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Electronics manual

Field bus module


for PROFIBUSDP
type
SPC200COMPDP
Manual
188 893
en 0901c
[744 896]
SPC200 Smart Positioning Controller
Contents and general instructions
I Festo P.BESPC200COMPDPEN en 0901c
Original de . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0901c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Title P.BESPC200COMPDPEN . . . . . . . . . . . . . . . . . . . . . .
Order no. 188 893 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
(Festo AG&Co. KG, D73726 Esslingen, 2009)
Internet: http://www.festo.com
EMail: service_international@festo.com
The copying, distribution and utilization of this document
as well as the communication of its contents to others with
out expressedauthorization isprohibited. Offenders will be
held liable for the payment of damages. All rights are re
served, in particular the right to carry out patent, utility
model or ornamental design registration.
Contents and general instructions
II Festo P.BESPC200COMPDPEN en 0901c
PROFIBUS

is a registered trademarks of their respective trademark holders in certain


countries.
Contents and general instructions
III Festo P.BESPC200COMPDPEN en 0901c
Contents
Designated use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Productspecific terms and abbreviations XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the use of this manual XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware versions of the field bus modules PROFIBUSDP XV . . . . . . . . . . . . . . . . . . . . .
1. System summary 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 System structure 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Connecting and display elements of the field bus module 14 . . . . . . . . . . . . . .
1.3 Basic structure for operation on the PROFIBUSDP 15 . . . . . . . . . . . . . . . . . . . .
1.4 Operating modes of the SPC200 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Controlling the SPC200 via the PROFIBUS 18 . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 I/O signals 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Fitting and removing the field bus module 24 . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General instructions on installation 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Connecting to the field bus 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Connecting the SPC200 via a branch line 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Connection for opticalfibre waveguide 310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
IV Festo P.BESPC200COMPDPEN en 0901c
4. Commissioning 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Procedure for commissioning 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Supplementary instructions on commissioning with WinPISA 44 . . . . . . . . . . .
4.1.2 Steps for commissioning the SPC200 as a field bus slave 48 . . . . . . . . . . . . . . .
4.2 Setting the PROFIBUS address of the SPC200 49 . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Instructions on setting the PROFIBUS address with the control panel 49 . . . . .
4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA 410 . . . . . . . . . . . .
4.3 Installing the device master file (GSD file) and symbol files 412 . . . . . . . . . . . . .
4.4 Basic principles of configuration 414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 FREEZE and SYNC 414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Configuration of the I/O address range 415 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.3 DP identifiers for the I/O signals 417 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 DP identifiers for the parameter channel (optional) 419 . . . . . . . . . . . . . . . . . . . .
4.4.5 DP identifiers for transmitting the actual postions (optional) 420 . . . . . . . . . . . .
4.4.6 DP identifier for transmission of the setpoint positions (optional) 421 . . . . . . . .
4.5 Configuration with a master 422 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Configuration with STEP 7 423 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Configuring with DP masters of other manufacturers 427 . . . . . . . . . . . . . . . . . .
4.5.3 Instructions on commissioning the PROFIBUS 433 . . . . . . . . . . . . . . . . . . . . . . . .
4.5.4 Switchon reaction of the field bus module 434 . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.5 Response monitoring 436 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Commissioning on the field bus 437 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Internal I/O addresses with the Start/Stop mode 438 . . . . . . . . . . . . . . . . . . . . .
4.6.2 Internal I/O addresses with Record Selection mode 439 . . . . . . . . . . . . . . . . . . .
4.6.3 Program examples 440 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.4 Reading and writing consistent data with the S7 443 . . . . . . . . . . . . . . . . . . . . . .
4.7 Sequence plans for the programmer 444 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.1 Creating readiness to operate 444 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.2 Start NC record in Record Select mode 448 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.3 Start program or NC record 450 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.4 Carry out fault quitting 451 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
V Festo P.BESPC200COMPDPEN en 0901c
5. Parameter channel 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 General instructions 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Structure of the parameter channel (PKW) 54 . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Task identifiers, reply identifiers and fault numbers 55 . . . . . . . . . . . . . . . . . . .
5.2.2 Rules for task reply processing 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Description of the parameters 511 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and error treatment 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 General instructions on diagnosis 63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Onthespot diagnosis 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Diagnosis with WinPISA 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Diagnosis via PROFIBUSDP 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Structure of the devicerelated diagnosis 611 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Diagnosis via programmer/PC 615 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Data types A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Integer16 A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2 Unsigned16 A4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.3 Unsigned32 A4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.4 Bit array A5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.5 Integer32 A5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Number formats of the nominal and actual values in the processing data A6 .
A.3 Technical specifications A7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index B1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
VI Festo P.BESPC200COMPDPEN en 0901c
Contents and general instructions
VII Festo P.BESPC200COMPDPEN en 0901c
Designated use
The field bus module type SPC200COMPDP enables the
SPC200 to be coupled to the PROFIBUSDP. With this field bus
module the SPC200 can be operated as a slave on the rel
evant field bus. Only one field bus module may be installed
on the SPC200.
This manual contains information on installing, commission
ing and diagnosing the PROFIBUSDP field bus.
Basic components and modules for the SPC200 are described
in the system manual type P.BESPC200.... The safety in
structions listed in the manuals must always be observed and
the relevant components and modules must only be used as
intended. Please observe also the safety instructions listed in
the operating instructions for the pneumatic components
used. 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 documentation
supplied 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 for
pressures, temperatures, electrical data, torques etc. must be
observed. National and local safety regulations must also be
observed.
Contents and general instructions
VIII Festo P.BESPC200COMPDPEN en 0901c
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing rel
evant field bus slaves.
Service
Please consult your local Festo service centre if you have any
technical problems.
Contents and general instructions
IX Festo P.BESPC200COMPDPEN en 0901c
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto
gram. A distinction is made between the following danger
warnings:
Warning
This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
This means that failure to observe this instruction may
result in personal injury or damage to property.
Please note
This means that failure to observe this instruction may
result in damage to property.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive compo
nents.
Electrostatically sensitive components may be damaged if
they are not handled correctly.
Contents and general instructions
X Festo P.BESPC200COMPDPEN 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 of
information.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Environment:
Information on environmentfriendly use of Festo products.
Text markings
S The bullet indicates activities which may be carried out in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
Hyphens indicate general activities.
Contents and general instructions
XI Festo P.BESPC200COMPDPEN en 0901c
Productspecific terms and abbreviations
The following productspecific abbreviations are used in this
manual:
Term/abbreviation Meaning
123
d
Decimal DP identifiers or parameter numbers (PNU) are marked with a
subscript d".
123
h
Hexadecimal DP identifiers or parameter numbers (PNU) are marked with
a 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 contains
maximum32 slaves. A PROFIBUSDP system consists of at least one bus
segment with at least two slaves. With the aid of repeaters further bus
segments 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 (lowervalue bit)
MSB Most significant bit (highervalue 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 and
reply identifiers (AK) and the parameter number (PNU).
Contents and general instructions
XII Festo P.BESPC200COMPDPEN en 0901c
Term/abbreviation Meaning
Parameter number
(PNU)
Parameters which can be transmitted via the parameter channel are
addressed with the parameter number (PNU). The parameter number is
an integral part of the parameter identifier (PKE) and serves for
identifying 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 standard
determined 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 a
higherorder PLC/IPC.
Referencing A procedure necessary with relativemeasuring systems, in which
movement is made to a defined reference point, to which the positions to
be moved to in operation refer.
Repeater Operating medium for amplifying bus signals and for coupling segments
over long distances.
Reply identifier (AK) Integral part of the parameter channel in reply telegrams specifying the
type 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 autonomous
operation and control by a higherorder PLC/IPC.
Subindex (IND) Integral part of the parameter channel (PKW) which addresses an element
of an array parameter (subparameter number)
Task identifier (AK) Integral part of the parameter channel in task telegrams specifying the
type of reply of a parameter processing.
Task telegram Telegram sent from the master to the slave (master task)
Contents and general instructions
XIII Festo P.BESPC200COMPDPEN en 0901c
Term/abbreviation Meaning
Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be
installed or switched in at the end of bus segment cables.
Work data Telegram data without protocol frame data. The work data are determined
when the field bus slave is configured.
Fig.0/1: Terms and abbreviations
Contents and general instructions
XIV Festo P.BESPC200COMPDPEN en 0901c
Notes on the use of this manual
The following Festo manuals are necessary for the complete
documentation of the modular valve terminal, depending on
what you have ordered and on the further equipment for your
complete system:
Type Title Contents
Systemmanual SPC200 Smart Positioning Controller
type P.BESPC200...
Installation, commissioningand
diagnosis with SPC200; standard
components and modules
Software manual Software package WinPISA
type P.SWWINPISA...
Functions of the WinPISA software
package
Help system Help system for WinPISA
(contained in WinPISA)
WinPISA help system
Manuals Field bus module
type P.BESPCCOM...
Installation, commissioningand
diagnosis of the relevant field bus
module
Stepping motor module
type P.BESPCSMX1...
Installation, commissioningand
diagnosis when used with a stepping
motor
Fig.0/2: Manuals on the SPC200
Special information on commissioning, programming and
diagnosing the SPC200 with the WinPISA software package
can 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.
Contents and general instructions
XV Festo P.BESPC200COMPDPEN en 0901c
Firmware versions of the field bus modules PROFIBUSDP
Please note
In order to transmit the digital setpoint values you will re
quire:
WinPISA as from version 4.41
fieldbus modules for PROFIBUSDP with firmware ver
sion as from V 2.1
SPC200 with operating system version as from V 4.82.
Please note
In order to use the parameter channel and for transmitting
the actual values you will require:
WinPISA as from version 4.3
fieldbus modules for PROFIBUSDP 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 compatible
to firmware version V 1.x.
Contents and general instructions
XVI Festo P.BESPC200COMPDPEN en 0901c
System summary
11 Festo P.BESPC200COMPDPEN en 0901c
Chapter 1
1. System summary
12 Festo P.BESPC200COMPDPEN en 0901c
Contents
1.1 System structure 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Connecting and display elements of the field bus module 14 . . . . . . . . . . . . . .
1.3 Basic structure for operation on the PROFIBUSDP 15 . . . . . . . . . . . . . . . . . . . .
1.4 Operating modes of the SPC200 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Controlling the SPC200 via the PROFIBUS 18 . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 I/O signals 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary
13 Festo P.BESPC200COMPDPEN en 0901c
1.1 System structure
Special field bus modules are available for coupling the
SPC200 to field bus systems. The field bus module type
SPC200COMPDP enables the SPC200 to be coupled to the
PROFIBUSDP.
1
2
3
4
SIEMENS
SIEMENS
1 PROFIBUSDP master
2 Programmer/PC
3 Further slaves on the field bus
4 SPC200 as PROFIBUSDP slave
Fig.1/1: SPC200 on the PROFIBUSDP (example)
1. System summary
14 Festo P.BESPC200COMPDPEN en 0901c
Data exchange between the PROFIBUSDP master and the
field bus slave is made in accordance with the masterslave
procedure. 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 display
elements of field bus module type SPC200COMPDP.
1 Fault LED (red)
2 Power LED (green)
3 Field bus
connection (9pin)
1
2
3
Fig.1/2: Connecting and display elements
1. System summary
15 Festo P.BESPC200COMPDPEN en 0901c
1.3 Basic structure for operation on the PROFIBUSDP
With the following modules the SPC200 is a functionable
PROFIBUSDP standard slave:
1 Power supply
module
2 Diagnostic module
3 Field bus module
for PROFIBUS
1 2 3
Fig.1/3: Basic structure for PROFIBUS
Module Description
Power supply module Enables the power supply and the axis
interface designed as a field device to be
connected.
Diagnostic module Enables the control panel to be fitted
(optional) and a PC to be connected.
Field bus module for
PROFIBUSDP
Enables communication via the field bus.
1. System summary
16 Festo P.BESPC200COMPDPEN en 0901c
A system structure with the modules shown above offers the
following facilities:
S One or two pneumatic axes can be controlled.
S Commissioning, programming and diagnosis via a PC with
the WinPISA software package.
S Coordination with external PLC/IPC via field bus. With
field bus module type SPC200COMPDP the SPC200 can
be coupled to all DP masters.
Extension modules are available for extending the system
(see system manual for the SPC200 type P.BESPC200...).
1. System summary
17 Festo P.BESPC200COMPDPEN en 0901c
1.4 Operating modes of the SPC200
The processing of the NC programs saved in the SPC200
takes place in the following operating modes:
Start/Stop mode
Record Select mode
The desired operating mode can be set with the control panel
or with WinPISA. Detailed information on the operating
modes can be found in the User Manual of the SPC200.
1. System summary
18 Festo P.BESPC200COMPDPEN en 0901c
1.5 Controlling the SPC200 via the PROFIBUS
The usual I/O signals (START, STOP, RESET, etc.) are available
via PROFIBUS, exactly as with direct control of the SPC200 via
an I/O module. If required, the field bus module can also en
able the transmission of parameters and actual positions.
Function Description
I/Osignals For transmitting the I/O control signals and the freely programmable
I/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, position
registers, digital outputs etc. as well as the desired positioning
behaviour can be parametrized (see section 5.2).
Setpoint positions
(optional)
The nominal positions can be transmitted from the PROFIBUSDP
master in the task telegram.
2)
With this is, using the NC command M10 (see system manual on the
SPC200), the digital nominal value specification possible.
Prerequesits:
WinPISA as from Version 4.41
fieldbus modules for PROFIBUSDP 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 PROFIBUSDP master
in the reply telegram.
2)
1)
Address assignment from the point of viewof the SPC200
2)
The telegramwhich 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
19 Festo P.BESPC200COMPDPEN en 0901c
The scope of the I/O data to be transmitted and thereby the
scope of the desired functions is determined in the configur
ation of the PROFIBUSDP 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 of
the I/O data to be transmitted.
1
2
3 4 5
X Y Z
U PKW E/A
X Y Z
U PKW E/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 0.1m (int32)
(2 output words per axis)
6 Actual position values (optional),
in 0.1m (int32)
(2 input words per axis)
Fig.1/4: Task and reply telegrams
1. System summary
110 Festo P.BESPC200COMPDPEN en 0901c
1.5.1 I/O signals
Depending on the operating mode used, the field bus module
provides 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 viewof the SPC200
Please note
Outputs of the master are mapped on internal inputs;
internal outputs of the field bus module are mapped on
inputs of the master.
1. System summary
111 Festo P.BESPC200COMPDPEN en 0901c
PLC/IPC SPC200 SPC200COMPDP
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)
Maximumaddress range;
address assignment from the
point of viewof 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 module
SPC200COMPDP
Fig.1/5: Internal I/O address range
Due to the larger I/O address range, considerably more NC
records can be accesssed in Record Select mode via the field
bus than in operation via the I/O module.
In record select mode, 10 bits are available for selecting the
NC record number. The maximum permitted number of NC
records (up to 1000 NC records) of the defined starting pro
grams can therefore be accessed.
1. System summary
112 Festo P.BESPC200COMPDPEN en 0901c
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 field
bus module serves for controlling the SPC200, is not
available.
The address ranges I10.0 ... I13.15 and Q10.0 ... Q13.15
are 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 mode
Start/Stop.
The following table shows the address assignment when a
field 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 field
bus module as well as the permitted NC commands depend
on the operating mode set. Detailed information on this can
be found in the System manual for the SPC200.
Fitting
21 Festo P.BESPC200COMPDPEN en 0901c
Chapter 2
2. Fitting
22 Festo P.BESPC200COMPDPEN en 0901c
Contents
2.1 Fitting and removing the field bus module 24 . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting
23 Festo P.BESPC200COMPDPEN en 0901c
Warning
Undesired movement of the connected actuators and non
defined switching states of the electronics can cause injury
to 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 the
SPC200 and, if applicable, the load voltage supply for
the axis interface string.
2. Fitting
24 Festo P.BESPC200COMPDPEN en 0901c
2.1 Fitting and removing the field bus module
Please note
Modules may be damaged if they are not handled cor
rectly. Do not therefore touch any components. Observe
the regulations for handling electrostatically sensitive com
ponents.
Discharge yourself electrostatically before fitting or removing
components 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 SPC200PWRAIF).
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 on
the rack. A tool is not therefore required for fitting or remov
ing a module.
Warning
Actuators may make sudden unexpected movements and
the SPC200 will be damaged if modules are added or re
moved whilst the power supply is switched on. Before
carrying out installation and/or maintenance work, switch
off the following power supplies in the sequence specified:
1. the compressed air supply
2. the load voltage and operating voltage supplies for the
SPC200 and, if applicable, the load voltage supply for
the axis interface string.
2. Fitting
25 Festo P.BESPC200COMPDPEN en 0901c
Fitting a module
Proceed as follows when fitting a module into the rack:
1. Switch off the compressed air supply and the operating
voltage supply.
2. Remove the blanking plate (if fitted).
3. Hold the module by the front plate and push it into the
guide rail. Make sure that the modules are not tilted when
they are pushed in and that no components on the
printed 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 as
possible. The locking levers will then lock automatically.
1 Direction for
unlocking
2 Locks
automatically
3 Locking lever
4 Front plate of the
module
5 Terminal strip
6 Guide rail
1
2
3
4
2
1
5 6
Fig.2/1: Fitting a module
2. Fitting
26 Festo P.BESPC200COMPDPEN en 0901c
Removing a module
Replace a module as follows:
1. Switch off the operating voltage and the compressed air
supply.
2. Loosen and pull off the connecting cable on the front of
the module.
3. Unlock both locking levers (see Fig.2/1) and carefully pull
out the module.
4. Seal the unused slots with blanking plugs.
Installation
31 Festo P.BESPC200COMPDPEN en 0901c
Chapter 3
3. Installation
32 Festo P.BESPC200COMPDPEN en 0901c
Contents
3.1 General instructions on installation 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Connecting to the field bus 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Connecting the SPC200 via a branch line 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Connection for opticalfibre waveguide 310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation
33 Festo P.BESPC200COMPDPEN en 0901c
3.1 General instructions on installation
Warning
Undesired movement of the connected actuators and non
defined switching states of the electronics can cause injury
to 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,
pin8)
if applicable, the load voltage supply on the axis inter
face string
the load voltage supply for the internal electronics of the
SPC200 and field devices (plug X2, pin 2).
Please note
Please note that the maximum permitted bus length
depends on the baud rate.
A bus segment is a bus cable which may contain up to 32
slaves (devices). The ends of the bus segment must be fitted
with a terminating resistor. Use plugs with an integrated ter
minating resistor if the SPC200 is installed at the end of a bus
segment.
3. Installation
34 Festo P.BESPC200COMPDPEN en 0901c
3.2 Connecting to the field bus
There is a 9pin subD plug on the field bus module for con
necting the SPC200 to the relevant field bus. This connection
is used for the incoming cable, as well as for the continuing
field bus cable.
1
5
9
6
Fig.3/1: PROFIBUSDP interface (X 20)
Pin Signal Description
1
2
3
4
5
6
7
8
9
Housing
Earth
n.c.
RxD/TxDP
CNTRP
*)
DGND
VP
n.c.
RxD/TxDN
n.c.
Screening/
shield
Direct connection to housing
not connected
Receive/send dataP
Repeater control signal
Data reference potential (M5V)
Power supply positive (P5V)
not connected
Receive/send dataN
not connected
Direct connection to housing
*)
Repeater control signal CNTRP is in the form of a TTL signal.
3. Installation
35 Festo P.BESPC200COMPDPEN en 0901c
Specifications of the field bus cable
Recommendation: Use a cable which complies with the cable
specification 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 crosssectional area: > 0.34 mm
2
Maximum permitted segment length of the field bus:
Baud rate
(in kBaud)
Max. permitted segment length
(in m) as per PNO
1)
9.6
19.2
93.75
187.5
500
1500
3000 ... 12000
1200
1200
1200
1000
400
200
100
1)
PNO =PROFIBUS user organisation
3. Installation
36 Festo P.BESPC200COMPDPEN en 0901c
Plug
Please note
Use plugs with a terminating resistor if the SPC200 is
installed at the end of a bus segment.
If you do not require a terminating resistor, use the subD
plug from Festo type FBSSUB9WSPBK as the termination.
Type Description
FBSSUB9WSPBK Horizontal cable exit;
baud rate 9.6 kBaud ... 12 MBaud;
4pin terminal for wires up to 1.5mm
2
If you require a terminating resistor, use special bus con
nector plugs for PROFIBUS, e.g. the following 9pin plug from
Siemens AG or from ERNI:
Order number of
Siemens AG
Description
6ES7 9720BA100XA0 Terminating resistor can be switched in;
vertical cable exit;
baud rate 9.6 kBaud ... 12 MBaud;
4pin terminal for wires up to 1.5mm
2
6ES7 9720BB100XA0 As above, but also with conduit thread
connection
Order number of
ERNI
Description
103649 Horizontal cable exit;
baud rate 9.6 kBaud ... 12 MBaud;
4pin terminal for wires up to 1.5mm
2
,
with integrated terminating resistor
3. Installation
37 Festo P.BESPC200COMPDPEN en 0901c
Connecting the bus cable
S Always connect the same cores to the same connection A
or B of the 4pin terminal.
Recommendation: B: RxD/TxDP; A: RxD/TxDN
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 4pin terminal
2 Cable screening/
shield
1
2
B O B O
Fig.3/2: SubD plug from Festo type FBSSUB9WSPBK
3. Installation
38 Festo P.BESPC200COMPDPEN en 0901c
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/TxDP
3 Pin 8:
RxD/TxDN
4 Pin 5:
DGND
Pin6
Pin3
Pin8
Pin5
390
220
390
1
2
3
4
Fig.3/3: Cable termination as per EN 50170, (cable A)
3. Installation
39 Festo P.BESPC200COMPDPEN en 0901c
3.3 Connecting the SPC200 via a branch line
Please note
If connection of the SPC200 via a branch line cannot be
avoided:
Do not connect the branch lines with a terminating
resistor.
Please note that the permitted segment length will be
reduced by the length of the branch line.
Please note the maximum permitted branch line lengths.
If possible, branch lines should be avoided on the
PROFIBUSDP, as they can cause too much capacitive
stress on the transmission cable.
Baud rate
(in kBaud)
Maximum permitted branch line length
(in m)
9.6
19.2
93.75
187.5
500
1500
3000 ... 12000
500
500
100
33.3
20
6.6
Not permitted
3. Installation
310 Festo P.BESPC200COMPDPEN en 0901c
3.4 Connection for opticalfibre waveguide
The following types of cables can be used for transmission
with the PROFIBUS:
Cablebound transmission (screened twowire cable)
Opticalfibre cable (plastic and fibre glass)
Opticalfibre waveguide technology is to be recommended
when transmission is affected by heavy interference, as well
as for extending the transmission range when high baud rates
are used.
This also offers the following advantages:
high EMC and ESD protection due to the optical
transmission of signals
protection against lightning
potential isolation of the individual DP slaves. No
equalizing currents can flow through cable screening.
The PROFIBUSDP interface of the SPC200 has been designed
in accordance with specification EN 50170 volume 2, and
therefore supports the control of network components for
opticalfibre waveguides.
Example of opticalfibre waveguide network components:
Siemens Optical Link Module (OLM) for PROFIBUS plus
Siemens Optical Link Module (OLP) for PROFIBUS
Commissioning
41 Festo P.BESPC200COMPDPEN en 0901c
Chapter 4
4. Commissioning
42 Festo P.BESPC200COMPDPEN en 0901c
Contents
4.1 Procedure for commissioning 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Supplementary instructions on commissioning with WinPISA 44 . . . . . . . . . . .
4.1.2 Steps for commissioning the SPC200 as a field bus slave 48 . . . . . . . . . . . . . . .
4.2 Setting the PROFIBUS address of the SPC200 49 . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Instructions on setting the PROFIBUS address with the control panel 49 . . . . .
4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA 410 . . . . . . . . . . . .
4.3 Installing the device master file (GSD file) and symbol files 412 . . . . . . . . . . . . .
4.4 Basic principles of configuration 414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 FREEZE and SYNC 414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Configuration of the I/O address range 415 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.3 DP identifiers for the I/O signals 417 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 DP identifiers for the parameter channel (optional) 419 . . . . . . . . . . . . . . . . . . . .
4.4.5 DP identifiers for transmitting the actual postions (optional) 420 . . . . . . . . . . . .
4.4.6 DP identifier for transmission of the setpoint positions (optional) 421 . . . . . . . .
4.5 Configuration with a master 422 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Configuration with STEP 7 423 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Configuring with DP masters of other manufacturers 427 . . . . . . . . . . . . . . . . . .
4.5.3 Instructions on commissioning the PROFIBUS 433 . . . . . . . . . . . . . . . . . . . . . . . .
4.5.4 Switchon reaction of the field bus module 434 . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.5 Response monitoring 436 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Commissioning on the field bus 437 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Internal I/O addresses with the Start/Stop mode 438 . . . . . . . . . . . . . . . . . . . . .
4.6.2 Internal I/O addresses with Record Selection mode 439 . . . . . . . . . . . . . . . . . . .
4.6.3 Program examples 440 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.4 Reading and writing consistent data with the S7 443 . . . . . . . . . . . . . . . . . . . . . .
4.7 Sequence plans for the programmer 444 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.1 Creating readiness to operate 444 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.2 Start NC record in Record Select mode 448 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.3 Start program or NC record 450 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.4 Carry out fault quitting 451 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Commissioning
43 Festo P.BESPC200COMPDPEN en 0901c
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 the
field bus interface with the aid of WinPISA. After reading
this 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 ENABLE
input:
for the first commissioning when the projectspecific para
meters have been set
after a Data Reset and resetting of the projectspecific
parameters
when the movement test has been carried out.
The controller is then enabled with a 1signal, providing there
are no system faults.
4. Commissioning
44 Festo P.BESPC200COMPDPEN en 0901c
4.1.1 Supplementary instructions on commissioning with WinPISA
Start commissioning as described in the WinPISA manual (see
chapter 4 in the WinPISA manual). With some commissioning
steps, the signals ENABLE, START and STOP are required for
controlling 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 field
bus.
Activate the test mode
Caution
You can specify input signals in the test mode. The actual
input signals will be ignored. The test mode is usually used
for commissioning, if the SPC200 is not connected with the
field bus or is not online. Activate the test mode only if:
S you are familiar with the effect of the signals which are
thus influenced.
Warning
Make sure that nobody can place his/her hand in the
positioning range of the moveable mass and that no
objects lie in its path.
4. Commissioning
45 Festo P.BESPC200COMPDPEN en 0901c
In order to generate control signals in the test mode, first
activate the command [Online][Observe][Field bus mod
ule][Control signals/Record number]. Then switch on the test
mode, e.g. with function key F5.
The contents of the window [Control signals] depends on the
operating mode set. The mark ? next to the control signal
shows that the relevant input/output supplies a 1signal.
1 ENABLE signal
2 STOP signal
3 Display for test
mode
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 found
in the System manual for the SPC200. The tables below give a
brief overview:
4. Commissioning
46 Festo P.BESPC200COMPDPEN en 0901c
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 conjunction
with STOP = 0)
I10.2 STOP Stop programsequence (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 programA/B (motion complete)
1)
Address assignment from the point of viewof the SPC200
2)
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 programA/B
I11.0 ... I11.9 RECBIT1...10 Bits for NC record number (RECBIT1 for 2
0
etc. )
Q10.0 READY System ready to operate
Q10.1/Q10.2 ACK_A/B Task accepted for programA/B
Q10.3/Q10.4 RC_A/B NC record concluded by programA/B
1)
Address assignment from the point of viewof the SPC200
2)
Observe the instructions on enabling the controller in section4.1.
4. Commissioning
47 Festo P.BESPC200COMPDPEN en 0901c
Program test in Record Select mode
In Record Select mode the window Control Signals enables
you to select an NC record number directly. This NC record
number corresponds to the actual NC record number in the
NC program.
Note that the programmed record numbers are stored begin
ning with N000 and with step size 1 when a program is loaded
with WinPISA.
Example Start NC record from line N007 of program A (? = 1signal)
2
3
1
1 Start NC record with CLK_Asignal
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
48 Festo P.BESPC200COMPDPEN en 0901c
4.1.2 Steps for commissioning the SPC200 as a field bus slave
The following steps are required for commissioning the
SPC200 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
49 Festo P.BESPC200COMPDPEN en 0901c
4.2 Setting the PROFIBUS address of the SPC200
Please note
PROFIBUS addresses may only be assigned once per
PROFIBUSDP interface. Observe any possible limitations
as regards the assignment of PROFIBUS addresses by your
DP master.
Recommendation: Assign the PROFIBUS addresses in ascend
ing order. If necessary, assign the PROFIBUS addresses to
suit the machine structure of your system.
Please note
In order to avoid faults in commissioning, the field bus
module is set at an invalid PROFIBUS address (255) before
it leaves the factory. The control panel shows the value 1
as 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 by
means of the menu commands [CONFIG. SYSTEM] [ACTUAL
CONFIG.] [FIELDBUS] [STATION ADDRESS], the following
message will appear:
UPDATE NEW ADDR.
SYSTEM RESET ?
You can then abort with ESC or trigger a system reset with
ENTER, and thereby confirm the new address.
In the case of a system reset, the SPC200 will be reset to the
status it was in after being switched on. A program reset and
a hardware recognition are carried out here and the axis in
terface string is reinitialized. This procedure can take a cer
tain amount of time, depending on the system configuration
used.
4. Commissioning
410 Festo P.BESPC200COMPDPEN en 0901c
4.2.2 Setting the PROFIBUS address of the SPC200 with WinPISA
In order to set the PROFIBUS address of the SPC200 with
WinPISA, proceed as follows:
1. Read out the hardware configuration from the SPC200 or
set the hardware configuration manually, as described in
the guidelines in the WinPISA manual.
2. Doubleclick the symbol CPU.. in the project window.
The dialogue window SPC200 configuration" will then
appear.
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
411 Festo P.BESPC200COMPDPEN en 0901c
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 PROFIBUSDP interface
(0 ... 125)
Suppress diagnostic
messages
As from firmware version V2.1 of the fieldbus module:
Error messages over the fieldbus can be suppressed with WinPISA as from
version 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 to
suit the machine structure of your system.
5. Confirm the settings with OK.
The field bus address set will be transmitted to the SPC200
when the project is loaded and will then become valid. A sep
arate download is also possible.
4. Commissioning
412 Festo P.BESPC200COMPDPEN en 0901c
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 a
configuration program when a PROFIBUSDP system is to be
configured, 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 be
found 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 the
abovementioned Internet addresses:
Normal operating
status
Diagnostic case Special operating
status
File: Pbsp200n.dib File: Pbsp200d.dib File: Pbsp200s.dib
4. Commissioning
413 Festo P.BESPC200COMPDPEN en 0901c
Please note
Various configuration programs are available for use in
conjunction with a Siemens master. Please observe the
relevant procedure for your configuration program.
Install the GSD file and the bitmap file
Depending on the configuration program used, install the
GSD file and the bitmap file with the aid of the appropriate
menu command or copy the files manually into a particular
directory of your programmr/PC.
With the STEP 7 V5.1 hardware configurator you can load the
files with the aid of the menu command [Extras] [. . .Install
new GSD] into the dialogue window [HW Config.].
Configuration
program
File type Directory
STEP 7 V5.1 hardware
configurator
1)
GSD file ...\STEP7\S7DATA\GSD
configurator
1)
Bitmap files ...\STEP7\S7DATA\NSBMP
1)
If you copy the GSD files when the Simatic Manager has already been started, you can update the
hardware catalogue with the command [Extras] [Update GSD file].
4. Commissioning
414 Festo P.BESPC200COMPDPEN en 0901c
4.4 Basic principles of configuration
4.4.1 FREEZE and SYNC
The SPC200 supports the PROFIBUS control commands Sync
and Freeze. If a PROFIBUS master sends these control com
mands, the internal I/Os of the field bus module which are
used for communication (I10.0...I13.15 or Q10.0...Q13.15)
will be treated as follows:
Caution
In the following cases, the FREEZE or SYNC mode will be
automatically reset:
when the SPC200 is switched on/off or after a system
reset
when a project is loaded with WinPISA
when the field bus master has stopped.
The FREEZE mode will also be reset automatically in the
following case:
when the bus connection to the SPC200 is interrupted
(response monitoring active).
FREEZE The internal outputs of the field bus module are mapped on
inputs of the master. With this control command the internal
outputs of the field bus module (Q10.0...Q10.15) can be
frozen." The field bus module then sends a constant output
image to the master. The following FREEZE command causes
the output image to be updated. The updated output image
is then sent constantly to the master.
Return to normal operation UNFREEZE command.
4. Commissioning
415 Festo P.BESPC200COMPDPEN en 0901c
SYNC The outputs of the master are mapped on internal inputs of
the 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. The
following SYNC command causes the output image of the
master 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 depends
on the operating mode of the SPC200 used and on the addi
tional functions used (parameter channel and transmission of
the actual positions).
Function Address range equired Consistency of
I/Osignals
(I10 0 I13 15
Start/Stop mode
1)
(I10.0...I13.15,
Q10.0...Q13.15)
2, 4, 6 or 8 Ibytes
2, 4, 6 or 8 Obytes
1 Ibyte or complete length
1 Obyte or complete length
Record Select mode
2 Ibytes
4 Obytes
Complete length
Complete length
Parameter channel
2)
(optional)
4 Iwords
4 Owords
Complete length
Actual positions
2)
(optional)
2 Iwords per axis Complete length
Setpoint positions
3)
(optional)
2 Owords 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
416 Festo P.BESPC200COMPDPEN en 0901c
The address range with DP identifiers is described under
PROFIBUSDP. 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 the
inputs and a different DP identifier for the outputs. The
DP identifiers which are permitted here depend on the
operating 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 also
section 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 nonconfigured output addresses can be used as flags
in the operating mode Start/Stop. If, for example, the
DPidentifier 16DI is used for inputs of the master, the
outputs Q11.0...Q13.15 of the SPC200 can be used as
flags (see also Fig.4/5).
In this manual hexadecimal DP identifiers are marked by a
subscript h". Decimal DP identifiers are marked with a sub
script d".
4. Commissioning
417 Festo P.BESPC200COMPDPEN en 0901c
4.4.3 DP identifiers for the I/O signals
Please note
Output addresses of the master are mapped on internal
inputs; internal outputs of the field bus module are
mapped on input addresses of the master.
DP identifiers for the Start/Stop mode
In the Start/Stop mode identifiers for data consistency over
1byte are permitted.
I/O signals Address range DP identifiers
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte Completelength
Q10.0...Q10.15
Q11.0...Q11.15
Q12.0...Q12.15
Q13.0...Q13.15
2 Ibytes
+2 Ibytes (4 Ibytes)
+2 Ibytes (6 Ibytes)
+2 Ibytes (8 Ibytes)
11
h
13
h
15
h
17
h
16DI
32DI
21
d
23
d
91
h
93
h
95
h
97
h
145
d
147
d
149
d
151
d
Fig.4/5: DP identifiers for inputs (outputs of the SPC200)
I/O signals Address range DP identifiers
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte Completelength
I10.0...I10.15
I11.0...I11.15
I12.0...I12.15
I13.0...I13.15
2 Obytes
+ 2 Obytes (4 Obytes)
+ 2 Obytes (6 Obytes)
+ 2 Obytes (8 Obytes)
21
h
23
h
25
h
27
h
16DO
32DO
37
d
39
d
A1
h
A3
h
A5
h
A7
h
161
d
163
d
165
d
167
d
Fig.4/6: DP identifiers for outputs (inputs of the SPC200)
4. Commissioning
418 Festo P.BESPC200COMPDPEN en 0901c
DP identifiers for the Record Select mode
I/O signals Address range DP identifiers
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte Completelength
Q10.0...Q10.15 2 Ibytes
*) *)
91
h
145
d
*)
Data consistency only permitted over complete length
Fig.4/7: DP identifiers for inputs (outputs of the SPC200)
I/O signals Address range DP identifiers
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte Completelength
I10.0...I10.15
I11.0...I11.15
4 Obytes
*) *)
A3
h
163
d
*)
Data consistency only permitted over complete length
Fig.4/8: DP identifiers for outputs (inputs of the SPC200)
4. Commissioning
419 Festo P.BESPC200COMPDPEN en 0901c
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 permitted
over the complete length. If the parameter channel is to be
used, the DP identifier must be entered once.
Further information on the parameter channel of the SPC200
can be found in chapter 5.
Parameter
channel
Address range DP identifiers
channel
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte Completelength
4 I/O words 4 Iwords
4 Owords
*) *)
F3
h
4AX
*)
Data consistency only permitted over complete length
Fig.4/9: DP identifiers for the parameter channel
4. Commissioning
420 Festo P.BESPC200COMPDPEN en 0901c
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
WinPISA as from version 4.3.
For transmitting the actual positions data consistency is only
permitted over the complete length. The DP identifier must be
entered separately for each axis.
Actual
iti
Address range DP identifiers
position
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte Completelength
2 Iwords 2 Iwords
*) *)
D1
h
209
d
*)
Data consistency only permitted over complete length
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 nonconfigured axes are
not permitted.
First DP identifier for actual position (DP identifier with
the lowest slot number): Xaxis
Second DP identifier for actual position: Yaxis
Third DP identifier for actual position: Zaxis
Fourth DP identifier for actual position: Uaxis
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)
4. Commissioning
421 Festo P.BESPC200COMPDPEN en 0901c
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
WinPISA as from version 4.41.
During transmitting of the setpoint positions, data con
sistency is only permitted over the complete length. The DP
identifier must be entered separately for each axis.
Setpoint
iti
Address space DP identifiers
position
EN 50170 Siemens EN 50170 Siemens
Consistent over 1 byte completelength
2 output words 2 output words *) *) E1
h
225
d
*) 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 nonconfigured axes are
not permitted.
First DP identifier for setpoint position (DP identifier with
the lowest slot number): Xaxis
Second DP identifier for setpoint position: Yaxis
Third DP identifier for setpoint position: Zaxis
Fourth DP identifier for setpoint position: Uaxis
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
422 Festo P.BESPC200COMPDPEN en 0901c
4.5 Configuration with a master
The following chapter describes the configuration of the
SPC200 as a PROFIBUS slave especially with a Siemens DP
master. The configuration in general for PROFIBUS masters of
other manufacturers is then described.
Various configuration programs are available for Siemens DP
masters. This manual refers to STEP 7 V5.1 (hardware confi
gurator).
Configuration programs are subject to updates which may
not yet be taken into consideration in this manual. Inform
yourself in this case with the aid of the appropriate product
documentation.
4. Commissioning
423 Festo P.BESPC200COMPDPEN en 0901c
4.5.1 Configuration with STEP 7
General instructions
The software package Simatic Manager serves for project
planning and commissioning in conjunction with PROFIBUS
masters from Siemens or compatible masters. In order to
understand this chapter, you should be sure of how to handle
your 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 SPC200
must be installed for configuration. Instructions on this can
be found in section 4.3.
Insert SPC200 as slave
The hardware configuration window represents graphically
the structure of the master system. When the GSD file has
been installed, the SPC200 can be selected in the hardware
catalogue. It can be found in the group [PROFIBUSDP]
[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) on
the DP master and release the mouse button again (drag
& drop). A dialogue window will then appear in which you
can set the PROFIBUS address.
3. Select the same PROFIBUS address that you have set with
WinPISA or with the control panel on the SPC200 and con
firm this with OK.
The SPC200 will then be represented graphically (1).
4. Commissioning
424 Festo P.BESPC200COMPDPEN en 0901c
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
425 Festo P.BESPC200COMPDPEN en 0901c
Configuring the Slave properties
After clicking the symbol for the SPC200, you can configure
the Slave properties" in the lower part of the screen. Here
you can determine the number and size of the I/O ranges of
the 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 catalogue
under Festo SPC200
2. then use the mouse to pull the desired identifier into the
appropriate line under Module/DP identifier.
When configuring the I/O address range, observe the rules in
section 4.4.2.
4. Commissioning
426 Festo P.BESPC200COMPDPEN en 0901c
1 2 3 4
1 DP identifiers
2 Xaxis actual position or setpoint
position (optional)
3 Yaxis actual position or setpoint
position (optional)
4 Module/DP identifier
Fig.4/13: Configuring the Slave properties
When the configuration is concluded, transmit the data to the
master.
4. Commissioning
427 Festo P.BESPC200COMPDPEN en 0901c
4.5.2 Configuring with DP masters of other manufacturers
The SPC200 can be controlled by any PLC, PC or industrial PC
with a PROFIBUSDP module in accordance with EN 50170
(DIN 19245).
Bus sequence DP master (standard)
In order to commission the SPC200 correctly, the DP master
must 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 are
described in the following chapters.
Send parametrizing data
The parametrizing data are transferred from the DP master to
the 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": Off
log. "1": On
4 Freeze_Req log. 1": Activate FREEZE
4. Commissioning
428 Festo P.BESPC200COMPDPEN en 0901c
Bit Explanation Meaning
5 Sync_Req log. 1": Activate SYNC
6
7
Unlock_Req
Lock_Req
Bit 7 Bit 6
0 0
0 1
1 0
1 1
min T
SDR
+ SPC200 parameters may be
overwritten
SPC200 released for other masters
SPC200 blocked for other masters
SPC200 released for other masters
Bytes 2 and 3: WD_Fact_1
WD_Fact_2
Bit Meaning Explanation
Range 1...255:
The response monitoring time of the SPC200 is transmitted with these two
bytes: T
WD
[s] = 10ms * WD_Fact_1 * WD_Fact_2
Byte 4: Minimum station delay responder (min T
SDR
)
Bit Meaning Explanation
The minimumtime the SPC200 must wait, before the reply telegrammay
be sent to the DP master.
Bytes 5 and 6: Ident_number
Bit Meaning Explanation
Transmissionof the Ident number (= 00C8
H
) of the SPC200.
Parametrizing telegrams to the SPC200 are only accepted if the
transmitted and the programmed Ident numbers are the same.
4. Commissioning
429 Festo P.BESPC200COMPDPEN en 0901c
Byte 7: Group_Ident
Bit Meaning Explanation
With the SPC200 each bit represents a group.
Bytes 8 ... 32: User_Prm_Data
Bit Meaning Explanation
Not supported by the SPC200
Send configuration data (Chk_Cfg)
The configuration data are transferred from the DP master to
the SPC200 with the function Chk_Cfg.
Please note
The configuration of the SPC200 can be carried out as
follows:
one identifier byte each for the sum of the inputs and
the sum of the outputs
one identifier byte for the parameter channel (optional)
one identifier byte per axis for the transmission of the
actual position (optional).
Overview of parameters:
Byte 1n: Identifier bytes
Permitted identifiers for the SPC200 can be found in the
sections 4.4.3, 4.4.4 and 4.4.5.
Example:
Configuring an SPC200 for Record Select mode with up to
2input bytes and 4 output bytes.
4. Commissioning
430 Festo P.BESPC200COMPDPEN en 0901c
Station no.: 20
Configuration: Function: Chk_Cfg
Byte 1: 145
D
Byte 2: 163
D
Read out configuration data (Get_Cfg)
Operating mode Start/Stop Record select
Byte 1
Byte 2
151
D
167
D
145
D
163
D
Request diagnostic information (Slave_Diag)
The diagnostic data are requested by the SPC200 with the
function Slave_Diag. A description of this function can be
found in chapter 5, in the section Diagnosis via PROFIBUSDP.
Cyclic exchange of data (Data_Exchange)
The cyclic exchange of data is accomplished with the function
Data_Exchange. With this function the output data for the
SPC200 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 be
of a different size for input data and output data (Inp_Data,
Outp_Data). This results per byte in an byte string length of1.
Please note
With the function Data_Exchange the SPC200 awaits the
status description for the internal inputs (outputs of the
master). The status of the internal outputs (input informa
tion for the master) is sent as a reply telegram to the
master. The length of the data telegrams depends on the
size of the configured address range.
4. Commissioning
431 Festo P.BESPC200COMPDPEN en 0901c
Overview of implemented functions and service access
points (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 T
SDR
(T
Bit
) min T
SDR
(T
Bit
)
187.5 60 11
500 100
1500 150
3000 250
6000 450
12000 800
4. Commissioning
432 Festo P.BESPC200COMPDPEN en 0901c
GSD file (device master file)
Information on using the GSD file can be found in section 4.3.
In addition to slavetypical 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 note
Outputs of the master are mapped on internal inputs of the
field bus module; internal outputs of the field bus module
are mapped on inputs of the master.
Please note
You must configure one identifier each for inputs and for
outputs.
All internal outputs of the field bus module, which lie
outside the I/O address range configured for communi
cation, can be used as flags in the Start/Stop operating
mode.
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433 Festo P.BESPC200COMPDPEN en 0901c
4.5.3 Instructions on commissioning the PROFIBUS
Switch on the power supply
Please note
Please observe also the switchingon instructions in the
manual for your controller.
When you switch on your controller, it automatically carries
out a comparison between the NOMINAL and the ACTUAL
configurations. For this configuration run it is important that:
S the configuration specifications are complete and correct.
S the power supplies for the programmable logic controller
and that for the field bus slaves are switched on either
simultaneously or in the sequence indicated below.
Please observe the following points when switching on the
power supply:
Common supply
If there is a common supply for the control system and for
all the field bus slaves, the power should be switched on
via a central power unit or central switch.
Separate supply
If there is a separate supply for the control system and for
the field bus slaves, the power should be switched on in
the following sequence:
1. the power supply for all the field bus slaves
2. the compressed air supply for the axes connected to
the SPC200
3. the power supply for the control system.
4. Commissioning
434 Festo P.BESPC200COMPDPEN en 0901c
4.5.4 Switchon reaction of the field bus module
Please note
When projects are loaded with WinPISA, the field bus mod
ule is reinitialized. There is then no exchange of data until
the field bus module is reconfigured by the master.
Information on the switchon reaction of the SPC200 can be
found in section 4.7.1 as well as in the user manual for the
SPC200. The following diagram shows the switchon reaction
of the field bus module. Detailed information on the fault di
agnosis can be found in chapter 6.
4. Commissioning
435 Festo P.BESPC200COMPDPEN en 0901c
No
BUS ERROR
LED flashes
fast
No Yes
Power LED on
BUS ERROR LED on
Initialization
Self test
Faults?
Hardware
fault?
BUS ERROR LED
flashes slowly (offline)
Configuration
by
master?
Switch off
BUS ERROR LED
Data
exchange OK?
Yes
BUS ERROR
LED flashes
briefly
No
Yes
Yes
No
1
2
1 Set correct PROFIBUS address or operating mode
2 Servicing required
Fig.4/14: Switchon reaction of the field bus module
4. Commissioning
436 Festo P.BESPC200COMPDPEN en 0901c
4.5.5 Response monitoring
The response monitoring influences the reaction when field
bus communication fails, e.g. due to cable fracture. The
SPC200 can be operated with active or inactive response
monitoring.
With active response monitoring, all field bus inputs of the
SPC200 will be reset to 0 when the response monitoring time
has expired.
With inactive response monitoring, the status of the field bus
inputs remains unmodified in the event of failure of the field
bus communication.
4. Commissioning
437 Festo P.BESPC200COMPDPEN en 0901c
4.6 Commissioning on the field bus
Please note
Please observe also the instructions in the manual for your
controller.
Commissioning software for the field bus master usually pro
vides an online operating mode. In this online mode you can
influence the current states of the field bus inputs and out
puts.
As with commissioning with WinPISA, you can also generate
the control signals of the SPC200 via the PROFIBUS master.
By means of the online operating mode of the software for
the PROFIBUS master, you can test the functioning of the
SPC200 on the field bus.
The following tables give an overview of the configurable field
bus address range of the field bus module. Address assign
ment from the point of view of the SPC200.
Please note
Outputs of the master are mapped on internal inputs;
internal outputs of the field bus module are mapped on
inputs of the master.
4. Commissioning
438 Festo P.BESPC200COMPDPEN en 0901c
4.6.1 Internal I/O addresses with the Start/Stop mode
The configured outputs of the master are mapped on the
input bits.
Byte Bit 7
Bit 15
Bit 6
Bit 14
Bit 5
Bit 13
Bit 4
Bit 12
Bit 3
Bit 11
Bit 2
Bit 10
Bit 1
Bit 9
Bit 0
Bit 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/
RESET
I10.9
ENABLE
I10.8
n+2
n+3
I11.7
I11.15
I11.6
I11.14
I11.5
I11.13
I11.4
I11.12
I11.3
I11.11
I11.2
I11.10
I11.1
I11.9
I11.0
I11.8
n+4
n+5
I12.7
I12.15
I12.6
I12.14
I12.5
I12.13
I12.4
I12.12
I12.3
I12.11
I12.2
I12.10
I12.1
I12.9
I12.0
I12.8
n+6
n+7
I13.7
I13.15
I13.6
I13.14
I13.5
I13.13
I13.4
I13.12
I13.3
I13.11
I13.2
I13.10
I13.1
I13.9
I13.0
I13.8
1)
Address assignment from the point of viewof the SPC200
The internal outputs of the field bus module are mapped on
the configured inputs of the master.
Byte Bit 7
Bit 15
Bit 6
Bit 14
Bit 5
Bit 13
Bit 4
Bit 12
Bit 3
Bit 11
Bit 2
Bit 10
Bit 1
Bit 9
Bit 0
Bit 8
Output bits (Q10.0...Q13.15)
1)
n
n + 1
Q10.7
Q10.15
Q10.6
Q10.14
Q10.5
Q10.13
MC_B
Q10.12
MC_A
Q10.11
Sync_OB
Q10.10
Sync_OA
Q10.9
READY
Q10.8
n+2
n+3
Q11.7
Q11.15
Q11.6
Q11.14
Q11.5
Q11.13
Q11.4
Q11.12
Q11.3
Q11.11
Q11.2
Q11.10
Q11.1
Q11.9
Q11.0
Q11.8
n+4
n+5
Q12.7
Q12.15
Q12.6
Q12.14
Q12.5
Q12.13
Q12.4
Q12.12
Q12.3
Q12.11
Q12.2
Q12.10
Q12.1
Q12.9
Q12.0
Q12.8
4. Commissioning
439 Festo P.BESPC200COMPDPEN en 0901c
Byte Bit 0
Bit 8
Bit 1
Bit 9
Bit 2
Bit 10
Bit 3
Bit 11
Bit 4
Bit 12
Bit 5
Bit 13
Bit 6
Bit 14
Bit 7
Bit 15
n+6
n+7
Q13.7
Q13.15
Q13.6
Q13.14
Q13.5
Q13.13
Q13.4
Q13.12
Q13.3
Q13.11
Q13.2
Q13.10
Q13.1
Q13.9
Q13.0
Q13.8
1)
Address assignment from the point of viewof the SPC200
4.6.2 Internal I/O addresses with Record Selection mode
The configured outputs of the master are mapped on the
input bits (I10.0...I11.15).
Byte Bit 7
Bit 15
Bit 6
Bit 14
Bit 5
Bit 13
Bit 4
Bit 12
Bit 3
Bit 11
Bit 2
Bit 10
Bit 1
Bit 9
Bit 0
Bit 8
Input bits (I10.0...I11.15)
1)
n
n + 1

CLK_B

CLK_A

STOP

RESET

ENABLE

n+2
n+3
RECBIT...
Record number from 0 to 999, output word (2 byte, MSBLSB)
1)
Address assignment from the point of viewof the SPC200
The internal outputs of the field bus module are mapped on
the configured inputs of the master.
Byte Bit 7
Bit 15
Bit 6
Bit 14
Bit 5
Bit 13
Bit 4
Bit 12
Bit 3
Bit 11
Bit 2
Bit 10
Bit 1
Bit 9
Bit 0
Bit 8
Output bits (Q10.0...Q13.15)
1)
n
n + 1

RC_B

RC_A

ACK_B

ACK_A

Ready

1)
Address assignment from the point of viewof the SPC200
4. Commissioning
440 Festo P.BESPC200COMPDPEN en 0901c
4.6.3 Program examples
The following section contains program examples which
should assist you in programming your field bus master. Posi
tion specifications and I/O addresses must be adapted to
your application. The examples are based on the following
symbols:
SPS I/O SPC200 I/O Symbolic
meaning
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 programA
O20.4 I10.4 SYNC_IB Synchronization input for programB
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 master
UN READY
S ENABLE Enable controller
S STOP Set stop
S SYNC_IA M00 prepare quit for
program A
S SYNC_IB Preparation for program B
U READY System ready
S START/RESET Generate starting edge
4. Commissioning
441 Festo P.BESPC200COMPDPEN en 0901c
Quit the programmed stop" (M00) with subsystem A
NC program in the SPC200
N0000 G00 XPOS1 Move to POS1
N0001 M00 Programmed stop
N0002 G00 XPOS2 Move to POS2
N0003 G00 XPOS3 Move to POS3
N0004 ....
N0005 ....
N0006 ....
N0007 M30 Program end with repeat
Program in the master
....
U E 0.0 if M00 is to be quited
U SYNC_OA and the SPC200 is in
U 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
442 Festo P.BESPC200COMPDPEN en 0901c
Example of record selection mode
SPS I/O SPC200 I/O Symbolic
meaning
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 programA
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 programA
I20.3 Q10.3 RC_A NC record concluded by programA
Create and start NC record
Program in the master
....
L KH 0001 Determine NC record number
T OW 22 Create NC record
UN CLK_A Master in output position
UN ACK_A SPC200 ready
U RC_A NC record concluded
S CLK_A Start NC record
U CLK_A if task is issued
U ACK_A and task is accepted
UN RC_A NC record is processed
R CLK_A Signal in output position
....
4. Commissioning
443 Festo P.BESPC200COMPDPEN en 0901c
4.6.4 Reading and writing consistent data with the S7
In order that the parameter channel (PKW) can be used,
8bytes of data (data consistency over the complete length)
must be transmitted consistently. With the Load and Transfer
commands of the S7, which access the peripherals or the
processing image of the inputs and outputs, maximum four
bytes can be transmitted together.
For consistent reading and writing of more than four bytes of
data, 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
444 Festo P.BESPC200COMPDPEN en 0901c
4.7 Sequence plans for the programmer
The following sequence plans will assist you in programming
a higherorder 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. For
example: READY stands for the READY signal, 1 stands for the
1 signal, 0 stands for the 0 signal.
4.7.1 Creating readiness to operate
When the power supply is switched on, the SPC200 performs
the initialization and self test of the connected modules. This
initialization phase can take a certain amount of time, de
pending on the equipment fitted on the system (max. 10 s).
Please note
During this initialization phase no further rising edge may
be 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 1signal for a
short period. You must therefore wait a further 100ms after
the first recognition of the 1signal at the READY output. The
signal at the READY output must then be scanned once again
for a 1signal (see Fig.4/15 and Fig.4/16; Sequence plan
Creating the readiness to operate").
4. Commissioning
445 Festo P.BESPC200COMPDPEN en 0901c
The following signals must be present at the controller inputs
before the readiness to operate can be created:
Record Select mode
Controller input Signal
ENABLE 0signal
1)
STOP 0signal
RESET 0signal
CLK_B Not relevant
CLK_A Not relevant
1)
Observe the instructions on enabling the controller in section 4.1.
Start/Stop mode
Controller input Signal
ENABLE 0signal
1)
STOP 0signal
START/RESET 0signal
SYNC_IB Not relevant
SYNC_IA Not relevant
1)
Observe the instructions on enabling the controller in section 4.1.
4. Commissioning
446 Festo P.BESPC200COMPDPEN en 0901c
Wait 10 s
Initialization
phase
Switch on the operating
voltage and the load volt
age supplies at the same
time
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 operating
voltagesupply
1
Switch on operating
and load voltage
supplies
together?
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
447 Festo P.BESPC200COMPDPEN en 0901c
1
Start timer 2 s
No
Timer
expired?
Yes
No
READY =1?
Yes
Wait 100 ms
READY =1?
End
Yes
No
SPC200 is ready to operate
SPC200 is faulty
Wait for thereadiness to operateof thesteppingmotor and the
pneumatic axes (reaction time max. 2 s).
Wait for fault
Set STOP
Wait 10 ms
Debouncingtime
Fig.4/16: Creating readiness to operate (continued)
4. Commissioning
448 Festo P.BESPC200COMPDPEN en 0901c
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 Timer
expired?
Yes
Faults
No
ACK_A/B
=1?
Yes
Start NC record in Record
Select 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
449 Festo P.BESPC200COMPDPEN en 0901c
No
Timer
expired?
Yes
Faults
No
Yes
Start timer 2 s
RC_A/B
=1?
End
No
Timer
expired?
Yes
Faults
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
450 Festo P.BESPC200COMPDPEN en 0901c
4.7.3 Start program or NC record
Prerequisites
The programmust be in the programmemory
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 (1signal 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 or
continued with a rising edge at the START input. In this case
there must be a 1signal at the STOP input.
If there is a 0signal at the STOP input, a program reset will be
triggered by a rising edge at the START input.
Set START
Reset START
Wait 10 ms
Process NC programin
Start/Stop mode
Prepare newstart
NC programis started
Debouncingtime
End
Fig.4/19: Start NC program in Start/Stop mode
4. Commissioning
451 Festo P.BESPC200COMPDPEN en 0901c
4.7.4 Carry out fault quitting
When serious faults have been quitted, the SPC200 performs
the initialization and self test of the connected modules. This
initialization phase can take a certain amount of time, de
pending on the equipment fitted on the system (max. 10 s).
Please note
During this initialization phase no further rising edge may
be 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 be
repeated 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 cause
of 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. after
Emergency stop), an appropriate fault message is generated.
When the load voltage is switched on again, you must wait 1
second until the fault is quitted (see Fig.4/15 Creating the
readiness to operate).
The following signals must be present at the controller inputs
before faults can be quitted:
4. Commissioning
452 Festo P.BESPC200COMPDPEN en 0901c
Record Select mode
Controller input Signal
ENABLE 1signal
STOP When quitting with the RESET signal: 0signal
When quitting with the CLK signal: 1signal
RESET 0signal
CLK_B 0signal
CLK_A 0signal
Fig.4/20: Signal states required in Record Select mode
Start/Stop mode
Controller input Signal
ENABLE 1signal
STOP 1signal
*)
START/RESET 0signal
SYNC_IB Not relevant
SYNC_IA Not relevant
*)
If there is a 0signal at the STOP input, a programreset will be
triggered by a rising edge at the START/RESET input.
Fig.4/21: Signal states required in the Start/Stop mode
4. Commissioning
453 Festo P.BESPC200COMPDPEN en 0901c
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 Quitting
counter
> 3 ?
Fault cannot be quitted.
Diagnosisrequired
Yes
SPC200 is ready to operate
Fig.4/22: Fault treatment
4. Commissioning
454 Festo P.BESPC200COMPDPEN en 0901c
Set START or CLK
Start timer 10 s
No
Timer
expired?
Yes
No
READY =1?
Yes
Fault quitting
Wait 10 ms
Reset START or CLK
Debouncingtime
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 signal
states
Wait 10 ms
Debouncingtime
The necessary signal states depend on the operating mode
used (see Fig.4/20 and Fig.4/21).
End
Fig.4/23: Carry out fault quitting
Parameter channel
51 Festo P.BESPC200COMPDPEN en 0901c
Chapter 5
5. Parameter channel
52 Festo P.BESPC200COMPDPEN en 0901c
Contents
5.1 General instructions 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Structure of the parameter channel (PKW) 54 . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Task identifiers, reply identifiers and fault numbers 55 . . . . . . . . . . . . . . . . . . .
5.2.2 Rules for task reply processing 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Description of the parameters 511 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Parameter channel
53 Festo P.BESPC200COMPDPEN en 0901c
5.1 General instructions
The transmission of parameters takes place in cyclic telegram
communication via the parameter channel and is based on
the 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 initiative
of the SPC200
Parameter descriptions (PBE) and text concerning the
general description of the parameter function
The parameter channel consists of eight bytes which are
transmitted consistently via the PROFIBUS. The parameters of
the SPC200 are treated as passive parameters. Depending on
the individual parameter, the SPC200 supports the following
tasks in parameter processing:
Reading parameter values and fault messages
Modifying parameter values
Via the parameter channel, the parameter values must be
written with the data type which is assigned to the parameter
(see section 5.3).
Remanent data are retained until they are modified. In the
event of Project Download or Data Reset, they will be set to
the specified values or to the values set in the project. Non
remanent parameters will be initialized with the specified
values when the device is switched on. After being over
written, the new value remains valid until one of the following
events occcurs:
Switch off / System reset
Write a new value
5. Parameter channel
54 Festo P.BESPC200COMPDPEN en 0901c
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 the
parameter channel
Description
Parameter
identification (PKE)
Component of the parameter channel which contains the task and reply
identifiers (AK) and the parameter number (PNU).
The parameter number serves for identifying or addressing the individual
parameter. The task or reply identifier (AK) describes the task or the reply
in the form of an identifier number.
Subindex (IND) Addresses an element of an array parameter (subparameter number)
Parameter value (PWE) Value of the parameter (doubleword or word)
If a task of the parameter processing cannot be carried out, a fault number
will be shown instead of the value in the reply telegram. The fault number
describes the cause of the fault.
The parameter channel consists of 8 bytes. The structure of
the parameter channel as a factor of the size or type of the
parameter value is shown in the following table:
PWE
type
Byte
1
Byte
2
Byte
3
Byte
4
Byte
5
Byte
6
Byte
7
Byte
8
Double
word
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 telegramif the parameter processing task cannot be carried out.
5. Parameter channel
55 Festo P.BESPC200COMPDPEN en 0901c
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 task
or 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
5. Parameter channel
56 Festo P.BESPC200COMPDPEN en 0901c
If the task cannot be carried out, reply identifier 7 as well as
the appropriate fault number will be transmitted (negative
reply). The SPC200 does not generate a fault if the identifier
used permits a value range which is too large, e.g. if a bit
sequence (V2) is written with task identifier 8 (array, double
word) instead of with task identifier 7 (array, word). When
reading, the SPC200 always uses the smallest possible el
ement size.
The following table shows the reply identifiers:
Reply
identifier (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 extensions
2)
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 reply
telegram (bytes 7 and 8 of the PKW range). The following
table shows the possible fault numbers:
5. Parameter channel
57 Festo P.BESPC200COMPDPEN en 0901c
Fault
numbers
Description
0 NonpermittedPNU. 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. The
element addressed with the subindex has not been configured in the SPC200
(programdoes not exist, axis does not exist, no starting programdetermined for
this task, etc.)
4
1)
5 Incorrect data type. An attempt has been made to write a double word parameter
with 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 have
not been stopped (e.g. for writing a programnumber).
18 Other faults. Task identifier not permitted
19...100
1)
101 The position register has not yet been initialized. Its contents are not valid. You
must initialize it before reading by loading a valid value with WinPISA, by writing
per PKW task or per NC program.
102 The programselected has already been created in task A (B) and cannot therefore
be created in task B (A).
103 Programfaulty: A checksumfault is ascertained when the programis activated.
Please note The SPC200 nowalso registers a fault.
1)
These fault numbers are not used
5. Parameter channel
58 Festo P.BESPC200COMPDPEN en 0901c
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 reply
identifier for No reply."
2 A task or reply telegramalways refers to an individual parameter.
3 The master must continue to send a task until it has received the appropriate reply from
the 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 newtask.
6 With reply telegrams to the tasks Request parameter value" and Request parameter
value (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 once
by 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 reply
identifier 0 (no reply) must be expected. This is to ensure that an old" reply is not
interpreted as a new" reply.
Sequence of parameter processing
The master transmits a task to the SPC200 and repeats this
task 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, for
the subindex (IND).
5. Parameter channel
59 Festo P.BESPC200COMPDPEN en 0901c
Please note
Observe 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 modified
and if a movement is then to be made to this position, the
positioning command must not be given until the SPC200 has
completed and confirmed the modification of the position
register.
The SPC200 continues to provide the reply until the master
has formulated a new task. With reply telegrams to the tasks
Request parameter value (array)," the SPC200 always
replies in cyclic repetition with the updated parameter value.
A write task, even with cyclic repetition of the same task, will
only be carried out once by the SPC200. If the same write
task is to be carried out by the SPC200 several times one
after the other, an empty task (AK = 0) must be sent when a
positive 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 task
cannot however take place in the same bus cycle. When the
SPC200 has recognized the new task, it sends the reply to the
last task.
When the new task is recognized, it sends the reply identifier
0 (no reply), until it can provide the reply.
5. Parameter channel
510 Festo P.BESPC200COMPDPEN en 0901c
Please note
In order to be sure that an old" reply is not interpreted as
a new" reply, the task identifier 0 (no task) must be sent
and 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 slave
replies as follows:
Output reply identifier = 7
Output a fault number in bytes 7 and 8 of the parameter
channel
5. Parameter channel
511 Festo P.BESPC200COMPDPEN en 0901c
5.3 Description of the parameters
The following parameters are supported:
PNU Parameters Description
dec. hex.
200
d
C8
h
Actual position Current actual position of the axis (X, Y, Z or U)
201
d
C9
h
Nominal position Current nominal position of the axis (X, Y, Z or U)
202
d
CA
h
Reserved
203
d
CB
h
Reserved
204
d
CC
h
Diagnostic event Fault messages of the SPC200
205
d
CD
h
Position register X Position register (@) of the Xaxis
206
d
CE
h
Position register Y Position register (@) of the Yaxis
207
d
CF
h
Position register Z Position register (@) of the Zaxis
208
d
D0
h
Position register U Position register (@) of the Uaxis
209
d
D1
h
Register Register (R)
210
d
D2
h
Flag Flag (F)
211
d
D3
h
Inputs Inputs (I)
212
d
D4
h
Outputs Outputs (Q)
213
d
D5
h
Created program Number of the created NC program
214
d
D6
h
Created record Number of the created NC record
215
d
D7
h
Status task A, B Status information of task A and task B
5. Parameter channel
512 Festo P.BESPC200COMPDPEN en 0901c
PNU 200
d
... 201
d
(C8
h
... C9
h)
PNU 200
d
(C8
h
)
Actual position
PNU 201
d
(C9
h
)
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: Xaxis
2: Yaxis
3: Zaxis
4: Uaxis
Access rights Read: yes; write: no Read: yes; write: no
Protected against
power 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 to
the controller.
PNU 202
d
... 203
d
(CA
h
... CB
h)
PNU 202
d
(CA
h
)
reserved
PNU 203
d
(CB
h
)
reserved
Description Reserved for later extensions
5. Parameter channel
513 Festo P.BESPC200COMPDPEN en 0901c
PNU 204
d
(CC
h
): Diagnostic event
Description Fault messages of the SPC200
The fault message is to be interpreted as an eightfigure 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)
n1
3: Diagnostic event in the diagnostic memory
1)
n2
4: Diagnostic event in the diagnostic memory
1)
n3
...
17: Diagnostic event in the diagnostic memory
1)
n16
Access rights Read: yes; write: no
Protected against
power failure
No
Task identifier 6, 9
Reply identifier
(positive)
5, 6
Reference Descriptions of the eightfigure hexadecimal fault messages see System
Manual
1)
The diagnostic memory (fault stack) serves for protocolling fault states. By recording fault
sequences, you can find the cause of faults which are otherwise difficult to locate. If the causes
are eliminated, faults can be avoided over long periods.
5. Parameter channel
514 Festo P.BESPC200COMPDPEN en 0901c
PNU 205
d
... 208
d
(CD
h
... D0
h)
PNU 205
d
(CD
h
)
PNU 206
d
(CE
h
)
PNU 207
d
(CF
h
)
PNU 208
d
(D0
h
)
Position register
of the Xaxis
Position register
of the Yaxis
Position register
of the Zaxis
Position register
of the Uaxis
Description Position register
of the Xaxis
1)
Position register
of the Yaxis
1)
Position register
of the Zaxis
1)
Position register
of the Uaxis
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 0.0001
Speed: 0.1 m/s (0.0001 mm/s) or 0.0001 /s
Acceleration: 0.1 m/s
2
(0,0001 mm/s
2
) or 0.0001 /s
2
Tool load: 0.0001 Kg
Mass moment of inertia: 0.0001 Kgm
2
* 10
4
Scaling factor: 0.0001 mm/V
Subindices 1: Position register 0 of the relevant axis
2: Position register 1 of the relevant axis
3: Position register 2 of the relevant axis
...
100: Position register 99 of the relevant axis
Access rights Read: under condition
1)
; write: yes
2)
Protected against
power failure
Yes
Task identifier 6, 8, 9 6, 8, 9 6, 8, 9 6, 8, 9
Reply identifier
(positive)
5, 6 5, 6 5, 6 5, 6
1)
The SPC200 initializes the position register as standard with a value which marks the contents as
invalid. Invalid values must not be transmitted via the parameter channel. The reading of a position
register will then be rejected by the user before its first initialization. It is always permitted to
access all position registers, even if the axes do not exist.
2)
When written, the values are rounded to two figures after the decimal point.
5. Parameter channel
515 Festo P.BESPC200COMPDPEN en 0901c
PNU 209
d
(D1
h
): Register
Description Register (R)
Permitted values 32768 ... +32767
Presetting 0
Data type Integer16
Unit
Subindices 1: Register 0
2: Register 1
3: Register 2
...
100: Register 99
Access rights Read: yes; write: yes
Task identifier 6, 7, 8, 9
Reply identifier
(positive)
4, 5, 6
Protected against
power failure
Yes
5. Parameter channel
516 Festo P.BESPC200COMPDPEN en 0901c
PNU 210
d
(D2
h
): Flag
Description Flag (F)
Permitted values 0x0000h...0xFFFFh
Presetting 0
Data type Bit array
Unit
Subindices Freely programmable flags
1: Flag F0 ... F15
2: Flag F16 ... F31
3: Flag F32 ... F47
4: Flag F48 ... F63
Status flags
1)
5: Axis status flags F64 ... F87
6: System status flags F88 ... F95
7: reserved
8: reserved
Access rights Read: yes; write: yes
Task identifier 6, 7, 8, 9
Reply identifier
(positive)
4, 5, 6
Protected against
power failure
Yes
1)
As from operating system version 4.6 the flags F64...F127 are reserved for internal status
information.
5. Parameter channel
517 Festo P.BESPC200COMPDPEN en 0901c
PNU 211
d
... 212
d
(D3
h
... D4
h)
PNU 211
d
(D3
h
)
Inputs
PNU 212
d
(D4
h
)
Outputs
Description Inputs (I) Outputs (Q)
Permitted values Lower limit: 0x0000h
Upper 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 module
I2.0...I2.9
3: I/O module on the second AIF
string
I3.0...I3.15
4: Second I/O module
I4.0...I4.9
5: Third I/O module
I5.0...I5.15
Outputs
1)
1: I/O module on the first AIF string
Q1.0...Q1.15
2: First I/O module
Q2.0...Q2.7
3: I/O module on the second AIF
string
Q3.0...Q3.15
4: Second I/O module
Q4.0...Q4.7
5: Third I/O module
Q5.0...Q5.7
Access rights Read: yes; write: no Read: yes; write: yes
Task identifier 6, 9 6, 7, 8, 9
Reply identifier
(positive)
4, 5, 6 4, 5, 6
Protected against
power failure
No No
1)
Only the inputs/outputs of the available modules can be addressed.
5. Parameter channel
518 Festo P.BESPC200COMPDPEN en 0901c
PNU 213
d
(D5
h
): Created NC program
Description Number of the created NC program(NC programis active or ready to start)
Permitted values 0...99
Presetting 0
Data type Unsigned16
Unit
Subindices 1: Applied programin task A
2: Applied programin task B
Access rights Read: yes; write: under condition
1)
Task identifier 6, 7, 8, 9
Reply identifier
(positive)
4, 5, 6
Protected against
power failure
No
1)
Writing is only permitted if:
the SPC200 has stopped and there is a 1signal at the ENABLE input (otherwise a write task will
trigger fault number 17 (see also section 5.2.1).
a starting programhas been configured for the relevant task.
different programs have been created for the two tasks.
5. Parameter channel
519 Festo P.BESPC200COMPDPEN en 0901c
PNU 214
d
(D6
h
): Created NC record
Description Created NC record (NC record is active or ready to start)
Permitted values 0...999
Presetting 0
Data type Unsigned16
Unit
Subindices 1: Applied NC record in task A
2: Applied NC record in task B
Access rights Read: yes; write: no
Task identifier 6, 9
Reply identifier
(positive)
4, 6
Protected against
power failure
No
5. Parameter channel
520 Festo P.BESPC200COMPDPEN en 0901c
PNU 215
d
(D7
h
): Status task A, B
Description Status information of task A and task B
Permitted
values
0000.0000...FFFF.FFFF
values
Nibble
1)
7 6 5 4 3 2 1 0
Con
tents
Re
served
Record
status
2)
Program
status
3)
Current
programno.
4)
Current record
number
5)
Presetting Appropriate status
Data type Unsigned32
Unit
Subindices 1: Status task A
2: Status task B
Access rights Read: yes; write: no
Task identifier 6, 9
Reply
identifier
(positive)
5, 6
Protected
against power
failure
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 out
3)
Programstatus: 0: Programis not carried out; 1: Programis carried out
4)
Current programnumber: 0...99
5)
Current record number: 0...999
Diagnosis and error treatment
61 Festo P.BESPC200COMPDPEN en 0901c
Chapter 6
6. Diagnosis and error treatment
62 Festo P.BESPC200COMPDPEN en 0901c
Contents
6.1 General instructions on diagnosis 63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Onthespot diagnosis 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Diagnosis with WinPISA 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Diagnosis via PROFIBUSDP 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Structure of the devicerelated diagnosis 611 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Diagnosis via programmer/PC 615 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosis and error treatment
63 Festo P.BESPC200COMPDPEN en 0901c
6.1 General instructions on diagnosis
Information on general diagnosis and fault treatment can be
found in the manual for the SPC 200 type P.BESPC200....
This chapter contains information on diagnosing the field bus
module as well as diagnosis and fault treatment via the
fieldbus.
Overview of diagnostic possibilities
The SPC200 offers extensive and userfriendly possibilities of
diagnosis and fault treatment. The following possibilities are
available:
The WinPISA status display shows whether there are
faults 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 in
the form of an 8figure hexadecimal number. In online
mode WinPISA shows the 8figure fault message as well
as a description of the fault in clear text.
The coded 8figure fault messages of the SPC200 can be
requested as diagnostic information via the field bus.
The basic readiness of the system to operate is shown
with the output bit READY (Q10.0) on the field bus.
6. Diagnosis and error treatment
64 Festo P.BESPC200COMPDPEN en 0901c
6.2 Onthespot diagnosis
The two LEDs on the field bus module enable a speedy on
thespot 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 bus
master exists
lights up flashes fast Parametrizing fault PROFIBUS address or
operating mode not permitted
lights up flashes slowly Operating status normal, no connection to field
bus master
lights up flashes briefly Hardware fault; servicing required
lights up lights up Function card has not started; SPC200 defective
or 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
OFF
flashes slowly
ON
OFF
flashes briefly
6. Diagnosis and error treatment
65 Festo P.BESPC200COMPDPEN en 0901c
6.3 Diagnosis with WinPISA
You can look at important system data of the SPC200 with
the command [Diagnosis] [Status display] in the menu
[Online]. The register card Field bus" shows status
messages via the field bus connection.
Fig.6/1: WinPISA status display Field bus"
The following table contains a description of the possible
status messages for the field bus connection (see Fig.6/2).
6. Diagnosis and error treatment
66 Festo P.BESPC200COMPDPEN en 0901c
Status message Meaning
Field bus type Protocol of the installed field bus module
Connection Parametrizing: No connection to the field bus; the SPC200 waits for
parametrizing by the master
Configuring: Waits for configuration by the PROFIBUS master
Data exchange: Data exchange is running
Bus address Set field bus address
Baud rate Current baud rate of the PROFIBUSDP 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 on
faults (see Fig.6/3)
1)
While the connection is being made, the display changes constantly until the SPC200 can
ascertain the baud rate of the PROFIBUSDP 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
6. Diagnosis and error treatment
67 Festo P.BESPC200COMPDPEN en 0901c
Information Meaning
(Bus status) parametrizing No connection to the field bus; the SPC200 waits for
parametrizing 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 occurs
again, replace SPC200
Station address not valid Correct PROFIBUS address
Operating mode not valid The operating mode set is not supported. Set the correct
operating mode.
No connection to the SPC200 Carry out system reset or switch on SPC200 again
Field bus card not yet
initialized
Carry out system reset or switch on SPC200 again
Config. incorrect (SPS master) I/O configuration of the master faulty. I/O configuration of the
master must match the configuration of the SPC200 (see rules on
configuration in section 4.4.2).
Not initialized The field bus card has not yet been initialized. Carry out system
reset or switch on SPC200 again; if fault occurs again, replace
SPC200
Fig.6/3: Status information on faults
6. Diagnosis and error treatment
68 Festo P.BESPC200COMPDPEN en 0901c
6.4 Diagnosis via PROFIBUSDP
Structure of the slave
diagnosis of the SPC200
The slave diagnosis of the SPC200 reacts in accordance with
standard 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 status
and the general status of the SPC200
2 Station status 2
and the general status of the SPC200.
3 Station status 3
4 Master PROFIBUS address PROFIBUS address of the DP master via which the
SPC200 was parametrized and which has both
read and write access.
5 Manufacturer identifier
(for SPC200 00C8 )
Describes the type of the DP slave
(here 00C8 )
6
(for SPC200 = 00C8
H
) (here 00C8
H
)
7 Header
(for the devicerelated diagnosis)
Specifies the length of the devicerelated
diagnosis incl. header.
1)
8 Devicerelated diagnosis 1
(bits 4...7 = additional information [8]
bits 0...3 = additional information [7] )
Describes in detail the status of the SPC200 in the
form of an 8figure hexadecimal fault message.
2)
9 Devicerelated diagnosis 2
(bits 4...7 = additional information [6]
bits 0...3 = fault number [5] )
10 Devicerelated diagnosis 3
(bits 4...7 = fault number [4]
bits 3...0 = axis identifier [3] )
11 Devicerelated 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 devicerelated diagnosis incl. header byte
are made available/transmitted.
2)
[n] = position of the hexadecimal fault message
6. Diagnosis and error treatment
69 Festo P.BESPC200COMPDPEN en 0901c
The method of requesting the slave diagnosis can be found in
the manual for the DP master.
If the devicerelated diagnosis is not treated, this results in a
stop 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 is
set, it is sensible to evaluate the devicerelated diagnosis.
Station status 1
Bit Meaning Explanation
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 not
agree with those ascertained by the SPC200.
3 Diag.Ext_Diag There is a devicerelated diagnosis.
1)
4 Diag.Not_Supported 1 = The bit is set if the SPC200 does not support the
function requested.
5 Diag.Invalid_Slave_Response Always 0 (always reset to 0 by the SPC200)
2)
6 Diag.Prm_Fault Last parametrizing telegramfaulty
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
6. Diagnosis and error treatment
610 Festo P.BESPC200COMPDPEN en 0901c
Station status 2 (only SPC200related bits)
Station status 2
Bit Meaning Explanation
0 Diag.Prm_Req 1 = Master must configure the SPC200 again
1 Diag.Stat_Diag 1 = Master must request diagnostic data until this bit is
set 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
Bit Meaning Explanation
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. Diagnosis and error treatment
611 Festo P.BESPC200COMPDPEN en 0901c
6.4.1 Structure of the devicerelated diagnosis
The devicerelated diagnosis 1...4 contains the 8figure fault
number of the SPC200. This fault message can also be in
spected with the control panel or with WinPISA. The coded
fault message contains information on:
fault class
axis identifier
fault number
if applicable, additional information.
Structure of the 8figure fault messages
The individual positions in this hexadecimal number are dis
tributed amongst the diagnostic bytes as follows:
1 2 3 4
5 6
0 0 0 0 0 0 0 0
7 8
1 Devicerelated diagnosis 1
2 Devicerelated diagnosis 2
3 Devicerelated diagnosis 3
4 Devicerelated diagnosis 4
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
6. Diagnosis and error treatment
612 Festo P.BESPC200COMPDPEN en 0901c
A detailed description of the possible fault messages can be
found in the SPC200 manual.
Devicerelated diagnosis 1
Contains the second and third hexadecimal positions of the
additional information.
1 Second
hexadecimal
position of the
additional
information
2 Third hexadecimal
position of the
additional
information
1 2
7 6 5 4 3 2 1 0
Fig.6/8: Structure of devicerelated diagnosis 1
Devicerelated diagnosis 2
Contains the first hexadecimal position of the additional in
formation and the second hexadecimal position of the fault
number.
1 Second
hexadecimal
position of the
fault number
(2figure)
2 First hexadecimal
position of the
additional
information
(3figure)
1 2
7 6 5 4 3 2 1 0
Fig.6/9: Structure of devicerelated diagnosis 2
6. Diagnosis and error treatment
613 Festo P.BESPC200COMPDPEN en 0901c
Devicerelated diagnosis 3
Contains the first hexadecimal position of the fault number
and the singlefigure axis identifier.
1 Axis identifier
(singlefigure;
(0...4)
2 First hexadecimal
position of the
fault number
(2figure)
1 2
7 6 5 4 3 2 1 0
Fig.6/10: Structure of devicerelated diagnosis 3
Axis identifier Meaning
0 Systemfault (not axisrelated)
1 Faults with the Xaxis
2 Faults with the Yaxis
3 Faults with the Zaxis
4 Faults with the Uaxis
6. Diagnosis and error treatment
614 Festo P.BESPC200COMPDPEN en 0901c
Devicerelated diagnosis 4
Contains the first and second hexadezimal positions of the
twofigure fault class.
1 First hexadecimal
position of the
fault class
(2figure)
2 Second
hexadecimal
position of the
fault class
(2figure)
1 2
7 6 5 4 3 2 1 0
Fig.6/11: Structure of devicerelated diagnosis 4
Diagnosis via general DP master
Please note
The identiferrelated or channelrelated diagnosis listed in
EN 50170 (DIN 19245) is not supported.
6. Diagnosis and error treatment
615 Festo P.BESPC200COMPDPEN en 0901c
6.5 Diagnosis via programmer/PC
In addition to the bus configuration, some software programs
also 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 from
Siemens.
Connect the programmer/PC to the PROFIBUSDP interface of
the SPC200.
6. Diagnosis and error treatment
616 Festo P.BESPC200COMPDPEN en 0901c
Technical appendix
A1 Festo P.BESPC200COMPDPEN en 0901c
Appendix A
A. Technical appendix
A2 Festo P.BESPC200COMPDPEN en 0901c
Contents
A.1 Data types A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Integer16 A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2 Unsigned16 A4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.3 Unsigned32 A4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.4 Bit array A5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.5 Integer32 A5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Number formats of the nominal and actual values in the processing data A6 .
A.3 Technical specifications A7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix
A3 Festo P.BESPC200COMPDPEN en 0901c
A.1 Data types
The data types named are standardized and are described in
the 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 two
2)
Unsignedwhole numbers
3)
Grouping of 16 Boolean variables in two bytes
A.1.1 Integer16
Data type Coding Value range Resolution Length
Integer16 3 32768...+32767 1 2 bytes
An integer16value is a 16bit signed whole number. Coding is
in complement of two.
Bit 8 7 6 5 4 3 2 1
Byte 1 SN 2
14
2
13
2
12
2
11
2
10
2
9
2
8
Byte 2 2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
SN (sign): 0 =positive numbers or zero; 1 =negative numbers
The highestvalue bit (MSB) is the bit after the sign bit (SN) in
the first byte.
A. Technical appendix
A4 Festo P.BESPC200COMPDPEN en 0901c
A.1.2 Unsigned16
Data type Coding Value range Resolution Length
Unsigned16 6 0...65535 1 2 bytes
An unsigned16value is a 16bit unsigned whole number.
Bit 8 7 6 5 4 3 2 1
Byte 1 2
15
2
14
2
13
2
12
2
11
2
10
2
9
2
8
Byte 2 2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
A.1.3 Unsigned32
Data type Coding Value range Resolution Length
Unsigned32 7 0...4.294.967.295 1 4 bytes
An unsigned32value is a 32bit unsigned whole number.
Bit 8 7 6 5 4 3 2 1
Byte 1 2
31
2
30
2
29
2
28
2
27
2
26
2
25
2
24
Byte 2 2
23
2
22
2
21
2
20
2
19
2
18
2
17
2
16
Byte 3 2
15
2
14
2
13
2
12
2
11
2
10
2
9
2
8
Byte 4 2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
A. Technical appendix
A5 Festo P.BESPC200COMPDPEN en 0901c
A.1.4 Bit array
Data type Coding Value range Resolution Length
Bit array 35 2 bytes
A bit sequence is a grouping of 16 Boolean variables in two
bytes.
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
Data type Coding Value range Resolution Length
Integer32 42 214.748,3648 ...
+214.748,3647
10
4
=0.0001 4 bytes
An integer32 value is a 32bit signed whole number. Coding is
in 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 2
30
2
29
2
28
2
27
2
26
2
25
2
24
Byte 2 2
23
2
22
2
21
2
20
2
19
2
18
2
17
2
16
Byte 3 2
15
2
14
2
13
2
12
2
11
2
10
2
9
2
8
Byte 4 2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
SN (sign): 0 =positive numbers or zero; 1 =negative numbers
The highestvalue bit (MSB) is the bit after the sign bit (SN) in
the first byte.
A. Technical appendix
A6 Festo P.BESPC200COMPDPEN en 0901c
A.2 Number formats of the nominal and actual values in the processing
data
Actual position, nominal position
Data type Integer32 (coding 42)
Permitted value
range
9.999,9900...+9.999,9900
Unit 0.1 m
Special features Position values must be transmitted
consistently.
Active program
Data type Unsigned16 (coding 6)
Permitted value
range
0...+99
Unit
Active record
Data type Unsigned16 (coding 6)
Permitted value
range
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. Technical appendix
A7 Festo P.BESPC200COMPDPEN en 0901c
A.3 Technical specifications
Type SPC200COMPDP
Temperature range
Operation
Storage/transport
5 ... + 50

C
20 ... + 70

C
Weight 80 g
Relativehumidity 95%, noncondensing
Field bus
Design
Transmissiontype
Protocol
Baud rate
Cable length (depending on baud rate and
cable type)
Loading capacity of positive power supply
(P5V) pin 6

RS 485, floating
Serial asynchronous, halfduplex
PROFIBUSDP (standard slave)
tested as per DIN 19245 parts 1 to 4;
EN 50170 vol. 2
9.6...12000 kbits/s, automatic baud rate
recognition
Up to 23.8 km
Max. 100 mA
CE symbol (declaration of conformity)
www.festo.com
In accordance with EU EMC Directive
Vibration and shock
Vibration
Shock

Tested to DIN/IEC 68, part 26
0,15mmpath at 10...58 Hz;
2 g acceleration at 58...150 Hz
Tested to DIN/IEC 68, part 227
30 g at 11ms duration;
5 shocks in each direction
1)
The component is intended for industrial use.
Further technical specifications concerning the SPC200 can
be found in the System Manual for the SPC200 type
P.BESPC200... or in the relevant supplementary description.
A. Technical appendix
A8 Festo P.BESPC200COMPDPEN en 0901c
Index
B1 Festo P.BESPC200COMPDPEN en 0901c
Appendix B
B. Index
B2 Festo P.BESPC200COMPDPEN en 0901c
B. Index
B3 Festo P.BESPC200COMPDPEN en 0901c
A
Abbreviations XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Activate the test mode 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active NC record 519 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active program 518 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual positions 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Address range 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B
Basic structure for PROFIBUS 15 . . . . . . . . . . . . . . . . . . . . . .
Bit array A5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Branch line, Connection via a branch line 39 . . . . . . . . . . . . .
C
Carry out fault quitting 451 . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting and display elements 14 . . . . . . . . . . . . . . . . . . .
Creating readiness to operate 444 . . . . . . . . . . . . . . . . . . . . .
D
Data types A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designated use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis
Devicerelated diagnosis 611 . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis with WinPISA 65 . . . . . . . . . . . . . . . . . . . . . . . . .
Onthespot diagnosis 64 . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Structure of the slave diagnosis of the SPC200 68 . . . . . .
Diagnostic memory 513 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital nominal value specification 18 . . . . . . . . . . . . . . . . . .
B. Index
B4 Festo P.BESPC200COMPDPEN en 0901c
DP identifiers
DP identifier for setpoint positions 421 . . . . . . . . . . . . . . .
DP identifiers for the actual positions 420 . . . . . . . . . . . . .
DP identifiers for the parameter channel 419 . . . . . . . . . .
DP identifiers for the Record Select mode 418 . . . . . . . . .
DP identifiers for the Start/Stop mode 417 . . . . . . . . . . . .
DP master (standard) 427 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F
Fault messages,
Structure of the 8figure fault messages 611 . . . . . . . . . .
Fault numbers 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Field bus cable, Specifications of the field bus cable 35 . . .
Fitting a module 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flag (F) 516 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FREEZE 414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
G
GSD file 412 , 432 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I
I/O control signals (overview) 45 . . . . . . . . . . . . . . . . . . . . . .
I/O signals 18 , 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX . . . . . . . . . . . . . . . . . . . . . . . . .
Inputs 517 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integer16 A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integer32 A5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L
List of abbreviations XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
M
Manuals on the SPC200 XIV . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index
B5 Festo P.BESPC200COMPDPEN en 0901c
N
Nominal value specification, Digital 18 . . . . . . . . . . . . . . . . .
O
Operating modes 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Opticalfibre cable 310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Outputs 517 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P
Parameter channel 18 , 53 , 54 . . . . . . . . . . . . . . . . . . . . . . .
Parameter identification (PKE) 54 . . . . . . . . . . . . . . . . . . . . .
Parameter identifier (PKE) 55 . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter value (PWE) 54 . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameters 511 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pictograms X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position register 514 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUSDP interface 34 . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the bus cable 37 . . . . . . . . . . . . . . . . . . . . . . .
R
Register (R) 515 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Removing a module 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reply identifiers 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Response monitoring 436 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index
B6 Festo P.BESPC200COMPDPEN en 0901c
S
Sequence plans 444 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence plans for the programmer 444 . . . . . . . . . . . . . . .
Service VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setpoint positions 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status task A, B 520 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Subindex (IND) 54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Symbol files 412 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SYNC 415 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
T
Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Task identifiers 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Technical specifications A7 . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminating resistor
Plug with integrated terminating resistor 36 . . . . . . . . . . .
Structure 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Text markings X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
U
Unsigned16 A4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unsigned32 A4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .