Document Outline

• Contents
• Intended use
• Safety instructions
• Target group
• Service
• Scope of delivery
• Important user instructions
• SFC-LACI motor controller manual
• Information on the version
• Product-specific terms and abbreviations
• CANopen specific terms and abbreviations
• System overview
  • Contents
  • 1.1 Overview
    • 1.1.1 Components
    • 1.1.2 Operational principle
    • 1.1.3 Operational reliability
    • 1.1.4 Operating modes of the SFC-LACI-CO
    • 1.1.5 Measuring reference system
    • 1.1.6 Homing methods to switch with index search
    • 1.1.7 Homing methods to the stop
  • 1.2 Communication
    • 1.2.1 Data exchange via CANopen
    • 1.2.2 Activating the SFC-LACI-CO: FHPP or DS402
    • 1.2.3 Festo handling and positioning profile (FHPP)
  • 1.3 Commissioning options
• Assembly
  • Contents
  • 2.1 General information
  • 2.2 Dimensions of the controller
  • 2.3 Mounting the controller
    • 2.3.1 Wall mounting
    • 2.3.2 H-rail mounting
• Installation
  • Contents
  • 3.1 Installation overview
  • 3.2 Power supply
    • 3.2.1 Function of the hardware enable
  • 3.3 Earthing
  • 3.4 Motor connection
  • 3.5 Parameterising interface
  • 3.6 Controller interface
  • 3.7 Connecting the Fieldbus
    • 3.7.1 Fieldbus cable
    • 3.7.2 Fieldbus baud rate and fieldbus length
    • 3.7.3 Bus power supply
    • 3.7.4 Connection with fieldbus plugs / adapters from Festo
    • 3.7.5 Connection with other Sub-D plugs (IP20)
  • 3.8 Bus termination with terminating resistors
  • 3.9 Local digital inputs and outputs
    • 3.9.1 Specifications of the outputs
    • 3.9.2 Specifications of the inputs
• The control panel (only type SFC-LACI-...-H2-...)
  • Contents
  • 4.1 Design and function of the control panel
  • 4.2 The menu system
  • 4.3 [Diagnostic] menu
  • 4.4 [Positioning] menu
  • 4.5 [Settings] menu
    • 4.5.1 [Settings] [Axis type]
    • 4.5.2 [Settings] [Axis parameters]
    • 4.5.3 [Settings] [Homing parameters]
    • 4.5.4 [Settings] [Position set]
    • 4.5.5 [Settings] [Jog Mode]
    • 4.5.6 [Settings] [CO parameters]
    • 4.5.7 [Settings] [Password edit]
  • 4.6 Menu command "HMI control"
• Commissioning
  • Contents
  • 5.1 Preparations for commissioning
    • 5.1.1 Checking the drive
    • 5.1.2 Checking the power supply
    • 5.1.3 Before switching on
    • 5.1.4 Simultaneous attempts to access the controller
  • 5.2 Commissioning with the control panel (only type SFC-LACI-...-H2)
    • 5.2.1 Setting the CAN bus parameters
    • 5.2.2 Setting the homing parameters
    • 5.2.3 Activating device control
    • 5.2.4 Carrying out homing
    • 5.2.5 Teach the axis zero point
    • 5.2.6 Teach software end positions
    • 5.2.7 Setting the tool mass
    • 5.2.8 Teaching positioning records
    • 5.2.9 Test run
  • 5.3 Commissioning with FCT
    • 5.3.1 Installing the FCT
    • 5.3.2 Procedure
  • 5.4 Commissioning on a CANopen master
    • 5.4.1 Overview of commissioning on the field bus
    • 5.4.2 Configuration of the CANopen master ("I/O configuration")
    • 5.4.3 Communication
    • 5.4.4 Parameterising via SDOs
    • 5.4.5 PDO mapping
  • 5.5 Festo Profile for Handling and Positioning (FHPP)
    • 5.5.1 FHPP operating modes
    • 5.5.2 Structure of the cyclic I/O data (FHPP standard)
    • 5.5.3 Description of the I/O data (Record select)
    • 5.5.4 Description of the I/O data (Direct mode)
    • 5.5.5 Description of the control bytes CCON, CPOS, CDIR
    • 5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB)
    • 5.5.7 Examples of control and status bytes (FHPP standard)
  • 5.6 Drive functions
    • 5.6.1 Homing
    • 5.6.2 Jog mode
    • 5.6.3 Teaching via fieldbus
    • 5.6.4 Record selection: Carrying out a record
    • 5.6.5 Record selection: Switching to next record
    • 5.6.6 Direct mode: Specification of a position or force
    • 5.6.7 Direct mode: Continuous setpoint specification (Continuous Mode)
    • 5.6.8 Standstill monitoring
    • 5.6.9 Using hardware enable
    • 5.6.10 Using the local digital outputs
    • 5.6.11 Using a brake/clamping unit
    • 5.6.12 Position sampling (on-the-fly measurement)
  • 5.7 Notes on operation
• Diagnostics and error display
  • Contents
  • 6.1 Diagnostics options
  • 6.2 LED status displays
  • 6.3 Error messages
  • 6.4 Diagnostic memory
  • 6.5 Diagnosis via CANopen
    • 6.5.1 Node guarding (reaction to bus failure)
    • 6.5.2 Emergency messages
  • 6.6 Diagnosis via parameter channel (FPC)
  • 6.7 Warning "Index pulse warning"
• Technical appendix
  • Contents
  • A.1 Technical data
  • A.2 Accessories
  • A.3 Converting the units of measurement
• Parametrising as per FHPP-FPC
  • Contents
  • B.1 Finite state machine FHPP
    • B.1.1 Create readiness to operate
    • B.1.2 Positioning
  • B.2 Parameterisation via FPC
    • B.2.1 Structure of the Festo Parameter Channel (FPC)
    • B.2.2 Task identifiers, response identifiers and error numbers
    • B.2.3 Rules for job reply processing
    • B.2.4 Example of parameterising via FPC (PDO2)
  • B.3 Reference FHPP parameters (PNU)
    • B.3.1 Parameter groups
    • B.3.2 Overview of parameter numbers (PNU)
    • B.3.3 Representation of the parameter entries
    • B.3.4 Device data
    • B.3.5 Diagnosis
    • B.3.6 Process data
    • B.3.7 Position set table (record list)
    • B.3.8 Project data
    • B.3.9 Axis parameters for electric drives 1
    • B.3.10 Supplementary parameters
• Object directory DS402 and CI
  • Contents
  • C.1 Finite state machine DS402
  • C.2 Object directory DS402 and CI
  • C.3 Object descriptions
    • C.3.1 Communication profile area
    • C.3.2 Manufacturer specific profile area
    • C.3.3 Standardised device profile area
  • C.4 The CI interface
    • C.4.1 Using the parameterising interface
    • C.4.2 Accessing the CI objects
    • C.4.3 Access via a terminal program
    • C.4.4 Composition of the CI commands
    • C.4.5 Checking the data
• Index
  • Contents