling theSPC200 to field bus systems. The field bus module typeSPC200−COM−PDP enables the SPC200 to be coupled to thePROFIBUS−DP.

1

2

3

4

SIEMENS

SIEMENS

1 PROFIBUS−DP master

2 Programmer/PC

3 Further slaves on the field bus

4 SPC200 as PROFIBUS−DP slave

Fig.�1/1: SPC200 on the PROFIBUS−DP (example)

1. System summary


Data exchange between the PROFIBUS−DP master and thefield bus slave is made in accordance with the master−slaveprocedure. This permits a very fast cyclic exchange of data.

1.2 Connecting and display elements of the field bus module

The diagram below shows the connecting and displayelements of field bus module type SPC200−COM−PDP.

1 Fault LED (red)

2 Power LED (green)

3 Field busconnection (9−pin) 1

2

3

Fig.�1/2: Connecting and display elements

1. System summary


1.3 Basic structure for operation on the PROFIBUS−DP

With the following modules the SPC200 is a functionablePROFIBUS−DP standard slave:

1 Power supplymodule

2 Diagnostic module

3 Field bus modulefor PROFIBUS

1 2 3

Fig.�1/3: Basic structure for PROFIBUS

Module Description

Power supply module Enables the power supply and the axisinterface designed as a field device to beconnected.

Diagnostic module Enables the control panel to be fitted(optional) and a PC to be connected.

Field bus module forPROFIBUS−DP

Enables communication via the field bus.

1. System summary


A system structure with the modules shown above offers thefollowing facilities:

S One or two pneumatic axes can be controlled.

S Commissioning, programming and diagnosis via a PC withthe WinPISA software package.

S Coordination with external PLC/IPC via field bus. Withfield bus module type SPC200−COM−PDP the SPC200 canbe coupled to all DP masters.

Extension modules are available for extending the system(see system manual for the SPC200 type P.BE−SPC200−...).

1. System summary


1.4 Operating modes of the SPC200

The processing of the NC programs saved in the SPC200takes place in the following operating modes:

� Start/Stop mode

� Record Select mode

The desired operating mode can be set with the control panelor with WinPISA. Detailed information on the operatingmodes can be found in the User Manual of the SPC200.

1. System summary


1.5 Controlling the SPC200 via the PROFIBUS

The usual I/O signals (START, STOP, RESET, etc.) are availablevia PROFIBUS, exactly as with direct control of the SPC200 viaan I/O module. If required, the field bus module can also en�able the transmission of parameters and actual positions.

Function Description

� I/O signals For transmitting the I/O control signals and the freely programmableI/Os (Start/Stop mode) or the record number (Record Select mode),the field bus module offers the following inputs/outputs:� Inputs: I10.0 ... I13.15 1)

� Outputs:Q10.0 ... Q13.15 1)

� Parameter channel(optional)

By means of a parameter channel, operands such as flags, positionregisters, digital outputs etc. as well as the desired positioningbehaviour can be parametrized (see section 5.2).

� Setpoint positions (optional)

The nominal positions can be transmitted from the PROFIBUS−DPmaster in the task telegram. 2)

With this is, using the NC command M10 (see system manual on theSPC200), the digital nominal value specification possible.Prerequesits:� WinPISA as from Version 4.41� fieldbus modules for PROFIBUS−DP with firmware version as from

V 2.1� SPC200 with operating system version as from V 4.82.

� Actual positions (optional)

The actual positions can be transmitted to the PROFIBUS−DP masterin the reply telegram. 2)

1) Address assignment from the point of view of the SPC2002) The telegram which the master sends to the slave is called the task telegram. The reply from the

slave is called the reply telegram, see section 4.4.2.

1. System summary


The scope of the I/O data to be transmitted and thereby thescope of the desired functions is determined in the configur�ation of the PROFIBUS−DP master with the aid of a GSD file(device master file). The following diagram shows the struc�ture of the task and reply telegrams, as well as the scope ofthe I/O data to be transmitted.

1

2

3 4 5

X Y Z UPKWE/A

X Y Z UPKWE/A

6

1 Reply telegram

2 Task telegram

3 I/O signals (2, 4, 6 or 8 I/O bytes)

4 Parameter channel (optional) (4 I/O words)

5 Position setpoint values (optional) in 0.1��m (int32) (2 output words per axis)

6 Actual position values (optional), in 0.1��m (int32) (2 input words per axis)

Fig.�1/4: Task and reply telegrams

1. System summary


1.5.1 I/O signals

Depending on the operating mode used, the field bus moduleprovides the following I/O bits for controlling the SPC200:

Operating mode I/O signals

Start/Stop I10.0 ... I13.15 *)

Q10.0 ... Q13.15 *)

Record Select I10.0 ... I11.15 *)

Q10.0 ... Q10.15 *)

*) Address assignment from the point of view of the SPC200

Please noteOutputs of the master are mapped on internal inputs;internal outputs of the field bus module are mapped oninputs of the master.

1. System summary


PLC/IPC SPC200SPC200−COM−PDP

1 2 3

4

Reply telegram:� Q10.0 ... Q13.15 1) � parameter channel 2) � actual positions 2)

Task telegram:� I10.0 ... I13.15 1) � parameter channel 2)

1) Maximum address range; address assignment from the point of view of the SPC200

2) Optional

Inputs

Parameters

(optional)

Outputs

Actual positions

(optional)

Inputs

Outputs

Outputs

Inputs

Outputs

Inputs

1 User program DP master

2 Communication module

3 User program in the SPC200

4 Internal I/Os of field bus moduleSPC200−COM−PDP

Fig.�1/5: Internal I/O address range

Due to the larger I/O address range, considerably more NCrecords can be accesssed in Record Select mode via the fieldbus than in operation via the I/O module.

In record select mode, 10 bits are available for selecting theNC record number. The maximum permitted number of NCrecords (up to 1000 NC records) of the defined starting pro�grams can therefore be accessed.

1. System summary


Address range

If a field bus module is used:

� The address ranges I0.0 ... I0.9 and Q0.0 ... Q0.7 will re�main unassigned. This address range, which without fieldbus module serves for controlling the SPC200, is notavailable.

� The address ranges I10.0 ... I13.15 and Q10.0 ... Q13.15are only available in I/O operation.

� Maximum 3 I/O modules may be plugged in. These �pro�vide only freely programmable I/Os in the operating modeStart/Stop.

The following table shows the address assignment when afield bus module is used.

Module Max. address range

� 1) I0.0 ...I0.9 1) Q0.0 ... Q0.7 1)

I/O module on the first axis interface string I1.0�...�I1.15 Q1.0 ... Q1.15

First I/O module I2.0�...�I2.9 Q2.0 ... Q2.7

I/O module on the second axis interface string I3.0�...�I3.15 Q3.0 ... Q3.15

Second I/O module I4.0�...�I4.9 Q4.0 ... Q4.7

Third I/O module I5.0�...�I5.9 Q5.0 ... Q5.7

Field bus module I10.0�...�I13.15 Q10.0 ... Q13.15

1) Address range is not available if a field bus module is used.

The functions of the internal input and output bits of the fieldbus module as well as the permitted NC commands dependon the operating mode set. Detailed information on this canbe found in the System manual for the SPC200.

Fitting


Chapter 2

2. Fitting


Contents

2.1 Fitting and removing the field bus module 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting


WarningUndesired movement of the connected actuators and non−defined switching states of the electronics can cause injuryto human beings or damage to property.

Before carrying out installation and/or maintenance work,switch off the following in the sequence specified:

1. the compressed air supply

2. the load voltage and operating voltage supplies for theSPC200 and, if applicable, the load voltage supply forthe axis interface string.

2. Fitting


2.1 Fitting and removing the field bus module

Please noteModules may be damaged if they are not handled cor�rectly. Do not therefore touch any components. Observethe regulations for handling electrostatically sensitive com�ponents.

Discharge yourself electrostatically before fitting or removingcomponents in order to protect the components against dis�charges of static electricity.

The slots are numbered 1 to 6 from left to right. Slot 1 is re�served for the power supply module (type SPC−200−PWR−AIF).The field bus module can be fitted as desired into slots 2 to 6.

Individual identification of all fitted modules takes place auto�matically. Only one field bus module may be fitted.

The modules are fastened with the aid of a locking lever onthe rack. A tool is not therefore required for fitting or remov�ing a module.

WarningActuators may make sudden unexpected movements andthe SPC200 will be damaged if modules are added or re�moved whilst the power supply is switched on. Beforecarrying out installation and/or maintenance work, switchoff the following power supplies in the sequence specified:

1. the compressed air supply

2. the load voltage and operating voltage supplies for theSPC200 and, if applicable, the load voltage supply forthe axis interface string.

2. Fitting


Fitting a module

Proceed as follows when fitting a module into the rack:

1. Switch off the compressed air supply and the operatingvoltage supply.

2. Remove the blanking plate (if fitted).

3. Hold the module by the front plate and push it into theguide rail. Make sure that the modules are not tilted whenthey are pushed in and that no components on theprinted circuit board are damaged.

4. Make sure that the plugs of the terminal strips are cor�rectly aligned. Then gently push the module in as far aspossible. The locking levers will then lock automatically.

1 Direction forunlocking

2 Locksautomatically

3 Locking lever

4 Front plate of themodule

5 Terminal strip

6 Guide rail

1

2

3

4

2

15 6

Fig.�2/1: Fitting a module

2. Fitting


Removing a module

Replace a module as follows:

1. Switch off the operating voltage and the compressed airsupply.

2. Loosen and pull off the connecting cable on the front ofthe module.

3. Unlock both locking levers (see Fig.�2/1) and carefully pullout the module.

4. Seal the unused slots with blanking plugs.

Installation


Chapter 3

3. Installation


Contents

3.1 General instructions on installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Connecting to the field bus 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Connecting the SPC200 via a branch line 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Connection for optical−fibre waveguide 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 General instructions on installation

WarningUndesired movement of the connected actuators and non−defined switching states of the electronics can cause injuryto human beings or damage to property.

Before carrying out installation and/or maintenance work,switch off the following in the sequence specified:

1.The compressed air supply

2.The following power supplies:

� the load voltage supply for field devices and propor�tional directional control valves (plug X2, pin 1)

� the load voltage supply for the outputs (plug X6/X8,pin�8)

� if applicable, the load voltage supply on the axis inter�face string

� the load voltage supply for the internal electronics of theSPC200 and field devices (plug X2, pin 2).

Please notePlease note that the maximum permitted bus lengthdepends on the baud rate.

A bus segment is a bus cable which may contain up to 32slaves (devices). The ends of the bus segment must be fittedwith a terminating resistor. Use plugs with an integrated ter�minating resistor if the SPC200 is installed at the end of a bussegment.

3. Installation


3.2 Connecting to the field bus

There is a 9−pin sub−D plug on the field bus module for con�necting the SPC200 to the relevant field bus. This connectionis used for the incoming cable, as well as for the continuingfield bus cable.

1

59

6

Fig.�3/1: PROFIBUS−DP interface (X 20)

Pin Signal Description

123456789Housing

Earthn.c.RxD/TxD−PCNTR−P *)

DGNDVPn.c.RxD/TxD−Nn.c.Screening/shield

Direct connection to housingnot connectedReceive/send data−PRepeater control signalData reference potential (M5V)Power supply positive (P5V)not connectedReceive/send data−Nnot connectedDirect connection to housing

*) Repeater control signal CNTR−P is in the form of a TTL signal.

3. Installation


Specifications of the field bus cable

Recommendation: Use a cable which complies with the cablespecification as per EN 50170 part 2 (cable A).

� Surge impedance: 135...165 Ohm (3...20 MHz)

� Capacity: < 30 nF/km

� Loop resistance: < 110 Ohm/km

� Core cross−sectional area: > 0.34 mm2

Maximum permitted segment length of the field bus:

Baud rate(in kBaud)

Max. permitted segment length(in m) as per PNO 1)

9.619.293.75187.550015003000 ... 12000

1200120012001000400200100

1) PNO = PROFIBUS user organisation

3. Installation


Plug

Please noteUse plugs with a terminating resistor if the SPC200 isinstalled at the end of a bus segment.

If you do not require a terminating resistor, use the sub−Dplug from Festo type FBS−SUB−9−WS−PB−K as the termination.

Type Description

FBS−SUB−9−WS−PB−K Horizontal cable exit;baud rate 9.6 kBaud ... 12 MBaud;4−pin terminal for wires up to 1.5�mm2

If you require a terminating resistor, use special bus con�nector plugs for PROFIBUS, e.g. the following 9−pin plug fromSiemens AG or from ERNI:

Order number ofSiemens AG

Description

6ES7 972−0BA10−0XA0 Terminating resistor can be switched in;vertical cable exit;baud rate 9.6 kBaud ... 12 MBaud;4−pin terminal for wires up to 1.5�mm2

6ES7 972−0BB10−0XA0 As above, but also with conduit threadconnection

Order number ofERNI

Description

103649 Horizontal cable exit;baud rate 9.6 kBaud ... 12 MBaud;4−pin terminal for wires up to 1.5�mm2,with integrated terminating resistor

3. Installation


Connecting the bus cable

S Always connect the same cores to the same connection Aor B of the 4−pin terminal.Recommendation: B: RxD/TxD−P; A: RxD/TxD−N

S Make sure that the cable screening lies uninsulated under

the screening clamp.

S Please observe, if necessary, the instructions supplied

with the plug.

1 4−pin terminal

2 Cable screening/shield

1

2

B O B O

Fig.�3/2: Sub−D plug from Festo type FBS−SUB−9−WS−PB−K

3. Installation


Terminating resistor (end of cable)

Bus segments must be concluded at both ends with a termin�ating resistor. This also applies if the module or the communi�cation processor is at the end of the bus cable.

Recommendation: Use plugs with an integrated terminating

resistor if the SPC200 is installed at the end of a bus seg�ment. If necessary, switch in the terminating resistor.

The following diagram shows the terminating resistor com�bination of cable A as per EN 50170.

1 Pin 6:Power supply

2 Pin 3:RxD/TxD−P

3 Pin 8:RxD/TxD−N

4 Pin 5:DGND

Pin�6

Pin�3

Pin�8

Pin�5

390

220

390

1

2

3

4

Fig.�3/3: Cable termination as per EN 50170, (cable A)

3. Installation


3.3 Connecting the SPC200 via a branch line

Please noteIf connection of the SPC200 via a branch line cannot beavoided:

� Do not connect the branch lines with a terminatingresistor.

� Please note that the permitted segment length will bereduced by the length of the branch line.

� Please note the maximum permitted branch line lengths.

If possible, branch lines should be avoided on thePROFIBUS−DP, as they can cause too much capacitivestress on the transmission cable.

Baud rate(in kBaud)

Maximum permitted branch line length(in m)

9.619.293.75187.550015003000 ... 12000

50050010033.3206.6Not permitted

3. Installation


3.4 Connection for optical−fibre waveguide

The following types of cables can be used for transmissionwith the PROFIBUS:

� Cable−bound transmission (screened two−wire cable)

� Optical−fibre cable (plastic and fibre glass)

Optical−fibre waveguide technology is to be recommended

when transmission is affected by heavy interference, as wellas for extending the transmission range when high baud ratesare used.

This also offers the following advantages:

� high EMC and ESD protection due to the opticaltransmission of signals

� protection against lightning

� potential isolation of the individual DP slaves. Noequalizing currents can flow through cable screening.

The PROFIBUS−DP interface of the SPC200 has been designedin accordance with specification EN 50170 volume 2, and

therefore supports the control of network components foroptical−fibre waveguides.

Example of optical−fibre waveguide network components:

� Siemens Optical Link Module (OLM) for PROFIBUS plus

� Siemens Optical Link Module (OLP) for PROFIBUS

Commissioning


Chapter 4

4. Commissioning


Contents

4.1 Procedure for commissioning 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Supplementary instructions on commissioning with WinPISA 4−4 . . . . . . . . . . .

4.1.2 Steps for commissioning the SPC200 as a field bus slave 4−8 . . . . . . . . . . . . . . .

4.2 Setting the PROFIBUS address of the SPC200 4−9 . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Instructions on setting the PROFIBUS address with the control panel 4−9 . . . . .

4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA 4−10 . . . . . . . . . . . .

4.3 Installing the device master file (GSD file) and symbol files 4−12 . . . . . . . . . . . . .

4.4 Basic principles of configuration 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 FREEZE and SYNC 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Configuration of the I/O address range 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 DP identifiers for the I/O signals 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 DP identifiers for the parameter channel (optional) 4−19 . . . . . . . . . . . . . . . . . . . .

4.4.5 DP identifiers for transmitting the actual postions (optional) 4−20 . . . . . . . . . . . .

4.4.6 DP identifier for transmission of the setpoint positions (optional) 4−21 . . . . . . . .

4.5 Configuration with a master 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Configuration with STEP 7 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Configuring with DP masters of other manufacturers 4−27 . . . . . . . . . . . . . . . . . .

4.5.3 Instructions on commissioning the PROFIBUS 4−33 . . . . . . . . . . . . . . . . . . . . . . . .

4.5.4 Switch−on reaction of the field bus module 4−34 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.5 Response monitoring 4−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Commissioning on the field bus 4−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.1 Internal I/O addresses with the Start/Stop mode 4−38 . . . . . . . . . . . . . . . . . . . . .

4.6.2 Internal I/O addresses with Record Selection mode 4−39 . . . . . . . . . . . . . . . . . . .

4.6.3 Program examples 4−40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.4 Reading and writing consistent data with the S7 4−43 . . . . . . . . . . . . . . . . . . . . . .

4.7 Sequence plans for the programmer 4−44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.1 Creating readiness to operate 4−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.2 Start NC record in Record Select mode 4−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.3 Start program or NC record 4−50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.4 Carry out fault quitting 4−51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Commissioning


4.1 Procedure for commissioning

Recommendation: Proceed with commissioning as follows:

1. Create and save the desired hardware configuration(incl.�field bus module).

2. First commission the individual axes without using thefield bus interface with the aid of WinPISA. After readingthis chapter please refer to the WinPISA manual.

3. Then begin with the commissioning of the field bus.

Instructions on enabling the controller

In the following cases, a rising edge is required at the ENABLEinput:

� for the first commissioning when the project−specific para�meters have been set

� after a Data Reset and resetting of the project−specificparameters

� when the movement test has been carried out.

The controller is then enabled with a 1−signal, providing thereare no system faults.

4. Commissioning


4.1.1 Supplementary instructions on commissioning with WinPISA

Start commissioning as described in the WinPISA manual (seechapter 4 in the WinPISA manual). With some commissioningsteps, the signals ENABLE, START and STOP are required forcontrolling the axes. For example with the steps:

� movement test

� identification travel

� test and start program.

If a field bus module is installed, you can generate these con�trol signals during commissioning in the test mode. Commis�sioning can then be carried out independently of the fieldbus.

Activate the test mode

CautionYou can specify input signals in the test mode. The actualinput signals will be ignored. The test mode is usually usedfor commissioning, if the SPC200 is not connected with thefield bus or is not online. Activate the test mode only if:

S you are familiar with the effect of the signals which arethus influenced.

WarningMake sure that nobody can place his/her hand in thepositioning range of the moveable mass and that noobjects lie in its path.

4. Commissioning


In order to generate control signals in the test mode, firstactivate the command [Online]�[Observe]�[Field bus mod�ule]�[Control signals/Record number]. Then switch on the testmode, e.g. with function key F5.

The contents of the window [Control signals] depends on theoperating mode set. The mark ? next to the control signalshows that the relevant input/output supplies a 1−signal.

1 ENABLE signal

2 STOP signal

3 Display for testmode

1

2

3

Fig.�4/1: Control signals for commissioning (example)

The signals ENABLE and STOP are important for commis�sioning.

Now refer to the WinPISA manual for carrying out commis�sioning.

I/O control signals (overview)

A detailed explanation of the I/O control signals can be foundin the System manual for the SPC200. The tables below give abrief overview:

4. Commissioning


Start/Stop mode

Address 1) Control signal Description

I10.0 ENABLE Controller enable (1 = controller enabled) 2)

I10.1 START/RESET Start/Continue or reset program (RESET in conjunctionwith STOP = 0)

I10.2 STOP Stop program sequence (0 = stopped)

I10.3/I10.4 SYNC_A/B Synchronization input for M00

Q10.0 READY System ready to operate

Q10.1/Q10.2 SYNC_OA/B Synchronization output for M00

Q10.3/Q10.4 MC_A/B MC output for program A/B (motion complete)

1) Address assignment from the point of view of the SPC2002) Observe the instructions on enabling the controller in section4.1.

Record Select mode

Address 1) Control signal Description

I10.0 ENABLE Controller enable (1 = controller enabled) 2)

I10.1 RESET �Reset program (in conjunction with STOP = 0)

I10.2 STOP Stop positioning task (0 = stopped)

I10.3/I10.4 CLK_A/B Start NC record from program A/B

I11.0 ... I11.9 RECBIT1...10 Bits for NC record number (RECBIT1 for 20 etc. )

Q10.0 READY System ready to operate

Q10.1/Q10.2 ACK_A/B Task accepted for program A/B

Q10.3/Q10.4 RC_A/B NC record concluded by program A/B

1) Address assignment from the point of view of the SPC2002) Observe the instructions on enabling the controller in section4.1.

4. Commissioning


Program test in Record Select mode

In Record Select mode the window Control Signals enablesyou to select an NC record number directly. This NC recordnumber corresponds to the actual NC record number in theNC program.

Note that the programmed record numbers are stored begin�ning with N000 and with step size 1 when a program is loadedwith WinPISA.

Example Start NC record from line N007 of program A �(? = 1−signal)

2

3

1

1 Start NC record with CLK_A−signal

2 Current NC record number (here 7)

3 Entry field for NC record number (conclude entry with ENTER)

Fig.�4/2: Selecting an NC record (example)

4. Commissioning


4.1.2 Steps for commissioning the SPC200 as a field bus slave

The following steps are required for commissioning theSPC200 as a field bus slave:

1. Set the following when configuring the field bus module:

Settings Description

PROFIBUS address Permitted address range: 0...125 1)

1) In some cases is limited by the DP master used

Modification by a DP master is not possible.

2. Install GSD file and symbol file.

3. Configure the PROFIBUS with the appropriate configur�ation software (e.g. with STEP 7 hardware configurator).

4. Test the field bus connection in online mode.

Details can be found in the following sections.

4. Commissioning


4.2 Setting the PROFIBUS address of the SPC200

Please notePROFIBUS addresses may only be assigned once perPROFIBUS−DP interface. Observe any possible limitationsas regards the assignment of PROFIBUS addresses by yourDP master.

Recommendation: Assign the PROFIBUS addresses in ascend�ing order. If necessary, assign the PROFIBUS addresses tosuit the machine structure of your system.

Please noteIn order to avoid faults in commissioning, the field busmodule is set at an invalid PROFIBUS address (255) beforeit leaves the factory. The control panel shows the value −1as an invalid PROFIBUS address.

4.2.1 Instructions on setting the PROFIBUS address with the control panel

When the address has been set on the control panel bymeans of the menu commands [CONFIG. SYSTEM] [ACTUALCONFIG.] [FIELDBUS] [STATION ADDRESS], the followingmessage will appear:

UPDATE NEW ADDR.SYSTEM RESET ?

You can then abort with ESC or trigger a system reset withENTER, and thereby confirm the new address.

In the case of a system reset, the SPC200 will be reset to thestatus it was in after being switched on. A program reset anda hardware recognition are carried out here and the axis in�terface string is re−initialized. This procedure can take a cer�tain amount of time, depending on the system configurationused.

4. Commissioning


4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA

In order to set the PROFIBUS address of the SPC200 withWinPISA, proceed as follows:

1. Read out the hardware configuration from the SPC200 orset the hardware configuration manually, as described inthe guidelines in the WinPISA manual.

2. Double−click the symbol CPU−.. in the project window. The dialogue window �SPC200 configuration" will thenappear.

1

1 Field bus module for PROFIBUS

Fig.�4/3: Configuration of the SPC200 modules

3. Now select the register card Field bus.

4. Commissioning


1

1 Register card �Field bus"

Fig.�4/4: Configuration of the field bus module

4. Set the following in this register card:

Settings Notes

PROFIBUS address Fieldbus addresses may only be assigned once per PROFIBUS−DP interface(0 ... 125)

Suppress diagnosticmessages

As from firmware version V2.1 of the fieldbus module: Error messages over the fieldbus can be suppressed with WinPISA as fromversion 4.51 in combination with an operating system as from version 4.93.This avoids an undesired stop of the PLC.

Recommendation: Assign the PROFIBUS addresses in ascend�ing order. If necessary, assign the PROFIBUS addresses tosuit the machine structure of your system.

5. Confirm the settings with OK.

The field bus address set will be transmitted to the SPC200when the project is loaded and will then become valid. A sep�arate download is also possible.

4. Commissioning


4.3 Installing the device master file (GSD file) and symbol files

GSD file If a new hitherto unknown device is to be incorporated in aconfiguration program when a PROFIBUS−DP system is to beconfigured, an appropriate device master file (GSD file)must be installed for this device. The device master file con�tains all the necessary information for the configuration pro�gram. You will require the appropriate symbol files for repre�senting the device in the configuration program.

Current GSD files and symbol files for the SPC200 can befound in Internet under the following addresses:

� www.festo.com: Go to the Business Area �Pneumatics"and then to �Download Area".

� www.profibus.com: Go to �Libraries" and then to �Festo."

You will require one of the following GSD files for the SPC200:

� SPC_00C8.GSD (German version)

� SPC_00C8.GSE (English version)

Symbol files In order to represent the SPC200 in your configuration soft�ware, you will find the following symbol files under theabove−mentioned Internet addresses:

Normal operatingstatus

Diagnostic case Special operatingstatus

File: Pbsp200n.dib File: Pbsp200d.dib File: Pbsp200s.dib

4. Commissioning


Please noteVarious configuration programs are available for use inconjunction with a Siemens master. Please observe therelevant procedure for your configuration program.

Install the GSD file and the bitmap file

Depending on the configuration program used, install theGSD file and the bitmap file with the aid of the appropriatemenu command or copy the files manually into a particulardirectory of your programmr/PC.

With the STEP 7 V5.1 hardware configurator you can load thefiles with the aid of the menu command [Extras] [. . .Installnew GSD] into the dialogue window [HW Config.].

Configurationprogram

File type Directory

STEP 7 V5.1 hardwareconfigurator 1)

GSD file ...\STEP7\S7DATA\GSDconfigurator 1)

Bitmap files ...\STEP7\S7DATA\NSBMP

1) If you copy the GSD files when the Simatic Manager has already been started, you can update thehardware catalogue with the command [Extras] [Update GSD file].

4. Commissioning


4.4 Basic principles of configuration

4.4.1 FREEZE and SYNC

The SPC200 supports the PROFIBUS control commands Syncand Freeze. If a PROFIBUS master sends these control com�mands, the internal I/Os of the field bus module which areused for communication (I10.0...I13.15 or Q10.0...Q13.15)will be treated as follows:

CautionIn the following cases, the FREEZE or SYNC mode will beautomatically reset:

� when the SPC200 is switched on/off or after a systemreset

� when a project is loaded with WinPISA

� when the field bus master has stopped.

The FREEZE mode will also be reset automatically in thefollowing case:

� when the bus connection to the SPC200 is interrupted(response monitoring active).

FREEZE The internal outputs of the field bus module are mapped oninputs of the master. With this control command the internaloutputs of the field bus module (Q10.0...Q10.15) can be�frozen." The field bus module then sends a constant outputimage to the master. The following FREEZE command causesthe output image to be updated. The updated output imageis then sent constantly to the master.

Return to normal operation UNFREEZE command.

4. Commissioning


SYNC The outputs of the master are mapped on internal inputs ofthe field bus module. With this control command the inter�nal inputs can be �frozen." The SPC200 then no longer re�acts to modifications to the output image in the master. Thefollowing SYNC command causes the output image of themaster to be updated.

Return to normal operation UNSYNC command.

4.4.2 Configuration of the I/O address range

The size of the I/O address range to be configured dependson the operating mode of the SPC200 used and on the addi�tional functions used (parameter channel and transmission ofthe actual positions).

Function Address range equired Consistency of

I/O signals(I10 0 I13 15

Start/Stop mode 1)

(I10.0...I13.15,Q10.0...Q13.15) 2, 4, 6 or 8 I−bytes

2, 4, 6 or 8 O−bytes1 I−byte or complete length1 O−byte or complete length

Record Select mode

2 I−bytes4 O−bytes

Complete lengthComplete length

Parameter channel 2)

(optional)4 I−words4 O−words

Complete length

Actual positions 2)

(optional)2 I−words per axis Complete length

Setpoint positions 3)

(optional)2 O−words per axis Complete length

1) Freely programmable I/Os are only available in the operating mode Start/Stop.2) For this function you require a field bus module with firmware version as from V 2.0, an SPC200

with operating system version as from V 4.6 and WinPISA as from version 4.3.3) For this function you require a fieldbus module with firmware version as from V 2.1, an SPC200

with operating system version as from V 4.82 and WinPISA as from version 4.41.

4. Commissioning


The address range with DP identifiers is described underPROFIBUS−DP. The DP identifiers can be entered via a dia�logue or directly in the configuration tables of the configur�ation program. The method of handling depends on the con�figuration program.

Rules for configuring the I/O address range

� In the case of the I/O signals, use a DP identifier for theinputs and a different DP identifier for the outputs. TheDP identifiers which are permitted here depend on theoperating mode of the SPC200 used (see section 4.4.3).

� If the parameter channel is to be used:use a DP identifier for the parameter channel (see alsosection 4.4.4).

� If actual positions are to be transmitted to the DP master:use a DP identifier for each axis (see also section 4.4.5).

� All non−configured output addresses can be used as flagsin the operating mode Start/Stop. If, for example, theDP�identifier 16DI is used for inputs of the master, theoutputs Q11.0...Q13.15 of the SPC200 can be used asflags (see also Fig.�4/5).

In this manual hexadecimal DP identifiers are marked by asubscript �h". Decimal DP identifiers are marked with a sub�script �d".

4. Commissioning


4.4.3 DP identifiers for the I/O signals

Please noteOutput addresses of the master are mapped on internalinputs; internal outputs of the field bus module aremapped on input addresses of the master.

DP identifiers for the Start/Stop mode

In the Start/Stop mode identifiers for data consistency over1�byte are permitted.

I/O signals Address range DP identifiers

EN 50170 Siemens EN 50170 Siemens

Consistent over 1 byte Complete length

Q10.0...Q10.15Q11.0...Q11.15Q12.0...Q12.15Q13.0...Q13.15

2 I−bytes+2 I−bytes (4 I−bytes)+2 I−bytes (6 I−bytes)+2 I−bytes (8 I−bytes)

11 h13 h15 h17 h

16DI32DI21 d23 d

91 h93 h95 h97 h

145 d147 d149 d151 d

Fig.�4/5: DP identifiers for inputs (outputs of the SPC200)




I10.0...I10.15I11.0...I11.15I12.0...I12.15I13.0...I13.15

2 O−bytes+ 2 O−bytes (4 O−bytes)+ 2 O−bytes (6 O−bytes)+ 2 O−bytes (8 O−bytes)

21 h23 h25 h27 h

16DO32DO37 d39 d

A1 hA3 hA5 hA7 h

161 d163 d165 d167 d

Fig.�4/6: DP identifiers for outputs (inputs of the SPC200)

4. Commissioning


DP identifiers for the Record Select mode




Q10.0...Q10.15 2 I−bytes *) *) 91 h 145 d

*) Data consistency only permitted over complete length

Fig.�4/7: DP identifiers for inputs (outputs of the SPC200)




I10.0...I10.15I11.0...I11.15

4 O−bytes *) *) A3 h 163 d


Fig.�4/8: DP identifiers for outputs (inputs of the SPC200)

4. Commissioning


4.4.4 DP identifiers for the parameter channel (optional)

In order to use the parameter channel, you will require:

� a field bus module with firmware version as from V 2.0

� the SPC200 with operating system version as from V 4.6

� WinPISA as from version 4.3.

For the parameter channel data consistency is only permittedover the complete length. If the parameter channel is to beused, the DP identifier must be entered once.

Further information on the parameter channel of the SPC200can be found in chapter 5.

Parameterchannel

Address range DP identifierschannel



4 I/O words 4 I−words 4 O−words

*) *) F3h 4AX


Fig.�4/9: DP identifiers for the parameter channel

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4.4.5 DP identifiers for transmitting the actual postions (optional)

In order to transmit the actual positions you will require:

� a field bus module with firmware version as from V2.0

� the SPC200 with operating system version as from V4.6


For transmitting the actual positions data consistency is onlypermitted over the complete length. The DP identifier must beentered separately for each axis.

Actualiti

Address range DP identifiersposition



2 I−words 2 I−words *) *) D1h 209 d


Fig.�4/10: DP identifiers for transmitting the actual positions

The assignment on the relevant axes is made in the confi�gured sequence. DP identifiers for non−configured axes arenot permitted.

� First DP identifier for actual position (DP identifier withthe lowest slot number): X−axis

� Second DP identifier for actual position: Y−axis

� Third DP identifier for actual position: Z−axis

� Fourth DP identifier for actual position: U−axis

Actual positions

Value range �99.999.900 ... +99.999.900

Unit 0,1 �m

Actual positions: �9.999,99 ... +9,999.99 mm (Integer32, see A.1.5)

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4.4.6 DP identifier for transmission of the setpoint positions (optional)

In order to transmit the setpoint positions you will require:

� fieldbus module with firmware version as from V 2.1

� SPC200 with operating system version as from V 4.82


During transmitting of the setpoint positions, data con�sistency is only permitted over the complete length. The DPidentifier must be entered separately for each axis.

Setpointiti

Address space DP identifiersposition


Consistent over 1 byte complete length

2 output words 2 output words *) *) E1h 225d

*) Data consistency only permitted over complete length!

Fig.�4/11: DP identifier for transmitting the setpoint positions

The assignment on the relevant axes is made in the confi�gured sequence. DP identifiers for non−configured axes arenot permitted.

� First DP identifier for setpoint position (DP identifier withthe lowest slot number): X−axis

� Second DP identifier for setpoint position: Y−axis

� Third DP identifier for setpoint position: Z−axis

� Fourth DP identifier for setpoint position: U−axis

Setpoint positions

Value range �99.999.900 ... +99.999.900

Unit 0,1 �m

Setpoint positions: �9.999,99 ... +9,999.99 mm (Integer32, s. A.1.5)

4. Commissioning


4.5 Configuration with a master

The following chapter describes the configuration of theSPC200 as a PROFIBUS slave especially with a Siemens DPmaster. The configuration in general for PROFIBUS masters ofother manufacturers is then described.

Various configuration programs are available for Siemens DPmasters. This manual refers to STEP 7 V5.1 (hardware confi�gurator).

Configuration programs are subject to updates which maynot yet be taken into consideration in this manual. Informyourself in this case with the aid of the appropriate productdocumentation.

4. Commissioning


4.5.1 Configuration with STEP 7

General instructions

The software package Simatic Manager serves for projectplanning and commissioning in conjunction with PROFIBUSmasters from Siemens or compatible masters. In order tounderstand this chapter, you should be sure of how to handleyour configuration program. If necessary, refer to the docu�mentation for the Simatic Manager. This manual refers to soft�ware version 5.1.

An appropriate device master file (GSD file) for the SPC200must be installed for configuration. Instructions on this canbe found in section 4.3.

Insert SPC200 as slave

The hardware configuration window represents graphicallythe structure of the master system. When the GSD file hasbeen installed, the SPC200 can be selected in the hardwarecatalogue. It can be found in the group [PROFIBUS−DP][Further field devices]�[ NC/RC] (see Fig.�4/12).

In order to insert the SPC200:

1. Click the entry Festo SPC200 (�3�) and hold the left−hand mouse button pressed down.

2. Pull the mouse cursor onto the PROFIBUS line (�2�) onthe DP master and release the mouse button again (drag& drop). A dialogue window will then appear in which youcan set the PROFIBUS address.

3. Select the same PROFIBUS address that you have set withWinPISA or with the control panel on the SPC200 and con�firm this with OK.The SPC200 will then be represented graphically (�1�).

4. Commissioning


1 2

3

1 Symbols for SPC200

2 PROFIBUS line

3 Entry Festo SPC200 from GSD file

Fig.�4/12: Station selection STEP 7

4. Commissioning


Configuring the Slave properties

After clicking the symbol for the SPC200, you can configurethe �Slave properties" in the lower part of the screen. Hereyou can determine the number and size of the I/O ranges ofthe slave and assign them with address ranges of the master.

In order to configure the Slave properties of the SPC200:

1. open the permitted identifiers in the hardware catalogueunder Festo SPC200

2. then use the mouse to pull the desired identifier into theappropriate line under Module/DP identifier.

When configuring the I/O address range, observe the rules insection 4.4.2.

4. Commissioning


1 2 3 4

1 DP identifiers

2 X−axis actual position or setpointposition (optional)

3 Y−axis actual position or setpointposition (optional)

4 Module/DP identifier

Fig.�4/13: Configuring the Slave properties

When the configuration is concluded, transmit the data to themaster.

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4.5.2 Configuring with DP masters of other manufacturers

The SPC200 can be controlled by any PLC, PC or industrial PCwith a PROFIBUS−DP module in accordance with EN 50170(DIN 19245).

Bus sequence DP master (standard)

In order to commission the SPC200 correctly, the DP mastermust carry out the following functions in the sequence speci�fied here:

1. send a parametrizing telegram

2. send a configuration telegram

3. request diagnostic information

4. start cyclic exchange of data

The composition and contents of the individual telegrams aredescribed in the following chapters.

Send parametrizing data

The parametrizing data are transferred from the DP master tothe SPC200 with the function Set_Prm.

Byte 1: Station status

Bit Meaning Explanation

0 � Reserved

1 �

2 �

3 WD_On Response monitoring of the SPC200 on/off:log. �0": Offlog. "1": On

4 Freeze_Req �log. �1": Activate FREEZE

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Bit ExplanationMeaning

5 Sync_Req log. �1": Activate SYNC

67

Unlock_ReqLock_Req

Bit 7 Bit 60 0

0 1

1 0

1 1

min TSDR + SPC200 parameters may beoverwritten

SPC200 released for other masters

SPC200 blocked for other masters

SPC200 released for other masters

Bytes 2 and 3: WD_Fact_1WD_Fact_2


Range 1...255:The response monitoring time of the SPC200 is transmitted with these twobytes: TWD [s] = 10ms * WD_Fact_1 * WD_Fact_2

Byte 4: Minimum station delay responder (min TSDR)


The minimum time the SPC200 must wait, before the reply telegram maybe sent to the DP master.

Bytes 5 and 6: Ident_number


Transmission of the Ident number (= 00C8H) of the SPC200.Parametrizing telegrams to the SPC200 are only accepted if thetransmitted and the programmed Ident numbers are the same.

4. Commissioning


Byte 7: Group_Ident


�With the SPC200 each bit represents a group.

Bytes 8 ... 32: User_Prm_Data


�Not supported by the SPC200

Send configuration data (Chk_Cfg)

The configuration data are transferred from the DP master tothe SPC200 with the function Chk_Cfg.

Please noteThe configuration of the SPC200 can be carried out asfollows:

� one identifier byte each for the sum of the inputs andthe sum of the outputs

� one identifier byte for the parameter channel (optional)

� one identifier byte per axis for the transmission of theactual position (optional).

Overview of parameters:Byte 1−n: Identifier bytes

Permitted identifiers for the SPC200 can be found in thesections 4.4.3, 4.4.4 and 4.4.5.

Example:Configuring an SPC200 for Record Select mode with up to2�input bytes and 4 output bytes.

4. Commissioning


Station no.: 20Configuration: Function: Chk_CfgByte 1: 145DByte 2: 163D

Read out configuration data (Get_Cfg)

Operating mode Start/Stop Record select

Byte 1Byte 2

151D167D

145D163D

Request diagnostic information (Slave_Diag)

The diagnostic data are requested by the SPC200 with thefunction Slave_Diag. A description of this function can befound in chapter 5, in the section Diagnosis via PROFIBUS−DP.

Cyclic exchange of data (Data_Exchange)

The cyclic exchange of data is accomplished with the functionData_Exchange. With this function the output data for theSPC200 are transmitted as an byte string of length x.

The length of the byte string depends on the size of the ad�dress range used for the exhange of data. It can therefore beof a different size for input data and output data (Inp_Data,Outp_Data). This results per byte in an byte string length of�1.

Please noteWith the function Data_Exchange the SPC200 awaits thestatus description for the internal inputs (outputs of themaster). The status of the internal outputs (input informa�tion for the master) is sent as a reply telegram to themaster. The length of the data telegrams depends on thesize of the configured address range.

4. Commissioning


Overview of implemented functions and service accesspoints (SAP)

Function Available Destination SAP(DSAP)

Data_Exchange Yes NIL

RD_Inp Yes 56

RD_Outp Yes 57

Slave_Diag Yes 60

Set_Prm Yes 61

Chk_Cfg Yes 62

Get_Cfg Yes 59

Global_Control Yes 58

Set_Slave_Add No 55

Bus parameter/reaction times

Baud rate (kBit/s) max TSDR (TBit) min TSDR (TBit)

� 187.5 60 11

500 100

1500 150

3000 250

6000 450

12000 800

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GSD file (device master file)

Information on using the GSD file can be found in section 4.3.

In addition to slave−typical entries (Ident. number, Revision,etc.), the device master file also contains a selection of ident�ifiers. These identifiers are divided into 4 main groups:

1. address range for digital inputs

2. address range for digital outputs

3. address range for the parameter channel

4. address range for actual positions

When configuring, observe the rules in section 4.4. If con�figuration faults occur, make sure that the rules for configur�ation are observed (see section 4.4.2).

Please noteOutputs of the master are mapped on internal inputs of thefield bus module; internal outputs of the field bus moduleare mapped on inputs of the master.

Please note� You must configure one identifier each for inputs and foroutputs.

� All internal outputs of the field bus module, which lieoutside the I/O address range configured for communi�cation, can be used as flags in the Start/Stop operatingmode.

4. Commissioning


4.5.3 Instructions on commissioning the PROFIBUS

Switch on the power supply

Please notePlease observe also the switching−on instructions in themanual for your controller.

When you switch on your controller, it automatically carriesout a comparison between the NOMINAL and the ACTUALconfigurations. For this configuration run it is important that:

S the configuration specifications are complete and correct.

S the power supplies for the programmable logic controllerand that for the field bus slaves are switched on eithersimultaneously or in the sequence indicated below.

Please observe the following points when switching on thepower supply:

Common supply

� If there is a common supply for the control system and forall the field bus slaves, the power should be switched onvia a central power unit or central switch.

Separate supply

� If there is a separate supply for the control system and forthe field bus slaves, the power should be switched on inthe following sequence:

1. the power supply for all the field bus slaves

2. the compressed air supply for the axes connected tothe SPC200

3. the power supply for the control system.

4. Commissioning


4.5.4 Switch−on reaction of the field bus module

Please noteWhen projects are loaded with WinPISA, the field bus mod�ule is re−initialized. There is then no exchange of data untilthe field bus module is re−configured by the master.

Information on the switch−on reaction of the SPC200 can befound in section 4.7.1 as well as in the user manual for theSPC200. The following diagram shows the switch−on reactionof the field bus module. Detailed information on the fault di�agnosis can be found in chapter 6.

4. Commissioning


No

BUS ERRORLED flashesfast

NoYes

Power LED on BUS ERROR LED on

Initialization Self test Faults?

Hardwarefault?

BUS ERROR LED flashes slowly (offline)

Configurationby

master?

Switch off BUS ERROR LED

Dataexchange OK?

Yes

BUS ERRORLED flashesbriefly

No

Yes

Yes

No

1

2

1 Set correct PROFIBUS address or operating mode

2 Servicing required

Fig.�4/14: Switch−on reaction of the field bus module

4. Commissioning


4.5.5 Response monitoring

The response monitoring influences the reaction when fieldbus communication fails, e.g. due to cable fracture. TheSPC200 can be operated with active or inactive responsemonitoring.

With active response monitoring, all field bus inputs of theSPC200 will be reset to 0 when the response monitoring timehas expired.

With inactive response monitoring, the status of the field businputs remains unmodified in the event of failure of the fieldbus communication.

4. Commissioning


4.6 Commissioning on the field bus

Please notePlease observe also the instructions in the manual for yourcontroller.

Commissioning software for the field bus master usually pro�vides an online operating mode. In this online mode you caninfluence the current states of the field bus inputs and out�puts.

As with commissioning with WinPISA, you can also generatethe control signals of the SPC200 via the PROFIBUS master.

By means of the online operating mode of the software forthe PROFIBUS master, you can test the functioning of theSPC200 on the field bus.

The following tables give an overview of the configurable fieldbus address range of the field bus module. Address assign�ment from the point of view of the SPC200.

Please noteOutputs of the master are mapped on internal inputs;internal outputs of the field bus module are mapped oninputs of the master.

4. Commissioning


4.6.1 Internal I/O addresses with the Start/Stop mode

The configured outputs of the master are mapped on theinput bits.

Byte Bit 7Bit 15

Bit 6Bit 14

Bit 5Bit 13

Bit 4Bit 12

Bit 3Bit 11

Bit 2Bit 10

Bit 1Bit 9

Bit 0Bit 8

Input bits (I10.0...I13.15) 1)

n

n + 1

I10.7

I10.15

I10.6

I10.14

I10.5

I10.13

Sync_IB

I10.12

Sync_IA

I10.11

STOP

I10.10

START/RESETI10.9

ENABLE

I10.8

n+2n+3

I11.7I11.15

I11.6I11.14

I11.5I11.13

I11.4I11.12

I11.3I11.11

I11.2I11.10

I11.1I11.9

I11.0I11.8

n+4n+5

I12.7I12.15

I12.6I12.14

I12.5I12.13

I12.4I12.12

I12.3I12.11

I12.2I12.10

I12.1I12.9

I12.0I12.8

n+6n+7

I13.7I13.15

I13.6I13.14

I13.5I13.13

I13.4I13.12

I13.3I13.11

I13.2I13.10

I13.1I13.9

I13.0I13.8

1) Address assignment from the point of view of the SPC200

The internal outputs of the field bus module are mapped onthe configured inputs of the master.

Byte Bit 7Bit 15

Bit 6Bit 14

Bit 5Bit 13

Bit 4Bit 12

Bit 3Bit 11

Bit 2Bit 10

Bit 1Bit 9

Bit 0Bit 8

Output bits (Q10.0...Q13.15) 1)

nn + 1

Q10.7Q10.15

Q10.6Q10.14

Q10.5Q10.13

MC_BQ10.12

MC_AQ10.11

Sync_OBQ10.10

Sync_OAQ10.9

READYQ10.8

n+2n+3

Q11.7Q11.15

Q11.6Q11.14

Q11.5Q11.13

Q11.4Q11.12

Q11.3Q11.11

Q11.2Q11.10

Q11.1Q11.9

Q11.0Q11.8

n+4n+5

Q12.7Q12.15

Q12.6Q12.14

Q12.5Q12.13

Q12.4Q12.12

Q12.3Q12.11

Q12.2Q12.10

Q12.1Q12.9

Q12.0Q12.8

4. Commissioning


Byte Bit 0Bit 8

Bit 1Bit 9

Bit 2Bit 10

Bit 3Bit 11

Bit 4Bit 12

Bit 5Bit 13

Bit 6Bit 14

Bit 7Bit 15

n+6n+7

Q13.7Q13.15

Q13.6Q13.14

Q13.5Q13.13

Q13.4Q13.12

Q13.3Q13.11

Q13.2Q13.10

Q13.1Q13.9

Q13.0Q13.8


4.6.2 Internal I/O addresses with Record Selection mode

The configured outputs of the master are mapped on theinput bits (I10.0...I11.15).

Byte Bit 7Bit 15

Bit 6Bit 14

Bit 5Bit 13

Bit 4Bit 12

Bit 3Bit 11

Bit 2Bit 10

Bit 1Bit 9

Bit 0Bit 8

Input bits (I10.0...I11.15) 1)

nn + 1

��

��

��

CLK_B�

CLK_A�

STOP�

RESET�

ENABLE�

n+2n+3

RECBIT...Record number from 0 to 999, output word (2 byte, MSB−LSB)


The internal outputs of the field bus module are mapped onthe configured inputs of the master.

Byte Bit 7Bit 15

Bit 6Bit 14

Bit 5Bit 13

Bit 4Bit 12

Bit 3Bit 11

Bit 2Bit 10

Bit 1Bit 9

Bit 0Bit 8

Output bits (Q10.0...Q13.15) 1)

nn + 1

��

��

��

RC_B�

RC_A�

ACK_B�

ACK_A�

Ready�


4. Commissioning


4.6.3 Program examples

The following section contains program examples whichshould assist you in programming your field bus master. Posi�tion specifications and I/O addresses must be adapted toyour application. The examples are based on the followingsymbols:

SPS I/O SPC200 I/O Symbolicmeaning

Function

O20.0 I10.0 ENABLE Enable signal for SPC200

O20.1 I10.1 START/RESET Start/Reset signal

O20.2 I10.2 STOP Stop signal

O20.3 I10.3 SYNC_IA Synchronization input for program A

O20.4 I10.4 SYNC_IB Synchronization input for program B

I20.0 Q10.0 READY SPC200 ready to operate

I20.1 Q10.1 SYNC_OA Start/Stop mode: �SYNC_OA

I20.2 Q10.2 SYNC_OB Start/Stop mode: �SYNC_OB

I20.3 Q10.3 MC_A Start/Stop mode: MC_A

I20.4 Q10.4 MC_B Start/Stop mode: MC_B

Generating the starting edge

Program in the masterUN READYS ENABLE “Enable controllerS STOP ”Set stopS SYNC_IA “M00 prepare quit for

program AS SYNC_IB ”Preparation for program BU READY “System readyS START/RESET ”Generate starting edge

4. Commissioning


Quit the �programmed stop" (M00) with subsystem A

NC program in the SPC200N0000 G00 XPOS1 “Move to POS1N0001 M00 ”Programmed stopN0002 G00 XPOS2 “Move to POS2N0003 G00 XPOS3 ”Move to POS3N0004 ....N0005 ....N0006 ....N0007 M30 “Program end with repeat

Program in the master....U E 0.0 ”if M00 is to be quitedU SYNC_OA “and the SPC200 is inU SYNC_IA ”Programmed stop?R SYNC_IA “Quit Programmed stop....UN SYNC_IA ”Has it been quited?UN SYNC_OA “”Has quiting been confirmed?S SYNC_IA ”Put signal in output position

4. Commissioning


Example of record selection mode

SPS I/O SPC200 I/O Symbolicmeaning

Function

O20.0 I10.0 ENABLE Enable signal for SPC200

O20.1 I10.1 RESET Reset signal

O20.2 I10.2 STOP Stop positioning task

O20.3 I10.3 CLK_A Start NC record from program A

OW22 I11.0...I11.15 RECBIT... NC record number

I20.0 Q10.0 READY SPC200 ready to operate

I20.1 Q10.1 ACK_A Task accepted (acknowledge) for program A

I20.3 Q10.3 RC_A �NC record concluded by program A

Create and start NC record

Program in the master....L KH 0001 “Determine NC record number T OW 22 ”Create NC recordUN CLK_A “Master in output positionUN ACK_A ”SPC200 readyU RC_A “NC record concludedS CLK_A ”Start NC record U CLK_A “if task is issuedU ACK_A ”and task is acceptedUN RC_A “NC record is processedR CLK_A ”Signal in output position....

4. Commissioning


4.6.4 Reading and writing consistent data with the S7

In order that the parameter channel (PKW) can be used,8�bytes of data (data consistency over the complete length)must be transmitted consistently. With the Load and Transfercommands of the S7, which access the peripherals or theprocessing image of the inputs and outputs, maximum fourbytes can be transmitted together.

For consistent reading and writing of more than four bytes ofdata, the system functions SFC14 (Read) and SFC15 (Write)must be used on the S7. When using the parameter channel,you must therefore use the system functions SFC14 (Read)and SFC15 (Write).

4. Commissioning


4.7 Sequence plans for the programmer

The following sequence plans will assist you in programminga higher−order PLC/IPC. They show you how to:

� create readiness to operate

� start NC records in Record Select mode

� start NC programs in Start/Stop mode

� quit faults.

The signal names are printed in upper case letters. Forexample: READY stands for the READY signal, 1 stands for the1 signal, 0 stands for the 0 signal.

4.7.1 Creating readiness to operate

When the power supply is switched on, the SPC200 performsthe initialization and self test of the connected modules. Thisinitialization phase can take a certain amount of time, de�pending on the equipment fitted on the system (max. 10 s).

Please noteDuring this initialization phase no further rising edge maybe generated at the START/RESET input.

After the initialization phase there may be a fault (e.g. hard�ware fault), even if the READY output supplies a 1−signal for ashort period. You must therefore wait a further � 100�ms afterthe first recognition of the 1−signal at the READY output. Thesignal at the READY output must then be scanned once againfor a 1−signal (see Fig.�4/15 and Fig.�4/16; Sequence plan�Creating the readiness to operate").

4. Commissioning


The following signals must be present at the controller inputsbefore the readiness to operate can be created:

Record Select mode

Controller input Signal

ENABLE 0−signal 1)

STOP 0−signal

RESET 0−signal

CLK_B Not relevant

CLK_A Not relevant

1) Observe the instructions on enabling the controller in section 4.1.

Start/Stop mode


ENABLE 0−signal 1)

STOP 0−signal

START/RESET 0−signal

SYNC_IB Not relevant

SYNC_IA Not relevant

1) Observe the instructions on enabling the controller in section 4.1.

4. Commissioning


Wait � 10 sInitializationphase

Switch on the operatingvoltage and the load volt�age supplies at the sametime

Set ENABLE

Switch on the load voltage

Wait � 1 s

Creating readiness to operate

Wait � 10 s

Reset:−ENABLE,−STOP,−RESET or START/RESET

Switch on the operatingvoltage supply

1

Switch on operatingand load voltage

suppliestogether?

Yes No

1

2

2

2

1 Operating and load voltage supplies of the SPC200

2 There must be a stable supply of voltage: 24 V DC −5 %/+25 %

Fig.�4/15: Creating readiness to operate

4. Commissioning


1

Start timer � 2 s

No Timerexpired?

Yes

No

READY =1?

Yes

Wait � 100 ms

READY =1?

End

Yes

No

SPC200 is ready to operate SPC200 is faulty

Wait for the readiness to operate of the stepping motor and thepneumatic axes (reaction time max. 2 s).

Wait for fault

Set STOP

Wait � 10 ms Debouncing time

Fig.�4/16: Creating readiness to operate (continued)

4. Commissioning


4.7.2 Start NC record in Record Select mode

ACK_A/B= 0?

Create NC record number

Reset CLK_A/B

Start timer � 2 s

No Timerexpired?

YesFaults

No

ACK_A/B= 1?

Yes

Start NC record in RecordSelect mode

Wait � 10 ms

Set CLK_A/B

1

RECBIT1...10

2

No

Yes

Fig.�4/17: Start NC record in Record Select mode

4. Commissioning


No Timerexpired?

YesFaults

No

Yes

Start timer � 2 s

RC_A/B= 1?

End

No Timerexpired?

YesFaults

No

Start timer

ACK_A/B= 0?

1 2

Time required depends on application

Yes

Fig.�4/18: Start NC record in Record Select mode (continued)

4. Commissioning


4.7.3 Start program or NC record

Prerequisites

� The program must be in the program memory� The axis, application and system data must be set correctly� The operating mode must be set� Readiness of the SPC200 to operate has been created (1−signal at

the ENABLE and STOP inputs and at the READY output)

Start NC program in Start/Stop mode

In the Start/Stop operating mode, the sequence is started orcontinued with a rising edge at the START input. In this casethere must be a 1−signal at the STOP input.

If there is a 0−signal at the STOP input, a program reset will betriggered by a rising edge at the START input.

Set START

Reset START

Wait 10 ms

Process NC program inStart/Stop mode

Prepare new start

NC program is started

Debouncing time

End

Fig.�4/19: Start NC program in Start/Stop mode

4. Commissioning


4.7.4 Carry out fault quitting

When serious faults have been quitted, the SPC200 performsthe initialization and self test of the connected modules. Thisinitialization phase can take a certain amount of time, de�pending on the equipment fitted on the system (max. 10 s).

Please noteDuring this initialization phase no further rising edge maybe generated at the START/RESET input.

When a fault has been quitted, there may still be other faults(e.g. hardware faults). Fault quitting should in this case berepeated up to three times (see sequence plan �Fault quit�ting"). If, after this, the SPC200 is still not ready to operate(READY signal = 0), the fault cannot be quitted, as the causeof the fault must be quitted first.

A diagnosis can be carried out with WinPISA or with the con�trol panel.

When the load voltage supply is switched off (e.g. afterEmergency stop), an appropriate fault message is generated.When the load voltage is switched on again, you must wait 1second until the fault is quitted (see Fig.�4/15 Creating thereadiness to operate).

The following signals must be present at the controller inputsbefore faults can be quitted:

4. Commissioning


Record Select mode


ENABLE 1−signal

STOP When quitting with the RESET signal: 0−signalWhen quitting with the CLK signal: 1−signal

RESET 0−signal

CLK_B 0−signal

CLK_A 0−signal

Fig.�4/20: Signal states required in Record Select mode

Start/Stop mode


ENABLE 1−signal

STOP 1−signal *)

START/RESET 0−signal

SYNC_IB Not relevant

SYNC_IA Not relevant

*) If there is a 0−signal at the STOP input, a program reset will betriggered by a rising edge at the START/RESET input.

Fig.�4/21: Signal states required in the Start/Stop mode

4. Commissioning


Quitting counter = 0

No

READY = 1?Yes

Fault treatment

Carry out fault quitting(see Fig.�4/23)

READY = 1?

End

No

Increment quitting counter

Yes

No Quittingcounter

> 3 ?

Fault cannot be quitted.Diagnosis required

Yes

SPC200 is ready to operate

Fig.�4/22: Fault treatment

4. Commissioning


Set START or CLK

Start timer � 10 s

No Timerexpired?

Yes

No

READY = 1?

Yes

Fault quitting

Wait � 10 ms

Reset START or CLK

Debouncing time

Wait � 100 ms

A positive edge starts the fault quitting

Restore standard setting

Max. waiting time until READY signal must be present

Wait for next fault

Generate necessary signalstates

Wait � 10 ms Debouncing time

The necessary signal states depend on the operating modeused (see Fig.�4/20 and Fig.�4/21).

End

Fig.�4/23: Carry out fault quitting

Parameter channel


Chapter 5

5. Parameter channel


Contents

5.1 General instructions 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Structure of the parameter channel (PKW) 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Task identifiers, reply identifiers and fault numbers 5−5 . . . . . . . . . . . . . . . . . . .

5.2.2 Rules for task reply processing 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Description of the parameters 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



5.1 General instructions

The transmission of parameters takes place in cyclic telegramcommunication via the parameter channel and is based onthe parameter channel (PKW range; Parameter Identification�Value) of the PROFIdrive profile version 2.

The following are not supported:

� Active parameters which are transmitted on the initiativeof the SPC200

� Parameter descriptions (PBE) and text concerning thegeneral description of the parameter function

The parameter channel consists of eight bytes which aretransmitted consistently via the PROFIBUS. The parameters ofthe SPC200 are treated as passive parameters. Depending onthe individual parameter, the SPC200 supports the followingtasks in parameter processing:

� Reading parameter values and fault messages

� Modifying parameter values

Via the parameter channel, the parameter values must bewritten with the data type which is assigned to the parameter(see section 5.3).

Remanent data are retained until they are modified. In theevent of Project Download or Data Reset, they will be set tothe specified values or to the values set in the project. Non−remanent parameters will be initialized with the specifiedvalues when the device is switched on. After being over�written, the new value remains valid until one of the followingevents occcurs:

� Switch off / System reset

� Write a new value



5.2 Structure of the parameter channel (PKW)

The parameter channel serves for the transmission of para�meters. The parameter channel comprises the following:

Components of theparameter channel

Description

Parameteridentification (PKE)

Component of the parameter channel which contains the task and replyidentifiers (AK) and the parameter number (PNU).The parameter number serves for identifying or addressing the individualparameter. The task or reply identifier (AK) describes the task or the replyin the form of an identifier number.

Subindex (IND) Addresses an element of an array parameter (sub−parameter number)

Parameter value (PWE) Value of the parameter (doubleword or word)If a task of the parameter processing cannot be carried out, a fault numberwill be shown instead of the value in the reply telegram. The fault numberdescribes the cause of the fault.

The parameter channel consists of 8 bytes. The structure ofthe parameter channel as a factor of the size or type of theparameter value is shown in the following table:

PWEtype

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

Byte8

Doubleword

Parameter identifier(PKE)

Subindex(IND)

Reserved Parameter value (PWE)

Word Not relevant Parameter value(PWE)

Fault 1) Not relevant Fault number 1)

1) Fault number in reply telegram if the parameter processing task cannot be carried out.



Parameter identifier (PKE)

The parameter identifier contains the task or reply identifier(AK) and the parameter number (PNU). Spontaneous mess�ages via bit 11 are not supported by the SPC200.

Byte 1 Byte 2

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Task or reply identifier(AK)

� Parameter number (PNU)

The parameter number (PNU) serves for identifying or ad�dressing the individual parameter (see section 5.3). The taskor reply identifier indicates the type of task or reply (see sec�tion 5.2.1).

5.2.1 Task identifiers, reply identifiers and fault numbers

The following table shows the task identifiers:

Task identifier(AK)

Description Reply identifier(positive)

0 No task 0

1, 2, 3, 4, 5 1) �

6 Request parameter value (array) 4, 5

7 Modify parameter value (array, word) 4

8 Modify parameter value (array, double word) 5

9 Request number of array elements 6

1) Reserved for extensions



If the task cannot be carried out, reply identifier 7 as well asthe appropriate fault number will be transmitted (negativereply). The SPC200 does not generate a fault if the identifierused permits a value range which is too large, e.g. if a bitsequence (V2) is written with task identifier 8 (array, doubleword) instead of with task identifier 7 (array, word). Whenreading, the SPC200 always uses the smallest possible el�ement size.

The following table shows the reply identifiers:

Replyidentifier (AK)

Description

0 No reply

1, 2, 3 1)

4 Transmit parameter value (array, word)

5 Transmit parameter value (array, double word)

6 Transmit number of array elements

7 Task cannot be carried out (with fault number) 2)

1) Reserved for extensions2) Fault numbers see following table

If the task of the parameter processing cannot be carried out,an appropriate fault number will be transmitted in the replytelegram (bytes 7 and 8 of the PKW range). The followingtable shows the possible fault numbers:



Faultnumbers

Description

0 Non−permitted PNU. The parameter does not exist or parameter is of array type.

1 Parameter value cannot be modified (read only)

2 Lower or upper value limit exceeded

3 Faulty subindex. The specified subindex does not exist with this parameter. Theelement addressed with the subindex has not been configured in the SPC200(program does not exist, axis does not exist, no starting program determined forthis task, etc.)

4 1)

5 Incorrect data type. An attempt has been made to write a double word parameterwith one word. This is not prmitted.

6 1)

7 Description element cannot be modified. There are no description elements.

8 1)

9 Description data do not exist. There are no description elements.

10...16 1)

17 Task cannot be carried out due to operating status. Depending on the parameter,either the enable signal (ENABLE=1), the stop signal (STOP=1) or the tasks havenot been stopped (e.g. for writing a program number).

18 Other faults. Task identifier not permitted

19...100 1)

101 The position register has not yet been initialized. Its contents are not valid. Youmust initialize it before reading by loading a valid value with WinPISA, by writingper PKW task or per NC program.

102 The program selected has already been created in task A (B) and cannot thereforebe created in task B (A).

103 Program faulty: A checksum fault is ascertained when the program is activated.Please note The SPC200 now also registers a fault.

1) These fault numbers are not used



5.2.2 Rules for task reply processing

Rules Description

1 If the master sends the identifier for �No task," the SPC200 responds with the replyidentifier for �No reply."

2 A task or reply telegram always refers to an individual parameter.

3 The master must continue to send a task until it has received the appropriate reply fromthe SPC200.

4 The master recognizes the reply to the task placed:� by evaluating the reply identifier� by evaluating the parameter number (PNU)� if applicable, by evaluating the subindex (IND)� if applicable, by evaluating the parameter value.

5 The SPC200 supplies the reply until the master sends a new task.

6 With reply telegrams to the tasks �Request parameter value" and �Request parametervalue (array)," the SPC200 always replies with the current value.

7 a) A write task, even with cyclic repetition of the same task, will only be carried out onceby the SPC200.

b) Between two consecutive tasks with the same task identifier (AK), parameter number(PNU) and subindex (IND), the task identifier 0 (no task) must be sent and the replyidentifier 0 (no reply) must be expected. This is to ensure that an �old" reply is notinterpreted as a �new" reply.

Sequence of parameter processing

The master transmits a task to the SPC200 and repeats thistask until the appropriate reply is received.

a parameter modification in the SPC200 is only reliably effec�tive if the reply telegram contains the appropriate reply ident�ifier for the parameter number (PNU) and, if applicable, forthe subindex (IND).



Please noteObserve the following when modifying parameters: An I/O control signal, which is to refer to a modified para�meter, may only be transmitted if the reply identifier �Para�meter value transmitted" has been received for the rel�evant parameter and, if applicable, for the index.

If, e.g. a position value in a position register is to be modifiedand if a movement is then to be made to this position, thepositioning command must not be given until the SPC200 hascompleted and confirmed the modification of the positionregister.

The SPC200 continues to provide the reply until the masterhas formulated a new task. With reply telegrams to the tasks�Request parameter value (array)," the SPC200 alwaysreplies in cyclic repetition with the updated parameter value.

A write task, even with cyclic repetition of the same task, willonly be carried out once by the SPC200. If the same writetask is to be carried out by the SPC200 several times oneafter the other, an empty task (AK = 0) must be sent when apositive reply identifier is received.

The parameters are transmitted cyclically with each I/O up�date of the master. The reaction of the SPC200 to a new taskcannot however take place in the same bus cycle. When theSPC200 has recognized the new task, it sends the reply to thelast task.

When the new task is recognized, it sends the reply identifier0 (no reply), until it can provide the reply.



Please noteIn order to be sure that an �old" reply is not interpreted asa �new" reply, the task identifier 0 (no task) must be sentand the reply identifier 0 (no reply) must be expected be�tween two consecutive tasks with the same task identifier(AK), parameter number (PNU) and subindex (IND).

Evaluating faults

In the case of tasks which cannot be carried out, the slavereplies as follows:

� Output reply identifier = 7

� Output a fault number in bytes 7 and 8 of the parameterchannel



5.3 Description of the parameters

The following parameters are supported:

PNU Parameters Description

dec. hex.

200d C8h Actual position Current actual position of the axis (X, Y, Z or U)

201d C9h Nominal position Current nominal position of the axis (X, Y, Z or U)

202d CAh Reserved �

203d CBh Reserved �

204d CCh Diagnostic event Fault messages of the SPC200

205d CDh Position register X Position register (@) of the X−axis

206d CEh Position register Y Position register (@) of the Y−axis

207d CFh Position register Z Position register (@) of the Z−axis

208d D0h Position register U Position register (@) of the U−axis

209d D1h Register Register (R)

210d D2h Flag Flag (F)

211d D3h Inputs Inputs (I)

212d D4h Outputs Outputs (Q)

213d D5h Created program Number of the created NC program

214d D6h Created record Number of the created NC record

215d D7h Status task A, B Status information of task A and task B



PNU 200d ... 201d(C8h ... C9h)

PNU 200d (C8h)Actual position

PNU 201d (C9h)Nominal position

Description Current actual position of the axis Current nominal position of the axis 1)

Permitted values −99,999,900 ... +99,999,900 (Z −9,999.99 ... +9,999.99 mm)

Presetting Actual position of the axis 500,000 (Z 50,0000 mm)

Data type Integer32 (see section A.1.5)

Unit 0.1 �m (= 0.0001 mm)

Subindices 1: X−axis2: Y−axis3: Z−axis4: U−axis

Access rights Read: yes; write: no Read: yes; write: no

Protected againstpower failure

� �

Task identifier 6, 9 6, 9

Reply identifier(positive)

5, 6 5, 6

1) The current actual position of the controller is important for relative nominal value specifications.A relative nominal value specification always refers to the last nominal position communicated tothe controller.

PNU 202d ... 203d(CAh ... CBh)

PNU 202d (CAh)reserved

PNU 203d (CBh)reserved

Description Reserved for later extensions



PNU 204d (CCh): Diagnostic event

Description Fault messages of the SPC200The fault message is to be interpreted as an eight−figure hexadecimal number.

Permitted values 0000.0000...FFFF.FFFF

Presetting 0

Data type Unsigned32

Unit �

Subindices 1: Current diagnostic event n (current fault message)2: Diagnostic event in the diagnostic memory 1) n−13: Diagnostic event in the diagnostic memory 1) n−24: Diagnostic event in the diagnostic memory 1) n−3...17: Diagnostic event in the diagnostic memory 1) n−16

Access rights Read: yes; write: no


No

Task identifier 6, 9


5, 6

Reference Descriptions of the eight−figure hexadecimal fault messages see SystemManual

1) The diagnostic memory (fault stack) serves for protocolling fault states. By recording faultsequences, you can find the cause of faults which are otherwise difficult to locate. If the causesare eliminated, faults can be avoided over long periods.



PNU 205d ... 208d(CDh ... D0h)

PNU 205d(CDh)

PNU 206d(CEh)

PNU 207d(CFh)

PNU 208d(D0h)

Position registerof the X−axis

Position registerof the Y−axis

Position registerof the Z−axis

Position registerof the U−axis

Description Position registerof the X−axis 1)

Position registerof the Y−axis 1)

Position registerof the Z−axis 1)

Position registerof the U−axis 1)

Permitted values −99,999,900 ... +99,999,900 (Z −9,999.99 ... +9,999.99)

Presetting Invalid contents

Data type Integer32 (see section A.1.5)

Unit dependent on use:Position / Offset: 0.1 �m (0.0001 mm) or 0.0001Speed: 0.1 �m/s (0.0001 mm/s) or 0.0001 °/sAcceleration: 0.1 �m/s2 (0,0001 mm/s2) or 0.0001 °/s2

Tool load: 0.0001 KgMass moment of inertia: 0.0001 Kgm2 * 10−4

Scaling factor: 0.0001 mm/V

Subindices 1: Position register 0 of the relevant axis2: Position register 1 of the relevant axis3: Position register 2 of the relevant axis...100: Position register 99 of the relevant axis

Access rights Read: under condition 1); write: yes 2)


Yes

Task identifier 6, 8, 9 6, 8, 9 6, 8, 9 6, 8, 9


5, 6 5, 6 5, 6 5, 6

1) The SPC200 initializes the position register as standard with a value which marks the contents asinvalid. Invalid values must not be transmitted via the parameter channel. The reading of a positionregister will then be rejected by the user before its first initialization. It is always permitted toaccess all position registers, even if the axes do not exist.

2) When written, the values are rounded to two figures after the decimal point.



PNU 209d (D1h): Register

Description Register (R)

Permitted values −32768 ... +32767

Presetting 0

Data type Integer16

Unit �

Subindices 1: Register 02: Register 13: Register 2...100: Register 99

Access rights Read: yes; write: yes

Task identifier 6, 7, 8, 9


4, 5, 6


Yes



PNU 210d (D2h): Flag

Description Flag (F)

Permitted values 0x0000h...0xFFFFh

Presetting 0

Data type Bit array

Unit �

Subindices Freely programmable flags1: Flag F0 ... F152: Flag F16 ... F313: Flag F32 ... F474: Flag F48 ... F63Status flags 1)

5: Axis status flags F64 ... F876: System status flags F88 ... F957: reserved8: reserved

Access rights Read: yes; write: yes



4, 5, 6


Yes

1) As from operating system version 4.6 the flags F64...F127 are reserved for internal statusinformation.



PNU 211d ... 212d(D3h ... D4h)

PNU 211d (D3h)Inputs

PNU 212d (D4h)Outputs

Description Inputs (I) Outputs (Q)

Permitted values Lower limit: 0x0000hUpper limit: 0xFFFFh

Presetting 0

Data type Bit array

Unit �

Subindices Inputs 1)

1: I/O module on the first AIF string I1.0...I1.15

2: First I/O moduleI2.0...I2.9

3: I/O module on the second AIFstringI3.0...I3.15

4: Second I/O moduleI4.0...I4.9

5: Third I/O moduleI5.0...I5.15

Outputs 1)

1: I/O module on the first AIF string Q1.0...Q1.15

2: First I/O moduleQ2.0...Q2.7

3: I/O module on the second AIFstringQ3.0...Q3.15

4: Second I/O moduleQ4.0...Q4.7

5: Third I/O moduleQ5.0...Q5.7

Access rights Read: yes; write: no Read: yes; write: yes

Task identifier 6, 9 6, 7, 8, 9


4, 5, 6 4, 5, 6


No No

1) Only the inputs/outputs of the available modules can be addressed.



PNU 213d (D5h): Created NC program

Description Number of the created NC program (NC program is active or ready to start)

Permitted values 0...99

Presetting 0


Unit �

Subindices 1: Applied program in task A2: Applied program in task B

Access rights Read: yes; write: under condition 1)



4, 5, 6


No

1) Writing is only permitted if:� the SPC200 has stopped and there is a 1−signal at the ENABLE input (otherwise a write task will

trigger fault number 17 (see also section 5.2.1).� a starting program has been configured for the relevant task.� different programs have been created for the two tasks.



PNU 214d (D6h): Created NC record

Description Created NC record (NC record is active or ready to start)

Permitted values 0...999

Presetting 0


Unit �

Subindices 1: Applied NC record in task A2: Applied NC record in task B




4, 6


No



PNU 215d (D7h): Status task A, B

Description Status information of task A and task B

Permittedvalues

0000.0000...FFFF.FFFFvalues

Nibble1)

7 6 5 4 3 2 1 0

Con�tents

Re�served

Recordstatus 2)

Programstatus 3)

Currentprogram no. 4)

Current recordnumber�5)

Presetting Appropriate status


Unit �

Subindices 1: Status task A2: Status task B



Replyidentifier(positive)

5, 6

Protectedagainst powerfailure

No

1) An information unit consisting of four bits is called a nibble.2) Record status: 0: Record is not carried out; 1: Record is carried out3) Program status: 0: Program is not carried out; 1: Program is carried out4) Current program number: 0...995) Current record number: 0...999

Diagnosis and error treatment


Chapter 6

6. Diagnosis and error treatment


Contents

6.1 General instructions on diagnosis 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 On−the−spot diagnosis 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Diagnosis with WinPISA 6−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Diagnosis via PROFIBUS−DP 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Structure of the device−related diagnosis 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Diagnosis via programmer/PC 6−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 General instructions on diagnosis

Information on general diagnosis and fault treatment can befound in the manual for the SPC 200 type P.BE−SPC200−...�.This chapter contains information on diagnosing the field busmodule as well as diagnosis and fault treatment via thefield�bus.

Overview of diagnostic possibilities

The SPC200 offers extensive and user−friendly possibilities ofdiagnosis and fault treatment. The following possibilities areavailable:

� The WinPISA status display shows whether there arefaults in the configuration of the I/O address range.

� The LEDs on the SPC200 and on the connected field de�vices show directly configuration faults, hardware faults,string faults, bus faults, etc.

� The control panel shows detailed fault messages coded inthe form of an 8−figure hexadecimal number. In onlinemode WinPISA shows the 8−figure fault message as wellas a description of the fault in clear text.

� The coded 8−figure fault messages of the SPC200 can berequested as diagnostic information via the field bus.

� The basic readiness of the system to operate is shownwith the output bit READY (Q10.0) on the field bus.



6.2 On−the−spot diagnosis

The two LEDs on the field bus module enable a speedy on−the−spot diagnosis to be made of the communication status.

� POWER LED (green)

� ERROR LED (red)

POWER LED(green)

ERROR LED (red) Operating status

is off is off Operating voltage not applied

lights up is off Operating status normal, connection to field busmaster exists

lights up flashes fast Parametrizing fault PROFIBUS address oroperating mode not permitted

lights up flashes slowly Operating status normal, no connection to fieldbus master

lights up flashes briefly Hardware fault; servicing required

lights up lights up Function card has not started; SPC200 defectiveor function card defective; servicing required

Meaning of the LED signals

Signal Meaning Signal Meaning

ON

OFF

is off ON

OFF

flashes fast

ON

OFF

lights up ON

OFFflashes slowly

ON

OFF

flashes briefly



6.3 Diagnosis with WinPISA

You can look at important system data of the SPC200 withthe command [Diagnosis] [Status display] in the menu[Online]. The register card �Field bus" shows statusmessages via the field bus connection.

Fig.�6/1: WinPISA status display �Field bus"

The following table contains a description of the possiblestatus messages for the field bus connection (see Fig.�6/2).



Status message Meaning

Field bus type Protocol of the installed field bus module

Connection Parametrizing: No connection to the field bus; the SPC200 waits forparametrizing by the master

Configuring: Waits for configuration by the PROFIBUS masterData exchange: Data exchange is running

Bus address Set field bus address

Baud rate Current baud rate of the PROFIBUS−DP network 1)

I/O assignment Number of I/O bytes used for communication 2)

Software version Software version number of the field bus module

Information Information such as SYNC/FREEZE active, baud rate search or information onfaults (see Fig.�6/3)

1) While the connection is being made, the display changes constantly until the SPC200 canascertain the baud rate of the PROFIBUS−DP network.

2) The entry 0I/0O byte means that the master has not yet specified an I/O field size.

Fig.�6/2: Meaning of the status messages



Information Meaning

(Bus status) parametrizing No connection to the field bus; the SPC200 waits forparametrizing by the master

(Bus status) configuring Waits for configuration by the PROFIBUS master

(Bus status) data exchange Data exchange runs, normal operating status

(Bus status) baud rate search Automatic baud rate recognition

SYNC active PROFIBUS control command active (see section 4.4.1)

FREEZE active

SYNC and FREEZE active

Hardware fault Carry out system reset or switch on SPC200 again; if fault occursagain, replace SPC200

Station address not valid Correct PROFIBUS address

Operating mode not valid The operating mode set is not supported. Set the correctoperating mode.

No connection to the SPC200 Carry out system reset or switch on SPC200 again

Field bus card not yetinitialized

Carry out system reset or switch on SPC200 again

Config. incorrect (SPS master) I/O configuration of the master faulty. I/O configuration of themaster must match the configuration of the SPC200 (see rules onconfiguration in section 4.4.2).

Not initialized The field bus card has not yet been initialized. Carry out systemreset or switch on SPC200 again; if fault occurs again, replaceSPC200

Fig.�6/3: Status information on faults



6.4 Diagnosis via PROFIBUS−DP

Structure of the slavediagnosis of the SPC200

The slave diagnosis of the SPC200 reacts in accordance withstandard EN 50170 part 2. The following 12 bytes are re�served for slave diagnosis in the SPC200.

Byte Diagnostic address Meaning

1 Station status 1 Gives an overview of the communication statusand the general status of the SPC200

2 Station status 2and the general status of the SPC200.

3 Station status 3

4 Master PROFIBUS address PROFIBUS address of the DP master via which theSPC200 was parametrized and which has bothread and write access.

5 Manufacturer identifier (for SPC200 00C8 )

Describes the type of the DP slave (here 00C8 )

6(for SPC200 = 00C8H) (here 00C8H)

7 Header (for the device−related diagnosis)

Specifies the length of the device−relateddiagnosis incl. header. 1)

8 Device−related diagnosis 1(bits 4...7 = additional information [8]bits 0...3 = additional information [7] )

Describes in detail the status of the SPC200 in theform of an 8−figure hexadecimal fault message. 2)

9 Device−related diagnosis 2(bits 4...7 = additional information [6]bits 0...3 = fault number [5] )

10 Device−related diagnosis 3 (bits 4...7 = fault number [4] bits 3...0 = axis identifier [3] )

11 Device−related diagnosis 4 (bits 4...7 = fault class [2] bits 3...0 = fault class [1] )

12 Reserved Reserved for later extensions

1) The SPC200 enters fixed value 6 in this byte. 6 bytes of device−related diagnosis incl. header byteare made available/transmitted.

2) [n] = position of the hexadecimal fault message



The method of requesting the slave diagnosis can be found inthe manual for the DP master.

If the device−related diagnosis is not treated, this results in astop of the PLC. The message can therefore be suppressed(see section 4.2.2, Fig.�4/4).

Station status 1

With station status 1 bit 3 is especially of interest. If this bit isset, it is sensible to evaluate the device−related diagnosis.

Station status 1


0 Diag.Station_Non_Existent SPC200 is no longer/not yet addressable. Possible causes:� operating voltage not applied� data cable interrupted� fault in data cable

1 Diag.Station_Not_Ready SPC200 is not yet ready for data exchange

2 Diag.Cfg_Fault The configuration data received from the master do notagree with those ascertained by the SPC200.

3 Diag.Ext_Diag There is a device−related diagnosis. 1)

4 Diag.Not_Supported 1 = The bit is set if the SPC200 does not support thefunction requested.

5 Diag.Invalid_Slave_Response Always 0 (always reset to 0 by the SPC200) 2)

6 Diag.Prm_Fault Last parametrizing telegram faulty

7 Diag.Master_Lock Access by a different master (set by the master)

1) Is set by the SPC200 when a new fault occurs (new fault message).2) Is set to 1 in the DP master if the reply sent by the slave cannot be interpreted.

Fig.�6/4: Structure of station status 1



Station status 2 (only SPC200−related bits)

Station status 2


0 Diag.Prm_Req 1 = Master must configure the SPC200 again

1 Diag.Stat_Diag 1 = Master must request diagnostic data until this bit isset to 0

2 � Always 1 (set to logical 1 by the SPC200)

3 Diag.WD_On 1 = Response monitoring/watchdog activated

4 Diag.Freeze_Mode 1 = Freeze activated 1)

5 Diag.Sync_Mode 1 = Sync activated 1)

6 � Reserved

7 Diag.Deactivated Always 0 (always reset to 0 by the SPC200)

1) Only in conjunction with a diagnostic message

Fig.�6/5: Diagnostic bits of station status 2

Station status_3


0...6 � Reserved

7 Diag.Ext_Diag_Overflow Is always logical 0 (set by the SPC200)

Fig.�6/6: Diagnostic bits of station status_3



6.4.1 Structure of the device−related diagnosis

The device−related diagnosis 1...4 contains the 8−figure faultnumber of the SPC200. This fault message can also be in�spected with the control panel or with WinPISA. The codedfault message contains information on:

� fault class

� axis identifier

� fault number

� if applicable, additional information.

Structure of the 8−figure fault messages

The individual positions in this hexadecimal number are dis�tributed amongst the diagnostic bytes as follows:

1 2 3 4

56

00000000

78

1 Device−related diagnosis 1




5 Fault class (0...9)

6 Axis identifier (0...4)

7 Fault number

8 Additional information

Fig.�6/7: Structure of the fault messages of the SPC200



A detailed description of the possible fault messages can befound in the SPC200 manual.

Device−related diagnosis 1

Contains the second and third hexadecimal positions of theadditional information.

1 Secondhexadecimalposition of theadditionalinformation

2 Third hexadecimalposition of theadditionalinformation

12

7 6 5 4 3 2 1 0

Fig.�6/8: Structure of device−related diagnosis 1


Contains the first hexadecimal position of the additional in�formation and the second hexadecimal position of the faultnumber.

1 Secondhexadecimalposition of thefault number(2−figure)

2 First hexadecimalposition of theadditionalinformation(3−figure)

12

7 6 5 4 3 2 1 0





Contains the first hexadecimal position of the fault numberand the single−figure axis identifier.

1 Axis identifier(single−figure;(0...4)

2 First hexadecimalposition of thefault number(2−figure)

12

7 6 5 4 3 2 1 0


Axis identifier Meaning

0 System fault (not axis−related)

1 Faults with the X−axis

2 Faults with the Y−axis

3 Faults with the Z−axis

4 Faults with the U−axis




Contains the first and second hexadezimal positions of thetwo−figure fault class.

1 First hexadecimalposition of thefault class(2−figure)

2 Secondhexadecimalposition of thefault class(2−figure)

12

7 6 5 4 3 2 1 0


Diagnosis via general DP master

Please noteThe identifer−related or channel−related diagnosis listed inEN 50170 (DIN 19245) is not supported.



6.5 Diagnosis via programmer/PC

In addition to the bus configuration, some software programsalso provide the following functions:

� Commissioning/test

� Diagnosis

In order to test the SPC200 with the aid of a programmer/PC,you will require e.g. communication processor CP 5410 fromSiemens.

Connect the programmer/PC to the PROFIBUS−DP interface ofthe SPC200.

Technical appendix

A−1Festo P.BE−SPC200−COM−PDP−EN en 0901c

Appendix A

A. Technical appendix

A−2 Festo P.BE−SPC200−COM−PDP−EN en 0901c

Contents

A.1 Data types A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 Integer16 A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.2 Unsigned16 A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.3 Unsigned32 A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.4 Bit array A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.5 Integer32 A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Number formats of the nominal and actual values in the processing data A−6 .

A.3 Technical specifications A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Data types

The data types named are standardized and are described inthe following section.

Data type Coding Value range Resolution Length

Integer16 1) 3 −32768...+32767 1 2 bytes

Unsigned16 2) 6 0...65535 1 2 bytes

Unsigned32 2) 7 0...4.294.967.295 1 4 bytes

Bit array 3) 35 � � 2 bytes

Integer32 1) 42 −214.748,3648 ...+214.748,3647

10−4=0.0001 4 bytes

1) Signed whole numbers; coding is in complement of two2) Unsigned whole numbers3) Grouping of 16 Boolean variables in two bytes

A.1.1 Integer16


Integer16 3 −32768...+32767 1 2 bytes

An integer16−value is a 16−bit signed whole number. Coding isin complement of two.

Bit 8 7 6 5 4 3 2 1

Byte 1 SN 214 213 212 211 210 29 28

Byte 2 27 26 25 24 23 22 21 20

SN (sign): 0 = positive numbers or zero; 1 = negative numbers

The highest−value bit (MSB) is the bit after the sign bit (SN) inthe first byte.



A.1.2 Unsigned16


Unsigned16 6 0...65535 1 2 bytes

An unsigned16−value is a 16−bit unsigned whole number.

Bit 8 7 6 5 4 3 2 1

Byte 1 215 214 213 212 211 210 29 28

Byte 2 27 26 25 24 23 22 21 20

A.1.3 Unsigned32


Unsigned32 7 0...4.294.967.295 1 4 bytes

An unsigned32−value is a 32−bit unsigned whole number.

Bit 8 7 6 5 4 3 2 1

Byte 1 231 230 229 228 227 226 225 224

Byte 2 223 222 221 220 219 218 217 216

Byte 3 215 214 213 212 211 210 29 28

Byte 4 27 26 25 24 23 22 21 20



A.1.4 Bit array


Bit array 35 � � 2 bytes

A bit sequence is a grouping of 16 Boolean variables in twobytes.

Bit 8 7 6 5 4 3 2 1

Byte 1 15 14 13 12 11 10 9 8

Byte 2 7 6 5 4 3 2 1 0

A.1.5 Integer32


Integer32 42 −214.748,3648 ...+214.748,3647

10−4=0.0001 4 bytes

An integer32 value is a 32−bit signed whole number. Coding isin complement of two. The resolution is 0.0001. That means,the value is interpreted as 0.1 �m, 0.0001 Kg etc.

Bit 8 7 6 5 4 3 2 1

Byte 1 SN 230 229 228 227 226 225 224

Byte 2 223 222 221 220 219 218 217 216

Byte 3 215 214 213 212 211 210 29 28

Byte 4 27 26 25 24 23 22 21 20

SN (sign): 0 = positive numbers or zero; 1 = negative numbers

The highest−value bit (MSB) is the bit after the sign bit (SN) inthe first byte.



A.2 Number formats of the nominal and actual values in the processingdata

Actual position, nominal position

Data type Integer32 (coding 42)

Permitted valuerange

−9.999,9900...+9.999,9900

Unit 0.1 �m

Special features Position values must be transmittedconsistently.

Active program

Data type Unsigned16 (coding 6)


0...+99

Unit �

Active record

Data type Unsigned16 (coding 6)


0...+999

Unit �

Inputs (IWx), outputs (QWx)

Data type Bit array (coding 35)

Value range 0000.0000.0000.0000...1111.1111.1111.1111

Unit �



A.3 Technical specifications

Type �SPC200−COM−PDP

Temperature range� Operation� Storage/transport

− 5 ... + 50 °C− 20 ... + 70 °C

Weight 80 g

Relative humidity 95 %, non−condensing

Field bus� Design� Transmission type� Protocol

� Baud rate

� Cable length (depending on baud rate andcable type)

� Loading capacity of positive power supply(P5V) pin 6

�RS 485, floatingSerial asynchronous, half−duplexPROFIBUS−DP (standard slave)tested as per DIN 19245 parts 1 to 4;EN 50170 vol. 29.6...12000 kbits/s, automatic baud raterecognitionUp to 23.8 km

Max. 100 mA

CE symbol (declaration of conformity)è www.festo.com

In accordance with EU EMC Directive

Vibration and shock� Vibration

� Shock

Tested to DIN/IEC 68, part 2−60,15�mm path at 10�...�58 Hz; 2 g acceleration at 58�...�150 HzTested to DIN/IEC 68, part 2−27± 30 g at 11�ms duration; 5 shocks in each direction

1) The component is intended for industrial use.

Further technical specifications concerning the SPC200 canbe found in the System Manual for the SPC200 typeP.BE−SPC200−... or in the relevant supplementary description.

Index

B−1Festo P.BE−SPC200−COM−PDP−EN en 0901c

Appendix B

B. Index

B−2 Festo P.BE−SPC200−COM−PDP−EN en 0901c

B. Index


A

Abbreviations XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Activate the test mode 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Active NC record 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Active program 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Actual positions 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Address range 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B

Basic structure for PROFIBUS 1−5 . . . . . . . . . . . . . . . . . . . . . .

Bit array A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Branch line, Connection via a branch line 3−9 . . . . . . . . . . . . .

C

Carry out fault quitting 4−51 . . . . . . . . . . . . . . . . . . . . . . . . . .

Connecting and display elements 1−4 . . . . . . . . . . . . . . . . . . .

Creating readiness to operate 4−44 . . . . . . . . . . . . . . . . . . . . .

D

Data types A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designated use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DiagnosisDevice−related diagnosis 6−11 . . . . . . . . . . . . . . . . . . . . . . . Diagnosis with WinPISA 6−5 . . . . . . . . . . . . . . . . . . . . . . . . . On−the−spot diagnosis 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Structure of the slave diagnosis of the SPC200 6−8 . . . . . .

Diagnostic memory 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Digital nominal value specification 1−8 . . . . . . . . . . . . . . . . . .

B. Index


DP identifiersDP identifier for setpoint positions 4−21 . . . . . . . . . . . . . . . DP identifiers for the actual positions 4−20 . . . . . . . . . . . . . DP identifiers for the parameter channel 4−19 . . . . . . . . . . DP identifiers for the Record Select mode 4−18 . . . . . . . . . DP identifiers for the Start/Stop mode 4−17 . . . . . . . . . . . .

DP master (standard) 4−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Fault messages, Structure of the 8−figure fault messages 6−11 . . . . . . . . . .

Fault numbers 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Field bus cable, Specifications of the field bus cable 3−5 . . .

Fitting a module 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Flag (F) 5−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FREEZE 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G

GSD file 4−12 , 4−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I/O control signals (overview) 4−5 . . . . . . . . . . . . . . . . . . . . . .

I/O signals 1−8 , 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . .

Inputs 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Integer16 A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Integer32 A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

List of abbreviations XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Manuals on the SPC200 XIV . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


N

Nominal value specification, Digital 1−8 . . . . . . . . . . . . . . . . .

O

Operating modes 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Optical−fibre cable 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Outputs 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameter channel 1−8 , 5−3 , 5−4 . . . . . . . . . . . . . . . . . . . . . . .

Parameter identification (PKE) 5−4 . . . . . . . . . . . . . . . . . . . . .

Parameter identifier (PKE) 5−5 . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter value (PWE) 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameters 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pictograms X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position register 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROFIBUS−DP interface 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting the bus cable 3−7 . . . . . . . . . . . . . . . . . . . . . . .

R

Register (R) 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Removing a module 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reply identifiers 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Response monitoring 4−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


S

Sequence plans 4−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sequence plans for the programmer 4−44 . . . . . . . . . . . . . . .

Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setpoint positions 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Status task A, B 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Subindex (IND) 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Symbol files 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYNC 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Task identifiers 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical specifications A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terminating resistorPlug with integrated terminating resistor 3−6 . . . . . . . . . . . Structure 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Text markings X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

Unsigned16 A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Unsigned32 A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

spc200 smart positioning controllerelectronics manual field bus module for profibus−dp type...

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