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ManualElectronic/Pneumatics

System DescriptionSoft StopType SPC11-...-...

Manual196 724en 1406e[8038004]

Soft Stop SPC11

Contents and general instructions

I

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

Edition en 1406e. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE-SPC11-SYS-EN. . . . . . . . . . . . . . . . . . . . . .

Order no. 196 724. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo SE & Co. KG, D-73726 Esslingen, 2006)Internet: http://www.festo.comE-Mail: [email protected]

The reproduction, distribution and utilization of this document as well as the communicaton of its contents to others without express authorization is prohibited. Offenders will be held lia-ble for the payment of damages. All rights reserved in the event of the grant of a patent, utility module or design.

Festo P.BE-SPC11-SYS-EN en 1406e


II Festo P.BE-SPC11-SYS-EN en 1406e


IIIFesto P.BE-SPC11-SYS-EN en 1406e

Contents

Designated use V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Service VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Target audience VI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Notes on the use of this manual VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Product-specific terms and abbreviations XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Summary of components 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Structure 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.2 Method of operation 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.3 Display and connecting elements of the SPC11 1-9. . . . . . . . . . . . . . . . . . . . . . .

2. Fitting 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Fitting the SPC11 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 General instructions on installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2 Notes on installing the pneumatic components 3-4. . . . . . . . . . . . . . . . . . . . . . .3.2.1 Additional pneumatic circuits 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3 Installing the electronic components 3-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Connecting elements of the SPC11 3-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3.2 Connecting the operating voltage and I/Os 3-24. . . . . . . . . . . . . . . . . . . . . . . . . .3.3.3 Connecting the proportional directional control valve and the measuring system3-29

4. Commissioning 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General instructions on commissioning 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1.1 Basic principles of configuring and operating the SPC11 4-4. . . . . . . . . . . . . . .4.2 Pre-parameterising in the office 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Parameters A, C and S 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.2 Parameters L and r (only with type SPC11-INC) 4-8. . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE-SPC11-SYS-EN en 1406e

4.2.3 Parameter o (options) 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.4 Behaviour on stopping via I4 4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.5 Set parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.6 Changing parameters 4-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Commissioning procedure 4-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.1 Preparations for the teach procedure 4-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.2 Start the teach procedure 4-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.3 Teach the intermediate positions 4-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.4 Conclude teach procedure 4-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.5 Carry out teach procedure again 4-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4 Instructions on operation 4-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.1 Switch-on behaviour after successful commissioning 4-40. . . . . . . . . . . . . . . . . .

4.4.2 Timing diagram during switch-on 4-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.3 The first positioning task 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.4 Controlling the SPC11 4-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.5 Use the taught intermediate position as the sensor position 4-47. . . . . . . . . . . .

5. Diagnosis and error treatment 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Error messages on the SPC11 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2 Faults during operation 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3 Acknowledging a fault 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.4 Optimising the positioning behaviour 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Start-up via digital inputs/outputs A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 The SPC11 remote inputs A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.2 Remarks on start-up via digital inputs/outputs A-4. . . . . . . . . . . . . . . . . . . . . . .A.2.1 Setting time-dependency diagram parameters A-6. . . . . . . . . . . . . . . . . . . . . . .A.2.2 Initiating and starting teach procedure time-dependency diagram A-7. . . . . . .A.2.3 Teaching the intermediate position time dependency diagram A-8. . . . . . . . . .

B. Technical appendix B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 Technical specifications B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B.2 Index B-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE-SPC11-SYS-EN en 1406e

Designated use

The SPC11 has been designed to be fit into a machine or anautomated system. In conjunction with permitted drives andmeasuring systems as well as with a proportional directionalcontrol valve type MPYE-5-..., the SPC11 enables:

– fast movement into the mechanical end positions and oneor two selectable intermediate positions

– manual movement between the end positions.

Depending on the drive used, fixed stops may be necessaryin order to protect the drive. The end positions can be set bymeans of fixed stops. The end position cushioning, movementto the intermediate positions and manual positioning areelectronically controlled. The SPC11 may only be used asfollows:

– in accordance with designated use

– in its original state

– without any modifications by the user

– in faultless technical condition

– only in conjunction with permitted drive/measuringsystem combinations.

When used together with commercially available compo-nents, such as sensors and actuators, the specified limits forpressures, temperatures, electrical data, torques etc. must beobserved. National and local safety regulations (such asworkers’ compensation associations, TÜV – technical inspec-tion associations, VDE – Engineer’s Association) must also beobserved.


VI Festo P.BE-SPC11-SYS-EN en 1406e

Service

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

Target audience

This manual is directed exclusively at technicians trained incontrol and automation technology.


VIIFesto P.BE-SPC11-SYS-EN en 1406e

Notes on the use of this manual

This system manual contains basic general information onoperating, fitting, installing and commissioning the SPC11.This manual refers to the versions listed in the following:

NoteObserve the expanded functions of the previous version.

Type Version New in this version

Soft Stop SPC11-...– SPC11-POT-TLF– SPC11-POT-LWG– SPC11-MTS-AIF-2– SPC11-MTS-AIF– SPC11-INC

from software status24.05.05 or Version 1.76 1)

– Optimised control behaviour withshort measuring systems.

– Optimised behaviour with stopfunction (see chapter 4.2.4).

Soft Stop SPC11-...– SPC11-POT-TLF– SPC11-POT-LWG– SPC11-MTS-AIF– SPC11-INC

from software status27.08.04 or Version 1.41 1)

– SPC11-...-TLF– SPC11-...-LWG– SPC11-...-AIF– SPC11-INC

– Fault acknowledgement possiblevia input I6 2)

– The following options can be set: 3)

– Output O5 can deliver Ready orError signal,

– Input I4 can be used for Stopsignal or Move signal (P.04).

– The following can be switchedoff:– Positioning time monitoring– Constant adaptation– Soft end position behaviour

1) Software status (SW) see rating plate; after being switched on, the software version is displayedbriefly.

2) There must be a 0-signal at input Remote (I8).3) About the o-parameter (see chapter 4.2).

Special information on installing and commissioning theSPC11 in conjunction with the drive you are using can befound in the manual “Drive-Specific Supplement”.


VIII Festo P.BE-SPC11-SYS-EN en 1406e

Description Title Contents

System DescriptionSPC11 Soft Stop electronics/pneumatics (this manual)

P.BE-SPC11-SYS... General instructions on installing andcommissioning

Drive-specific supplement foroperating the SPC11 with a certaindrive (e.g. DSMI-...)

P.BE-SPC11-...-... Special installation and commission-ing instructions as well as parametersettings for the relevant drive 1)

1) These manuals contain the permitted drive-valve combinations, cylinder diameters, lengths andmass loads as well as the parameter settings valid here for the SPC11.

NoteFor installation and commissioning you will require thesystem manual as well as the “Drive-Specific Supplement”manual for the drive used.


IXFesto P.BE-SPC11-SYS-EN en 1406e

Important user instructions

Danger categories

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

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

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

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

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

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


X Festo P.BE-SPC11-SYS-EN en 1406e

Marking special information

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

Pictograms

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

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

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

Text markings

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

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

– Hyphens indicate general activities.


XIFesto P.BE-SPC11-SYS-EN en 1406e

Product-specific terms and abbreviations

The following product-specific abbreviations are used in thismanual:

Term/abbreviation Meaning

0-signal Input or output supplies 0 V

1-signal Input or output supplies 24 V

Absolute pathmeasuring system

Path measuring system with fixed (absolute) assignment of measurementvariable and reading

Amplification stage The amplification stage influences the acceleration behaviour of the drive,for example. The amplification stage should usually be set as specified inthe “Drive-Specific Supplement” manual. If the positioning behaviour islater optimised, only the cushioning stage should be modified.

Cushioning stage The positioning behaviour is determined by the amplification and cushioningstages. The cushioning stage serves to optimise the approach behaviourwhen moving to the end positions.

Drive The term “drive” is used in this manual for the linear unit (DGP(I)(L)-...),cylinder (DNC(I)-...) or rotary drive (DSMI).

I Digital input

Incremental pathmeasuring system

Path measuring system in which the measurement variable refers to areference point and is determined by counting equally large measurementsteps (increments).

O Digital output

Parameters Parameters which must be set in order that the system can be operated.The amplification stage, the cushioning stage and the system parameterbelong here.

PLC/IPC Programmable Logic Controller/Industrial PC

System parameters Characteristic value which describes the system structure, the features andcomponents of the drive used.

Teach procedure During the teach procedure, the SPC11 checks the set parameters, learnsthe position of the mechanical fixed stops as well as various characteristicsystem values and saves these in the integrated EEPROM.


XII Festo P.BE-SPC11-SYS-EN en 1406e

Summary of components

1-1Festo P.BE-SPC11-SYS-EN en 1406e

Chapter 1

Summary of components

1. Summary of components

1-2 Festo P.BE-SPC11-SYS-EN en 1406e

Contents

1. Summary of components 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Structure 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.2 Method of operation 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.3 Display and connecting elements of the SPC11 1-9. . . . . . . . . . . . . . . . . . . . . . .



1.1 Structure

In conjunction with permitted drives and measuring systemsas well as with a proportional directional control valve typeMPYE-5-..., the SPC11 enables:

– fast movement into the mechanical end positions and oneor two selectable intermediate positions

– manual movement between the end positions.

The end position cushioning, movement to the intermediatepositions and manual positioning are electronically con-trolled. A distinction is made between the following types ofSPC11:

Type Description

SPC11-POT-TLF Enables connection to the linear potentiometertype MLO-POT-...-TLF.

SPC11-POT-LWG Enables connection to the connecting rodpotentiometer type MLO-POT-...-LWG and therotary drive with integrated measuring systemtype DSMI-...

SPC11-MTS-AIF-2 Enables connection of the linear drive withdigital measuring system type DGCI-... .

SPC11-MTS-AIF Enables connection of the linear drive withintegrated digital measuring system typeDGPI(L)-...-...-...-AIF or the digital measuringsystem type MME-MTS-...-AIF.

SPC11-INC Enables connection of an incrementalmeasuring system (e.g. piston rod drive withintegrated incremental measuring systemtype DNCI-...-...).



The diagram below shows the basic layout of a drive with theSPC11 using, as an example, a linear unit with a linear poten-tiometer.

1

2 3 4

5

6

78

P.01P.02

1 Drive (linear unit)

2 Measuring system (here, externallinear potentiometer)

3 Fixed stops

4 Line voltage connection and I/Ocoupling (e.g with PLC)

5 Soft Stop SPC11

6 Proportional directional control valvetype MPYE-5-...-...

7 Service unit(without lubricator, with 5 μm filter)

8 Compressed air source (5 to 7 bar)

Fig. 1/1: Layout of a drive with SPC11 (example linear drive)

With the SPC11, movement is controlled. During commission-ing, the end positions (cylinder end positions or position ofthe fixed stops) as well as the desired intermediate positionsare “learnt” by the SPC11.



During operation, the SPC11 controls movement of the move-able mass into the saved end positions and intermediatepositions at the highest possible speed. Shortly before the“learnt” end position or intermediate position is reached, themoveable mass is braked so that it comes to a standstill.

To keep the moveable mass in the “learnt” end position, it ispressed against the fixed stop (typically at a pressure that isslightly less than the operating pressure).

Advantages

Compared to impact-limited drives with pulse-valve control,this control procedure permits higher positioning speeds.Also, the following measures, which would be required forcontrolling a drive with a pulse valve, are no longer necess-ary:

– the use of restrictors

– the use of limit switches

– the use of mechanical end position cushioning(shock absorbers)

– the maintenance of fixed stops.

Compared with impact-limited drives with pulse-valve control,the SPC11 permits:

– higher machine cycle times

– less vibration of the system

– lower maintenance costs.



Components

In order to implement fast positioning with electronicallyclosed-loop controlled end position cushioning, you willrequire the following components:

– the Soft Stop SPC11

– a proportional directional control valve type MPYE-5-...

– a service unit with a 5 μm filter, without lubricator

– a permitted path measuring system (external orintegrated with the drive)

– a drive, if possible with mechanical guide

– if possible, two fixed stops (depending on the drive used)

– a 24 V DC power supply

– if necessary, components for a pneumatic emergency stopcircuit

– possible components for additional pneumatic circuits(see chapter 3.2.1).



1.2 Method of operation

Tasks of the SPC11 The SPC11 takes over the following tasks:

– It ascertains characteristic system values of theconnected components

– It saves the desired end positions and intermediatepositions

– It specifies the end positions and intermediate positions

– It compares the nominal and actual positions and controlspositioning by appropriate actuation of the proportionaldirectional control valve (status control).

Method of operation The SPC11, the valve, the drive and the measuring systemare connected together to form a closed-loop control circuit.In this closed-loop control circuit, the position of the move-able mass represents the control variable. This control cir-cuit is therefore also called positioning control.

In the following text, the term “moveable mass” also refers topiston, slide and flange shaft.

The following diagram shows the basic layout of a positioningcontrol circuit with the SPC11.



1 Measuring system

2 Actual positionvalue

3 SPC11

4 Valve control(nominal value)

5 Proportionaldirectional controlvalve

6 Drive, e.g. lineardrive

1 2 3

45

6

Fig. 1/2: Positioning control circuit with pneumatic components

The measuring system registers continuously the position ofthe moveable mass and transmits this in the form of an elec-tric signal to the SPC11. The SPC11 compares the currentposition with the target position (the “taught” end positionsPo.1 and Po.2 or the intermediate positions Po.3 and Po.4)and calculates from this value the positioning signal for theproportional directional control valve.

The proportional directional control valve controls the driveby pressurising one cylinder chamber and exhausting theother. The flow is blocked in the valve slide mid-position.



1.3 Display and connecting elements of the SPC11

The diagram below shows the display and connectingelements of the SPC11.

1 2 3

4

56

7

8

1 Control: operating voltage connectionand I/O coupling

2 Valve: valve connection

3 Display

4 Operating buttons

5 Type plate see side

6 Groove for identification signs(type IBS 6x10)

7 Measuring system connection(here type SPC11-POT-TLF)

8 Earth (ground) connection

Fig. 1/3: Display and connecting elements of the SPC11

With the SPC11-POT-... and SPC11-MTS-..., the connectingcable for the measuring system is firmly connected to theSPC11. With the SPC11-INC or the SPC11-MTS-AIF-2, themeasuring system connection is in the form of a socket.

Fitting


Chapter 2

Fitting

2. Fitting


Contents

2. Fitting 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Fitting the SPC11 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Fitting


NoteWhen fitting the pneumatic components, observe also thenotes on fitting in the operating instructions supplied andthe notes on installation in chapter 3.

2.1 Fitting the SPC11

The SPC11 can be fastened to a flat surface with the aid of thesupport brackets.

The diagram below shows the mounting surface and the di-mensions for the four threaded holes screw size M4. Fastenthe SPC11 with at least 3 screws.

109.4 mm

63 mm78 mm

42 mm

118.4 mm

approx. 91.8 mm

1

1 Plug in fitted state

Fig. 2/1: Fitting dimensions of the SPC11

2. Fitting


Installation


Chapter 3

Installation

3. Installation


Contents

3. Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 General instructions on installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2 Notes on installing the pneumatic components 3-4. . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Additional pneumatic circuits 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3 Installing the electronic components 3-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3.1 Connecting elements of the SPC11 3-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3.2 Connecting the operating voltage and I/Os 3-24. . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Connecting the proportional directional control valve and the measuring system3-29

3. Installation


3.1 General instructions on installation

WarningSudden unexpected movements of the connected actua-tors and uncontrollable movements of loose tubing cancause injury to human beings and damage to property.

Before carrying out installation and/or maintenance work,switch off the operating voltage and the compressed airsupply either simultaneously or in the following sequence:

1. compressed air supply

2. operating voltage.

CautionThe use of components which have not been released foroperation with the SPC11 may lead to malfunctioning.

Use only the special matching components from Festo forsetting up and wiring the system.

3. Installation


3.2 Notes on installing the pneumatic components

NoteObserve the following instructions on installing the pneu-matic components. Only then can you guarantee faultlessoperation.

1 2 3 4 5

6

789

1 ... 9 Notes on installation, see the following pages

Fig. 3/1: Overview of pneumatic installation

3. Installation


Compressed air supply (1 )

S Use only dried, non-lubricated, 5 μm filtered compressedair from 5 to 7 bar.

You will require a service unit with a 5 μm filter for protectingthe proportional directional control valve against damage.

Service unit (2 )

S Use a service unit consisting of a compressed air filterand a regulating valve (e.g. type LFR-...-D-... with 5 μmfilter element) as well as a safety start-up valve(e.g. HEL-...-...):

– without lubricator

– with a 5 μm filter

– with sufficiently large standard flow corresponding tothe air requirement of the connected drive duringpositioning. Reference value: twice the rated flow ofthe valve (type MPYE-5-...), e.g.:

Valve type Service unit

MPYE-5-1/8-LF-010B LFR-M1-G1/8-C10RG orLFR-1/8-D-5M-MINI

MPYE-5-1/8-HF-010B LFR-M1-G1/4-C10RG orLFR-1/4-D-5M-MINI

MPYE-5-1/4-010B LFR-M2-G1/4-C10RG orLFR-3/8-D-5M-MIDI

MPYE-5-3/8-010B LFR-M2-G3/8-C10RG orLFR-3/4-D-5M-MAXI

S Use a microfilter if you cannot avoid slight oil mist fromthe compressed air supply.

3. Installation


Compressed air reservoir (3 )

If the positioning behaviour does not conform to your require-ments, and if you ascertain fluctuations in pressure of over1 bar at the measuring point, then proceed as follows:

S Fit a compressed air reservoir (e.g. type VZS-...-B) be-tween the service unit and the proportional directionalcontrol valve.

In this way you can reduce fluctuations in pressure duringoperation. You can compensate for slight excesses in thepermitted pressure by using supply tubing with a largerdiameter.

Reservoir volume:

The reservoir volume should be at least four times as large asthe volume of the drive used.

VP = 4 * VZ

VP = buffer volumeVZ = cylinder volume (linear drive: VZ = r2 * ð* LZ)LZ = cylinder stroke length

3. Installation


Compressed air tubing and screw connectors (4 )

S Use only straight screw connectors. If angled connectorscannot be avoided, use plug connectors from the QuickStar series.

S Cut compressed air tubing and hoses to the required size,as specified in the manual for the drive used.

S Arrange the tubing between the valve (MPYE-5-...) and thedrive symmetrically.

S Use only clean compressed air tubing and connectors.Details on permitted temperatures and pressure rangesfor tubing and connectors can be found in the productscatalogue.

S Do not install restrictors in the supply lines.

S Arrange the tubing so that it does not project into thepositioning range.

For good positioning behaviour during operation, fluctuationsin pressure of max. 1 bar are permitted in front of the propor-tional directional control valve. In order to check the stabilityof the supply pressure, you can fit a pressure measuringpoint directly in front of the proportional directional controlvalve.

3. Installation


Proportional directional control valve (5 )

Arrange the tubing between the valve (MPYE-5-...) and thedrive symmetrically.

Recommendation for linear drives and drives with piston rod:tubing length = cylinder length.

The diagram below shows as an example the tubing of acylinder with an MPYE-5-... when an SPC11 is used.

1

2

1 Proportional directional control valve type MPYE-5-...-...

2 Service unit with 5 μm filter, without lubricator

Fig. 3/2: Pneumatic circuit diagram

Fit the valve in accordance with the operating instructionssupplied with the valve.

3. Installation


S If the proportional directional control valve is to be usedin an environment subjected to heavy electrical interfer-ence, it should be insulated from the mounting surface.

Fitting onto moving parts

S If fitted to moving parts, the proportional directional con-trol valve must be mounted at right-angles to the direc-tion of movement. Acceleration forces then have no influ-ence on the valve slide setting.

1 2

3

1 Fitting at right angles to the direction of movement

2 Not permitted

3 Proportional directional control valvetype MPYE-5-...-...-

Fig. 3/3: Fitting to moving parts

Use silencers with a large flow rate UC-M5, U-1/8, U-1/4 orU-3/8.

3. Installation


Reducing loud exhaust noises

S Fit larger silencers with the aid of tubing or:

S Pass the ducted exhaust into a small compressed airreservoir and exhaust this with a large silencer. Make surethat there is sufficient flow through the screw connectorsand tubing (with PUN-8 tubing length max. 1 m).

1 2 3

1 Ducted exhaust

2 Compressed air reservoir

3 Silencer

Fig. 3/4: Ducted exhaust

3. Installation


Drive (6 )

Use only the permitted combinations of drives and measuringsystems approved of by Festo for the SPC11.

The drive-valve combinations, cylinder diameters, cylinderlengths and mass loads permitted for the drive used can befound in the “Drive-Specific Supplement” manual.

Connect the drive, guide, measuring system and the load freeof play in the direction of movement and flush with eachother.

If necessary, provide a sufficiently large supply of energy inorder to minimise the effects of transverse forces on the posi-tioning behaviour.

Observe the maintenance intervals specified in the operatinginstructions for the drive (see operating instructions for thecylinder/drive or the guide).

3. Installation


Path measuring system (7 )

See also “Drive-Specific Supplement”.

S Fit the measuring system and the drive symmetrically sothat the centre of the usable measuring system strokecorresponds to the centre of the complete cylinder stroke.

With type MLO-POT-...-TLF:

The remaining path of the measuring system slide must beidentical in the cylinder end positions on both sides.

1 Remaining slidepath

1 1

Fig. 3/5: Symmetrically mounted measuring system (with type MLO-POT-...-TLF)

With type MLO-POT-...-LWG:

The remaining slide path of the measuring system must beidentical in the cylinder end positions on both sides and canbe calculated as follows:

Calculation formula Description

(LM-LZ)2 = LR

LM Measuring system lengthLZ Cylinder lengthLR Remaining slide path

3. Installation


With type MME-MTS-...-AIF:

NoteThe mechanical work path (possible slide path) of measur-ing system type MME-MTS-...-AIF is longer than the electri-cal work path (usable stroke length).

Fit measuring system type MME-MTS-...-AIF so that the elec-trical work path (see type designation MME-MTS-...-AIF) of themeasuring system is symmetrical to the complete cylinderstroke.

1 Remaining slidepath

2 Electrical workpath (usablestroke length)

3 Mechanical workpath (possibleslide path)

1 1

2

3

Fig. 3/6: Usable stroke length with type MME-MTS-...-AIF

3. Installation


Fixed stops (8 )

Fixed stops may be necessary, depending on the drive used.See also “Drive-Specific Supplement”.

Mass load (9 )

Fit the mass load free of play.

Possible moveable mass loads see “Drive-SpecificSupplement”.

3. Installation


3.2.1 Additional pneumatic circuits

You may require additional pneumatic circuits in order toattain a particular status for the system in certain applica-tions. Choose between the following alternatives based onthe design and operating characteristics of your system:

– drive pressureless

– drive clamped

– drive moves while throttled to the left or right endposition.

Please noteIf the operating voltage supply for the SPC11 is switchedoff, the proportional directional control valve type MPYE-...will move to the mid-position. Due to the asymmetricalvoltage-pressure curve of the proportional directional con-trol valve when the supply pressure is switched on, theslide can move slowly into one of the end positions.

Circuit variants

The following four diagrams show as an example four variantsof circuits for a linear drive.

For requirements and recommendations concerning thecomponents used, see Fig. 3/11 and Fig. 3/12.

3. Installation


Variant 1: Drive pressureless

1A

1V1

1V2

1V3

1V4

1G1

1R1

Fig. 3/7: Drive pressureless

3. Installation


Variant 2: Drive clamped

1A

1V1

1V2

1V3

1G1

1R1

Fig. 3/8: Drive clamped

3. Installation


Variant 3: Drive moves while throttled to right-hand endposition

1A

1V2

1V1

1V3

1G1

1R1

1V4

Fig. 3/9: Drive moves while throttled to right-hand endposition

3. Installation


Variant 4: Drive moves while throttled to left-hand endposition

1G1

1R1

1A

1V2

1V1

1V3

1V4

Fig. 3/10: Drive moves while throttled to left-hand endposition

3. Installation


Components for variants 1...4

Identifyingcomponents

Requirements Recommendation/type

1V1, 1V2 5/2-way valve– sliding piston valve with positive cover– with control air– with reversible flow direction– flow rate coordinated to the proportional

directional control valve used (1V3)

For MN1H:– Type MN1H-5/2-D-1-FR-S-C– Type MN1H-5/2-D-2-FR-S-C

1V3 Proportional directional control valve typeMPYE-...– flow matches the drive used (1 A)For suitable valve-drive combinations, see thedrive-specific supplement for the drive used.

Type MPYE-5-...-010B

1V4 Exhaust restrictor with silencer– specifies the speed at which the drive moves

into the desired end position; adjustable– with appropriate silencer screwed directly into

the restrictor– must be fitted near valves 1V1, 1V2.

Type GRLA-...-B with U-...

1R1 Compressed air regulating valve– with 5 ìm filter cartridge– standard flow matched to the air requirement

of the connected driveRequirements see also section 3.2

Type LFR-...-D-5M-...

1G1 Compressed air reservoir (optional)Requirements see section 3.2

Type CRVZS-...

Fig. 3/11: Components for variants 1...4

3. Installation


Component Type/size

MPYE-... ...-M5-... ...-1/8LF-... ...-1/8HF-... ...-1/4-... ...-3/8-...

GRLA-...-B ...-M5-... ...-1/8-... ...-1/8-... ...-1/4-... ...-3/8-...

MN1H-5/2-...-FR-S-C ...-D-1-... ...-D-2-...

LFR-...-...-MINI ...-1/8-... ...-1/4-... –

LFR-...-...-MIDI – ...-1/4-... ...-1/2-... –

LFR-...-...-MAXI – ...-1/2-...

Fig. 3/12: Dimensions for variants 1...4

3. Installation


3.3 Installing the electronic components

CautionCables with high levels of noise can cause electromagneticinterference.

Do not place the following cables in the vicinity of cableswith high levels of interference:

– measuring system cable

– proportional directional control valve cable.

CautionAn incorrect connection assignment may cause damage tothe SPC11.

Use only the original cables. Make sure that the connectionassignments of the measuring system cables and valvecables are correct.

CautionIncorrect or missing earthing can cause interference.

When using the DGP(L) and the DNC(I):Connect the drive with low impedance (short cable withlarge cross-sectional area) to the earth potential, if thedrive is not mounted on an earthed machine stand.

3. Installation


3.3.1 Connecting elements of the SPC11

The diagram below shows the connecting elements of theSPC11, using the SPC11-POT-TLF as an example.

1 Measuring systemconnection(here for typeMLO-POT-...-TLFor DNCM-...)

2 Earth (ground)connection

3 Valve connection

4 Operating voltageconnection as wellas inputs andoutputs

1

2

3

4

Fig. 3/13: Connecting elements of the SPC11

3. Installation


3.3.2 Connecting the operating voltage and I/Os

WarningDanger of electric shockS Only use PELV circuits in accordance with IEC/EN60204-1 (protective extra-lowvoltage, PELV) for the electrical power supply.Also observe the general requirements for PELV circuitsas per IEC/EN 60204-1.

S Only use voltage sources which guarantee reliable elec-trical isolation of the operating voltage in accordancewith IEC/EN 60204-1.

The use of PELV circuits ensures protection from electricshock (protection from direct and indirect contact) in ac-cordance with IEC/EN 60204-1 (Electrical equipment of ma-chines, General requirements).A 24 V power supply unit usedin the system must satisfy the requirements of EN 60204-1for DC power supply (behaviour during power interruptions,etc.).

CautionIn order to avoid interference caused by electromagneticinfluences:

S Connect the earth connection on the left-hand side of thehousing with low impedance (short cable with largecross-sectional area) to the earth potential.

S Use only the following original cable to connect the linevoltage and inputs/outputs.

Original cable to connect the line voltage and inputs/outputs.

Type designation Cable length

KMPV-SUB-D-15-5 5 m

KMPV-SUB-D-15-10 10 m

3. Installation


The operating voltage is supplied together with the circuit forthe inputs/outputs via the 15-pin plug marked with “Control”(see Fig. 3/14).

Pin 15 (white-yellow): DC +24 VPin 14 (brown-green): 0 VTolerance: -10 % to +25 %

Connect a protective conductor with sufficient cross sectionalarea to the drive, if this is not mounted on an earthed ma-chine stand.

The following diagram shows the pin numbering of the“Control” connection. The pin assignment with core coloursfor the original cable KMPV-SUB-D-15-... can be found in thefollowing section.

1 Pin 1

8 Pin 8

9 Pin 9

aE Pin 151

8

9

aE

Fig. 3/14: “Control” connection

Short description of the I/O signals at the Controlconnection

The function of the input I4 and outputs O4 and O5 can beconfigured (see section 4.2.3). The following tables describethe factory settings. Further information on the I/O signalscan be found in section 4.4.

3. Installation


Inputs on the 15-pin “Control” plug (I = input)

Pin Pin assignment and core colours Description

1 I8 Remote white 1-signal deactivates operating buttons and activates therelevant remote inputs (pins 2...4)

2 I7 {/– With 0-signal at I8 (remote):– Input without function.With 1-signal at I8 (remote):– Function of the operating buttons {/– callable 3)

3 I6 – Reset Error 1)

– Enter/Teach/Esc

green With 0-signal at I8 (remote):– Faults are acknowledged via a rising edge at this input:With 1-signal at I8 (remote):– Function of the operating buttons Enter/Teach/Esc can

be called up 3)

4 I5 +/} yellow With 0-signal at I8 (remote):– Input without function.With 1-signal at I8 (remote):– Function of the operating buttons +/} callable 3)

5 I4 P.04 2) grey With 0-signal at the inputs P.01, P.02 and P.03:– With factory setting P.04: A 1-signal (min. switch-on

duration 20 ms) issues the order to move to the taughtintermediate position P.04. 4)

6 I3 P.03 pink With 0-signal at the inputs P.01, P.02 and P.04:– A 1-signal (min. switch-on duration 20 ms) at this input

issues the order to move to the taught intermediateposition P.03. 4)

7 I2 P.02 blue With 0-signal at the inputs P.01, P.03 and P.04:– A 1-signal (min. switch-on duration 20 ms) at this input

issues the order to move to the end position P.02. 4)

8 I1 P.01 red With 0-signal at the inputs P.02, P.03 and P.04:– A 1-signal (min. switch-on duration 20 ms) at this input

issues the order to move to the end position P.01. 4)

1) Available from Version 1.41. A prerequisite is a 0-signal at input I8 (remote).2) Function of I4 can be configured (see section 4.2.3); P.04 (factory setting) or Stop3) See appendix A4) A change of direction is possible at any time.

3. Installation


Outputs on the 15-pin “Control” plug (O = output)


9 O5 – Error 1) black Factory setting:– Provides a 1-signal when an error occurs

(see chapter 5).– Provides a 0-signal in the normal operating state

10 O4 – P.04 2) violet Factory setting:– Supplies a 1-signal if the moveable mass is in

the taught intermediate position P.04.– Supplies a 1-signal for 50 ms if intermediate

position P.04 is overrun.

11 O3 P.03 grey-pink – Supplies a 1-signal if the moveable mass is inthe taught intermediate position P.03.

– Supplies a 1-signal for 50 ms if intermediateposition P.03 is overrun.

12 O2 P.02 red-blue – Supplies a 1-signal if the moveable mass is inend position P.02.

13 O1 P.01 white-green – Supplies a 1-signal if the moveable mass is inend position P.01 (on the side with the electricalconnection for the potentiometer).

1) Function of O5 can be configured (see section 4.2.3); Error (factory setting) or Ready2) Function of O4 can be configured (see section 4.2.3); P.04 (factory setting) or Stop

Line voltage on the 15-pin “Control” plug


14 – 0 V brown-green 0 V

15 – 24 V supply white-yellow DC +24 V (tolerance -10 % to + 25 %)

3. Installation


Connection example type SPC11-...-...

NoteWith measuring systems type MLO-POT-...-LWG:In order to earth the system, connect the earthing cable onthe flat plug of the measuring system to the earth connec-tion on the SPC11.

24 V0 V

O1: P.01O2: P.02O3: P.03

O4: P.04 *)

O5: Error *)

I1: P.01I2: P.02I3: P.03I4: P.04 *)

I5: +/}I6: Enter/Teach/Esc

I7: {/–I8: Remote

15

14131211109

876

54

321

white-yellowbrown-greenwhite-green

red-bluegrey-pinkvioletblackredblue

pinkgreyyellow

greenbrown

white

21 3 4

*) The function of this input/output can be configured (see section 4.2.3).

1 Pin assignment for Control connectionwith core colours for cableKMPV-SUB-D-15-...O... = output, I... = input

2 Sensors for moving to the positions(P.04 only for factory setting)

3 With linear drives, end position P.01lies on the side with the electricalconnection to the measuring system

4 Earth/ground

Fig. 3/15: Connection example type SPC11-...

3. Installation


3.3.3 Connecting the proportional directional control valve and themeasuring system

Connecting the measuring system

Use only the permitted combinations of drives and measuringsystems approved of by Festo for the SPC11. The connectingcable for the measuring system is connected either fixed tothe SPC11 or to the drive.

NoteInterference due to electromagnetic influences can beavoided if a short cable is used. Use only the originalcable.

Observe also, where applicable, the operating instructions forthe measuring system.

Fasten the plug with the aid of the integrated screw, in orderto prevent unintentional loosening, e.g. due to shock.

Connecting the proportional directional control valve

The valve connection provides the power supply for the valveand the control voltage for positioning the valve slide.

Use only the original cable for connecting the valve.

Type designation Cable length

KMPYE-AIF-1-GS-GD-2 2 m

KMPYE-AIF-1-GS-GD-0,3 0.3 m

3. Installation


1 Pin 1

4 Pin 4

7 Pin 7

1

4

7

Fig. 3/16: Valve connection, pin assignment and core colours

Pin Pin assignment and core colours of the cabletype KMPYE-...

Pin no. on thevalve plug

1 24 V load voltage for the valves (blue) 1

2 0 V (brown) 2

3 0 V (green) 2

4 Vs (positioning signal 0...10 V) (yellow) 3

5 Signal GND (grey) 4

6 n.c.: not connected (pink)

7 24 V supply for the valves (white) 1

Tighten the plugs with the aid of the union nut in order toprevent unintentional loosening, e.g. due to shock.

Commissioning


Chapter 4

Commissioning

4. Commissioning


Contents

4. Commissioning 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General instructions on commissioning 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1.1 Basic principles of configuring and operating the SPC11 4-4. . . . . . . . . . . . . . .

4.2 Pre-parameterising in the office 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.1 Parameters A, C and S 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.2 Parameters L and r (only with type SPC11-INC) 4-8. . . . . . . . . . . . . . . . . . . . . . .4.2.3 Parameter o (options) 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 Behaviour on stopping via I4 4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.5 Set parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.6 Changing parameters 4-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3 Commissioning procedure 4-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Preparations for the teach procedure 4-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.2 Start the teach procedure 4-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.3 Teach the intermediate positions 4-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.4 Conclude teach procedure 4-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.5 Carry out teach procedure again 4-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Instructions on operation 4-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.1 Switch-on behaviour after successful commissioning 4-40. . . . . . . . . . . . . . . . . .4.4.2 Timing diagram during switch-on 4-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.3 The first positioning task 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 Controlling the SPC11 4-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.5 Use the taught intermediate position as the sensor position 4-47. . . . . . . . . . . .

4. Commissioning


4.1 General instructions on commissioning

This chapter describes parameterising and commissioningwith the aid of the three buttons on the SPC11. A 1-signal atthe Remote input (I8) blocks the SPC11 buttons. Button func-tions can then be called up via the digital inputs (I5...7).Detailed information on this can be found in appendix A.

WarningDuring commissioning and during operation the moveablemass is moved at the highest possible acceleration andspeed. Make sure that:

– Nobody can place his/her hand in the positioning rangeof the moveable mass, unless the compressed air supplyis switched off.

– The complete positioning range is free collisioncontours.

WarningIncorrectly set parameters can damage the fixed stops andthe drive.

Be very careful when setting the parameters.

4. Commissioning


4.1.1 Basic principles of configuring and operating the SPC11

Parameters

The SPC11 must be familiar with certain conditions of use.These conditions of use are described by the following para-meters:

Display Parameters Description

Amplification stage Influences the accelerationbehaviour of the drive

Dependent on drive,valve and mass load;see Drive-SpecificSupplementCushioning stage Influences the run-in behaviour

when moving to the end positionsand intermediate positions.

System parameters Characteristic values for setting upthe drive with reference to the drivetype– First character: Characteristic

value for the ratio of drive andmeasuring system length

– Second character: Characteristicvalue for the ratio of drive lengthand drive diameter.

Nominal stroke-length of the drive

Nominal stroke length in 1 mmincrements (e.g. nominal stroke300 mm: L = 300)

Only with the use of anincremental pathmeasuring system 1)

(see section 4.2.2)

Offset axis zero point Offset between the end positionP.01 and the axis zero point in 1 mmincrements

Option parameters(Options)

Permits various options (e.g. Ready signal instead of Errorsignal, Stop signal instead of P.04 etc., see section 4.2.3)

1) e.g. with drive DNCI-...-... in connection with type SPC11-INC

4. Commissioning


The parameters can be entered:

– before commissioning (pre-parameterising without drivein the office)

– when commissioning.

Button functions

The SPC11 buttons are only active when a 0-signal is presentat the Remote input (I8).

Button Description

{/- Reduce the input value or position value 1)

(the drive moves in the direction of the measuringsystem zero point)

Enter/Teach(> 2 s)

Hold the button pressed down for at least 2 sec-onds in order to confirm parameter values or tostart the teach procedure.

Esc (< 1 s) Press the button briefly in order to interrupt theprocedure.

+/} Increase the input value or position value 1)

(the drive moves away from the measuring systemzero point).

1) Press the button briefly in order to modify the value by 1.Hold the button pressed down in order to modify the valuecontinuously.

A 1-signal at the remote input (I8) blocks the SPC11 buttons.Functions can then be called up via the digital inputs.Detailed information on this can be found in appendix A.

4. Commissioning


Display on the SPC11

The display on the SPC11 indicates:

– parameters or

– status information.

The first position of the display shows identifying letters forparameters or status information. The last two positions showthe appropriate value, the stage or the number.

1 Identifying lettersfor parameters orstatus type

2 Value, stage orstatus information

3 Point forseparation

1 2

3

Fig. 4/1: Composition of the display on the SPC11

4. Commissioning


Possible status information

Display Description

When the letter (t) flashes: The SPC11 waits for the teach task.When the dots (...) flash: The teach procedure is being carried out.

Only with type SPC11-MTS-AIF:The SPC11 checks whether the measuring system is connected(find measuring system).

When the SPC11 is switched on:The moveable mass stands uncontrolled and is not in a taught position (P.01...P.04).The outputs O1...4 therefore supply a 0-signal.In operation (e.g. manual positioning):The moveable mass stands controlled but is not in a taught position (P.01...P.04).The outputs O1...4 therefore supply a 0-signal.

The moveable mass stands in end position P.01(end position whenmeasuring system is connected).

The moveable mass stands in end position P.02(opposite end position).

The moveable mass stands in intermediate position P.03(taught intermediate position).

The moveable mass stands in intermediate position P.04(taught intermediate position).

Stop signal over Stop input I4

Fault number (Error; value range: 01...0.19); see chapter 5

Reference travel is being carried out.

4. Commissioning


4.2 Pre-parameterising in the office

4.2.1 Parameters A, C and S

The permitted values of the parameters A, C, and S for thedrive you are using can be found in the appropriate axis-specific supplement.

4.2.2 Parameters L and r (only with type SPC11-INC)

The parameters L and r are only queried when incrementalpath measuring systems are used (e.g. positioning driveDNCI-...-... in connection with type SPC11-INC).

With incremental path measuring systems, the SPC11requires the following information:

– Nominal stroke length (L) of the drive (see type plate)

– Offset axis zero point (r) – offset between the end positionP.01 and the axis zero point (see Fig. 4/2).

1 Axis zero point(piston rod run in

2 Offset axis zeropoint (r)

3 Fixed stop(here for endposition P.01)

1 2 3

P.01 P.02

Fig. 4/2: Reference points for incremental path measuring systems with SPC11-INC

4. Commissioning


Nominal stroke length (L)of the drive [mm]

Nominal stroke length (L) of the drive, see type designationon the type plate (e.g. type DNCI-32-300-P-A has a nominalstroke length of 300 mm).

Offset axis zero point (r)[mm]

For a good positioning behaviour, the SPC11 must know thepositioning range used by the drive. The offset axis zeropoint specifies the offset between the end position P.01 andthe axis zero point. With an offset of 0 cm, the end positionP.01 lies in the axis zero point.

Remarks on reference travel

With incremental path measuring systems, the measurementvariable refers to a reference point and is determined bycounting equally large measurement steps (increments). Therelationship between measurement variable and current posi-tion is created through the reference travel.

Referencing in the teachprocedure

In the teach procedure (see also section 4.3.1), the endpositions P.01 and P.02 are approached. This creates therelationship between measurement variable and currentposition. Reference travel is not necessary.

Reference travel afterPOWER ON

After the SPC11 operating voltage is switched on again, therelationship between measurement variable and currentposition is lost. Reference travel into the end positions P.01or P.02 is necessary (see also section 4.4).

4. Commissioning


4.2.3 Parameter o (options)

With this parameter, you can change the signal behaviour ofthe SPC11 and switch off certain standard functions (fromVersion 1.41).

Please noteThe factory setting (o-parameter = 0) means:

– No option selected. Standard behaviour active.

Standard behaviour at factory setting (o-parameter = 0):

– Output O5 supplies Error signal

– Positioning time monitoring (10 s) active

– Constant adaptation active

– Soft end position behaviour active

– Input I4 can be used for the positioning order to thetaught intermediate position P.04

In the factory setting (o-parameter = 0), the above behaviouris identical to the previous version (there no options wereselectable).

Internally, the decimal value is interpreted as binary. A spe-cific option is assigned to each bit (see following table). Onlyallowable option combinations can be set. This results in apossible value range of 00 to 79 for the o-parameter.

4. Commissioning


Parameter o (options)

Bit Decimalvalue at 1

Option Description

0 1 Output O5:– Ready signal

(instead of Errorsignal)

Use O5 for Ready signal – instead of Error signal.Permits monitoring of operational readiness:– The output O5 supplies a 1-signal if the SPC11 is ready to

operate.– A 0-signal at this output indicates that the SPC11 is not

yet ready to operate, or there is a system or positioningerror.

1 2 Switch offpositioning timemonitoring

Switches off the time monitoring during a positioning order.It is then not monitored whether the position is reachedwithin approx. 10 s.

2 4 Switch off con-stant adaptation

Switch off constant adaptation. Adaptation is then activeafter operating voltage is switched on only within the first20 strokes. 1)

3 8 Switch off soft endposition behaviour

Switches off soft end position behaviour. Travelling into theend position takes place with somewhat more remainingenergy. You can reduce the cycle time with this function(up to max. 15 %, depending on drive and mass load).

4 16 ParameteriseDNCI/DDPC with L< 999 mm

From FW 1.81: For long drives DNCI/DDPC: with bit 4 of theO parameter, 1000 mm is added to the length set with the Lparameter. After switch-off and switch-on or with a newparameterisation, this is indicated with "L. 1".As a result, lengths of up to 1999 mm can be set.

1) With oscillating mass load, constant adaptation can negatively influence travel behaviour.

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Parameter o (options)

Bit Decimalvalue at 1

Option Description

5 32 Input I4:– Stop without

return travel(instead ofpositioning tastto P.04)

Use I4 for Stop signal – instead of Move signal (to P.04).Permits stopping the drive – even during the teach pro-cedure. Output O4 supplies a 1-signal. One of the followingoptions can be selected:– Stop without return travel (bit 5): With the 0 signal at

input I4, the drive stops with the brake incline deter-mined in the teach procedure. 2) 3)

– Stop with return travel (bit 6): With a 0-signal at input I4,the current position is taken over as the Stop positionafter an internally required signal processing time. Thedrive is braked with maximum power and travelled backto the Stop position. 2)

For instructions on stopping, see section 4.2.4.

6 64 Input I4:– Stop with

return travel(instead ofpositioning taskto P.04)

2) A stop during the teach procedure stops the drive without control. The procedure must then berestarted. A stop during the first travel task causes error E19. The drive is uncontrolled. Directionof movement recognition remains active.

3) The brake inclines are dependent on direction and are automatically determined in the teachprocedure.

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Determine value of the o-parameter

Different combinations of options are possible. You determinethe value to be set through addition of the individual decimalvalues of the desired options.

Example:

Options Bit Calculation

UseO5 forReadysignal - insteadof Errorsignal 0 + 1

Switch off soft end position behaviour 3 + 8

Use I4 for Stop signal (stop with returntravel) – instead of Move signal

6 + 64

Total (value to be set) = 73

Alternative calculation

Bit no. 6 5 4 3 2 1 0

Bit value 1 0 0 1 0 0 1

Calculation 1 * 20+ 1 * 23+ 1 * 26= 73

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4.2.4 Behaviour on stopping via I4

The drive can be stopped via Input I4 if the o-parameter isconfigured accordingly.

Possible conditions after stop signal via input I4 Please note

Stop time Condition after stop Display

Teach procedure – Drive is uncontrolled.– Output O4 supplies 1-signal.

Restart teach procedure(by Teach button/input)

Reference travel Restart reference travelto P.01 or P.02

Teaching of P.03 – Drive is controlled.– Output O4 supplies 1-signal.

Continue teaching ofP.03

Operation – Drive is controlled.– Output O4 supplies a 1-signal

if the drive is stopped.

Continue operation

1 Resetting I4 triggersa command to stopthe drive according tothe configured o-parameter

2 O4 is set as soon asthe drive has stopped

3 When I4 is set, thecurrent actual posi-tion is used as thereference position

The axis moves

Stop input I4

Stop output O4

Display

Yes

No

1

0

1

0

1

0

1

2

3

Fig. 4/3: Stopping sequence diagram

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Please noteThe current reference position is held as long as the stopinput is set.

If the drive is moved during this period with the com-pressed air switched off and the compressed air switchedback on again, the drive returns to the reference position.

When the stop input is reset, the current position is usedas the reference position

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4.2.5 Set parameters

At the factory, all the parameters are zero (status at delivery).When the power supply is switched on, the SPC11 in this caseexpects entry of the parameters. In preparation for commis-sioning, the parameters can be set “in the office” withoutsetting up the drive. This simplifies the commissioning oflarge series in production.

Set the parameters without drive (in the office) as follows:

WarningIncorrectly set parameters can damage the fixed stops andthe drive.

Be very careful when setting the parameters.

The right amplification and cushioning stages and the systemparameter for your drive can be found in the drive-specificsupplement. The values specified here are examples. Instead,enter the values valid for setting up your drive.

1. Switch on the operating voltage for the SPC11.The SPC11 will then show briefly the version number ofthe internal firmware.The SPC11 then expects the amplification stage to beentered. The display shows the letter A (Amplificationstage). The figures indicate the stage (here 0).

(A.00)

2. Set amplification stage with +/-, e.g. 02.

(A.02)

3. Hold the Enter key pressed down for more than2 seconds (> 2 s).The value will then be transferred to the SPC11 and the

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cushioning stage will be shown (here 0). This is shown bythe letter C (Cushioning stage).

(C.00)

4. Set cushioning stage with +/-, e.g. 04.

(C.04)

5. Hold the Enter key pressed down > 2 seconds. The valuewill then be transferred and the system parameter shown(here 0).

(S.00)

6. Set system parameters with +/-, e.g. 01.

(S.01)

7. Hold the Enter key pressed down > 2 seconds. The valuewill then be taken over.

If you do not use an incremental path measuring system,the option parameter (o.00) is displayed. Then readfurther at point 14.

If you use an incremental path measuring system(e.g. drive DNCI-...-... in connection with type SPC11-INC),the drive length (nominal stroke) (L) is now queried.

(L.00)

8. Press any desired button to display the drive length inmm (three-digit number).

(000)

9. Set drive length in mm with +/- (see rating plate), e.g. 300for 300 mm.

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(300)

10. Hold the Enter key pressed down > 2 seconds. Thevalue will then be taken over and the identifying letterfor the offset axes zero point (r) displayed.

(r.)

11. Press any desired button to display the offset axiszero point (r) in mm (three-digit number).

(000)

12. Set offset axes zero point (see also section 4.2.2) inmm with +/-, e.g. 20 for 20 mm.

(020)

13. Hold the Enter key pressed down > 2 seconds. Thevalue will then be taken over and the option para-meter is displayed.

(o.00)

14. Set option parameters (see also section 4.2.3) with+/-, e.g. 73.

(o.73)

15. Hold the Enter key pressed down > 2 seconds. Thevalue will then be transferred and the readiness tocarry out the teach procedure will be indicated by aflashing “t”. The parameters are thus saved and pre-parameterising (in the office) is completed.

The t flashes.

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When all prerequisites for carrying out the teach procedurehave been made (see sections 4.3.1), the teach procedurecan be started (see sections 4.3.2).

16. If you wish to conclude pre-commissioning, switch off theoperating voltage.

Switch-on behaviour after successfulpre-commissioning (in the office)

When the operating voltage is switched on again, the SPC11shows briefly the firmware version number and then one afterthe other the values of the set parameters. The SPC11 thenindicates readiness to carry out the teach procedure (t..). Thet flashes (see Fig. 4/4).

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Start:Switch-on reaction

Display ofsystem parameters

Display ofamplification stage

Display ofcushioning stage

Wait approx. 1 second



The SPC11 waitsfor a teach order

The t flashes

Firmware version number

The current value isdisplayed here

Display offirmware version

Wait approx. 0.5 second

Display ofdrive length (stroke) *)


Display offsetaxes zero point *)


Display ofoption parameters


*) Only when incremental path measuring systems are used(e.g. positioning drive DNCI-...-... in connection with typeSPC11-INC)

Fig. 4/4: Switch-on behaviour of the SPC11 afterpre-commissioning (in the office)

The teach procedure can be started (see section 4.3.1).

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4.2.6 Changing parameters

Please noteThe option parameter o can be changed without a newteach procedure being necessary. After the parameters A,C, S, L or r are changed, the teach procedure must be per-formed again.

If necessary, the set parameters can be modified, e.g. in orderto correct entry errors or to optimise positioning behaviour.This can be carried out in one of the following ways:

Possibilities Description

Activate modificationmode

In this mode the set parameter values areretained and can be modified or trans-ferred. Taught intermediate positions areretained.

Create status as atdelivery

All parameter values are then set to 0.Taught intermediate positions are deleted.

Activate modification mode

Condition The measuring system must be connected. There must be a0-signal at input Remote (I8). The drive must be at a stand-still.

CautionWhen the modification mode is activated, the valve slideassumes the mid-position. During positioning the masscan therefore move uncushioned into an end position.

Make sure that the drive is standing still before you acti-vate the modification mode.

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Use the buttons as follows to activate the modification mode:

1. Make sure that the drive is standing still.

2. Press all three buttons on the SPC11 at the same time.

The display shows the letter A (Amplification stage) andthe stage set (here 02).

(A.02)

If you have activated the modification mode by mistake, youcan abort the procedure by switching off the power supply. Ifyou have already carried out the teach procedure, you can inthis way avoid the need to carry out this procedure again.

With the +/- buttons, you can modify the parameter displayedand transfer it with Enter.

When you change the parameters A, C, S, L or r:When the last parameter has been transferred, the SPC11then indicates readiness to carry out the teach procedure(t flashes).

Create status as at delivery

Condition The measuring system must not be connected. There mustbe a 0-signal at input Remote (I8). The compressed air sup-ply must be switched off.

Use the buttons as follows to create the status as at delivery:

1. Switch off the compressed air and the power supplies.

2. Disconnect the measuring system cable from themeasuring system.

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3. Switch on the power supply.The SPC11 will then show fault E01 (measuring systemnot connected...).

(E.01)

4. Press all three buttons at the same time (> 2 s).

The display shows the letter A (Amplification stage).The value is reset to 0.

(A.00)

With the +/- buttons, you can set the value again and transferit with Enter. Then set the other parameters again in the sameway (see section 4.2.5).

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4.3 Commissioning procedure

WarningFaults in the system structure and incorrect parameterscan cause the slide to move to an end position uncu-shioned. The fixed stop or the drive may then be de-stroyed. You must observe the following instructions inorder to prevent such collisions.

– The SPC11 “learns” the location of the end positions(cylinder end positions or fixed stop positions) by meansof the teach procedure. The teach procedure must becarried out during the first commissioning and alwayswhen the fixed stops have been adjusted or when compo-nents and tubing have been replaced.

– During the teach procedure the SPC-11 can recognisefaulty drive tubing or incorrectly set parameters. Theteach procedure must therefore be carried out again if thetubing is disconnected and then reconnected, or if theparameters A, C, S, L or r are modified.

– Make sure that the maximum permitted mass load isobserved during operation.

Recommendation:Place appropriate warning signs on your system.

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4.3.1 Preparations for the teach procedure

Teach procedure During the teach procedure movement is made at firstcyclically and slowly to the end positions P.01 and P.02. Inthis way the SPC-11 learns the mechanical end positions andsome characteristic system values such as friction andhysteresis. The SPC11 saves these values in the integratedEEPROM.

In order to check the set parameters for plausibility, themoveable mass is first brought dynamically into the centre ofthe positioning stroke used and then moved to just in front ofend position P.01.

Please noteWhen an incremental path measuring system is used(e.g. with type DNCI-...-...): During the teach procedure,movement is made to the end positions P.01 and P.02. Thiscreates the relationship between measurement variableand current position. Reference travel is not necessary.

The teach procedure is concluded when the moveable mass ispressed against end position P.01 and the output O1 suppliesa 1-signal.

Before commissioning can be undertaken, the pneumaticdrive must be ready for operation. The teach procedureshould be carried out with maximum permitted mass load.During the teach procedure there must be a 0-signal at inputsP.01 to P.04.

Proceed as follows in order to prepare the teach procedure:

1. Check the complete system structure, especially the drivetubing (see chapter 3). Special specifications for yourdrive can be found in the “Drive-Specific Supplement”.

2. Check the electrical circuitry.

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3. If fixed stops are used:Set the fixed stops accurately in the desired end posi-tions. The positioning stroke permitted for the drive usedcan be found in the “Drive-Specific Supplement”.

4. Check whether the parameters have already beencorrectly set in pre-commissioning.

The permitted values of the parameters A, C, and S for thedrive you are using can be found in the appropriateaxis-specific supplement. The currently set values will beshown briefly when the operating voltage is switched on(see also Fig. 4/4).

If the SPC11 is in the status at delivery:

When the operating voltage is switched on, the SPC11 waitsfor the amplification stage (A) to be entered.

S In this case, set the parameters as described insection 4.2.5.

If the parameters have already been set:

When the operating voltage is switched on, the SPC11 showsbriefly the set parameters one after the other, so that they canbe checked. The SPC11 then indicates readiness to carry outthe teach procedure (t flashes).

(t flashes)

The teach procedure can now be started (see sections 4.3.2).

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4.3.2 Start the teach procedure

Condition There must be a 0-signal at inputs I1...4. The parametersmust be set correctly. The maximum mass load and, if appli-cable, the fixed stops must be fitted correctly. To be able tostart the teach procedure with the buttons, a 0-signal mustbe present at the Remote input (I8).

WarningIn order to avoid damage caused by uncushionedmovement into the end positions, proceed as follows:

– with the first commissioning

– when the fixed stops have been adjusted

– after changing the parameters A, C, S, L, r

– or after replacing components or tubing.

1. Make sure that:• the compressed air supply and the operating voltage of

the SPC11 are switched off• the above-mentioned prerequisites are fulfilled.

2. Switch on the operating voltage for the SPC11. The SPC11will then show briefly the version number of the firmware.The set parameters are then shown, so that they can bechecked.

3. Now switch on the compressed air supply (5 to 7 bar).As the valve slide assumes the intermediate position, themoveable load can move slowly into one of the end posi-tions due to the asymmetrical voltage-pressure curve ofthe proportional directional control valve.

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CautionDuring the teach procedure, the moveable mass moves atfirst slowly, then at the highest possible acceleration andspeed. Make sure that:


– The complete positioning range is free collisioncontours.

4. If teaching has not yet taken place, the SPC11 indicatesreadiness to carry out the teach procedure (t flashes).

(t flashes)

Then proceed as described under 5.

If teaching has already taken place, the moveable massstands controlled in a taught position (P.01...P.04) or inany (P..) position. Proceed as follows:

S Hold the Enter/Teach button pressed down for at least2 seconds. The SPC11 then indicates readiness tocarry out the teach procedure (t flashes).

5. Hold the Enter/Teach button down at least 2 seconds inorder to start the teach procedure.The SPC11 then carries out the teach procedure. Themoveable mass moves at first slowly, then dynamically.The display shows the following:

The dots flash at the same rate.

The teach procedure can last several minutes, depending onthe drive used. It is concluded when the drive is at end posi-tion P.01. The display shows the following:

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The O1 output supplies a 1-signal The drive is now ready foroperation.

When the teach procedure is concluded, the SPC11 knowsthe locations of the mechanical end positions (P.01...P.02).You can now teach manually the intermediate positions(P.03...P.04) or trigger a positioning task to the end positions(P.01...P.02).

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4.3.3 Teach the intermediate positions

The SPC11 permits fast movement into up to two selectableintermediate positions. The desired intermediate positionsare “learnt” by manual movement or by shifting the moveablemass and then saving. The “learnt” intermediate positionscan be approached during operation.

The intermediate positions can also be used as sensor posi-tions, as the relevant output (O3...O4) supplies a 1-signal for50 ms when the intermediate positions are travelled over(see section 4.4.5).

Condition The drive must be ready for operation. There must be a0-signal at inputs I1...4. In the procedure using the buttonson the SPC11, a 0-signal must be present at the Remoteinput (I8). The supply pressure must be switched on or off,depending on the variant.

Variants Procedure

The supply pressure isswitched off

The moveable mass can brought into thedesired position very accurately by handduring the teach procedure.

The supply pressure isswitched on

The mass can be moved manually. Veryaccurate positioning can, under certaincircumstances, be difficult and may take aconsiderable amount of time.

The following explains how to teach the intermediate posi-tions when the supply pressure is switched on. If you wish toteach the intermediate positions with the supply pressureswitched off, you must proceed in exactly the same manner.However, the mass will not start moving automatically whenthe button is pressed { or }, but must be brought into thedesired intermediate position by hand. The button { or }must still be pressed at the appropriate position.

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In order to teach an intermediate position with the supplypressure switched on, proceed as follows:

1. Briefly press the button { or } . The teachable positionnumber (e.g. 3) will then flash.

The position number flashes.

2. If you do not wish to teach the intermediate positionshown, press briefly the ESC button. The process will thenbe interrupted. Then repeat step 1. The next teachableposition number will then flash.

Please noteThe following function will cause the drive to be set inmotion. Make sure that:


– The positioning range is free collision contours.

3. If you wish to teach the intermediate position shown, holdthe button { or } pressed down for as long as is re-quired to move the mass. The mass will then move in theappropriate direction.

4. Release the button when the mass is to stop moving. Themass now stands controlled in the current position.

5. Repeat steps 3 and 4 until the moveable mass reachesthe desired position.

The position number flashes.

6. When the moveable mass has reached the desired posi-tion, confirm with Enter (> 2 s ), in order to save the posi-tion. The current position will then be saved as the inter-mediate position. The appropriate output (O3 or O4)supplies a 1-signal.

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No flashing.

7. If you wish to teach the next intermediate position, repeatthe steps listed as from step 1.

Repetition accuracy The repetition accuracy when moving to the intermediatepositions depends on the type of drive and on the length ofthe measuring system.

Detailed dimensions for repetition accuracy with the driveyou are using can be found in the drive-specific supplement.

Please noteObserve the following instructions in order to achieve goodpositioning behaviour and the repetition accuracy speci-fied.

– The distance between the intermediate position and thedrive end position must be at least 10 % of the completecylinder stroke length or of the complete rotary angle, inorder to provide a sufficient compressed air cushion.

– Positioning paths between taught positions should not beless than 3 % of the complete cylinder stroke length or ofthe complete rotary angle.With linear drives and cylinders the positioning pathsshould be at least 20 mm.

– If the intermediate positions P.03 and P.04 lie at the samepoint and if movement is made to one of the intermediatepositions (e.g. to P.03), only the output corresponding tothe order (e.g. O3) will be set when the intermediate posi-tion is reached. The output bit of the other intermediateposition will be set for 50 ms only if the position is tra-velled over (overswing) (sensor function).

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Overview of the commissioning sequence on theSPC11

Set the parameters and start the automatic teach procedure(SPC11 in status at delivery)

Switch on

Set (only for SPC11-INC):

- Nominal stroke length (L)- Offset axes zero point (r)

Setting:

- Amplification stage (A)- Cushioning stage (C)- System parameters (S)

Set respectivevalue with +/-.Conclude eachentry with Enter.

The SPC11 waits forthe teach task

Pre-commissioningis concluded.Teach task can bestarted.

Teach procedure iscarried out

The teach task is concluded successfully

Mass is pressed againstthe end position;O1 supplies a 1-signal

P.03 and P.04 can betaught (see next page).

The t flashes

The dots flash

Enter button

Teach button/input

Firmware version number

Display offirmware version

Wait approx. 0.5 second

Setting (optional)

- o-parameter

Fig. 4/5: Setting the param. and starting the teach procedure

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Overview Teaching the intermediate positions

Order type?

The mass stands in positione.g. P.01; O... supplies a 1-signal

P.03 and P.04 can betaught

Move manuallyin order to teachpositions 3...4{ or }

Teach P.01...02 again:Teach button/input

The SPC11 waits forthe teach task

Positioning task viainputs I1...I4

The mass moves intothe desired position.

Teach mode for positions3...4 active (e.g. P.03).The mass moves in thedesired direction.

Position save?YesEnter/Teach

NoESC

The mass nowstands controlled inthe current position.

The position is saved.The mass standscontrolled, e.g. P.03;O... supplies a 1-signal

Position numberflashes

See at 1

See at 1

1

The dotsflash

The dots flash The t flashes.

Teach procedure willbe carried out again

Start:Enter/Teach

Fig. 4/6: Teaching the intermediate positions (P.03 and P.04)

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4.3.4 Conclude teach procedure

Adaptation The positioning behaviour is monitored continuously duringoperation. Internal characteristic values are adapted here tothe actual state of the drive, e.g. in order to compensate forwear etc. during the service period.

After commissioning, the positioning behaviour improves byadaptation automatically after approximately 20 to 30 strokes.Therefore, after teaching the end positions and intermediatepositions, always allow 20 to 30 positioning cycles to becarried out.

4.3.5 Carry out teach procedure again

When the SPC11 is ready to operate, the teach procedure canbe started again, e.g. with the aid of the Teach button.

Condition There must be a 0-signal at inputs I1...4. The parametersmust be set correctly. The maximum mass load and, if appli-cable, the fixed stops must be fitted correctly. To be able tostart the teach procedure with the buttons, a 0-signal mustbe present at the Remote input (I8).

The SPC11 then indicates readiness to carry out the teachprocedure (t flashes). The procedure can then be discon-tinued if the power supply is switched off. If the Teach buttonis pressed again (for at least 2 seconds), the teach procedurewill be started (see section 4.3.2).

If the end positions are taught again, the adaptation valueswill be deleted. Intermediate positions already “taught” areretained.

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Please noteIf, after you have taught the end positions again, the previ-ously taught intermediate positions (P.03 and P.04) now lieoutside the positioning range, positioning commands tomove to the intermediate positions will be acknowledgedwith error E14. As soon as the intermediate p

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