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Smart Positioning Controller SPC200

Fieldbus modulePROFIBUS-DP

Type SPC200-COM-PDP

Author: S. BreuerTranslation: Douglas SmithEditors: H.-J. Drung, M. HolderLayout: Festo AG & Co., Dept. KI-TDType setting: KI-TD

Edition: 9904NH

(Festo AG & Co., D-73726 Esslingen, Federal Republic of Germany, 1999)

The copying, distribution and utilization of this docu-ment as well as the communication of its contents toothers without expressed authorization is prohibited. Of-fenders will be held liable for the payment of damages.All rights reserved, in particular the right to carry outpatent, utility model or ornamental design registration.

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SPC200-COM-PDP 9904NH I

Order no.: 188 893Description: ManualDesignation: P.BE-SPC200-COM-PDP-GB

II SPC200-COM-PDP 9904NH

Contents

Designated use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VTarget group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIImportant user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIDanger categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VINotes on this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIIIProduct-specific terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . IX

1. System summary

1.1 System structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31.2 Connecting and display elements on the PROFIBUS module . . 1-41.3 Basic structure for operation on the PROFIBUS-DP. . . . . . . . . . 1-51.4 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

2. Fitting

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

3. Installation

3.1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33.2 Connecting the PROFIBUS-DP interface . . . . . . . . . . . . . . . . . . 3-43.3 Connecting the SPC200 via a branch line. . . . . . . . . . . . . . . . . . 3-93.4 Optical-fibre waveguide connection . . . . . . . . . . . . . . . . . . . . . . 3-10

4. Commissioning

4.1 Procedure for commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.1.1 Additional instructions on commissioning with WinPISA . . . . . . . 4-44.2 Preparations for commissioning the field bus . . . . . . . . . . . . . . . 4-94.2.1 Setting the PROFIBUS address with WinPISA . . . . . . . . . . . . . 4-104.2.2 Setting the PROFIBUS address with the control panel. . . . . . . 4-124.3 Configuring the SPC200 as a PROFIBUS slave . . . . . . . . . . . . 4-144.3.1 Configuration with COM PROFIBUS . . . . . . . . . . . . . . . . . . . . . 4-204.3.2 Configuration with STEP 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-254.3.3 Configuration with DP masters of other manufacturers. . . . . . . 4-30

SPC200-COM-PDP 9904NH III

4.4 Instructions on commissioning the PROFIBUS . . . . . . . . . . . . 4-384.4.1 Start-up reaction of the field bus module . . . . . . . . . . . . . . . . . 4-404.4.2 Response monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-424.4.3 Commissioning on the field bus . . . . . . . . . . . . . . . . . . . . . . . . 4-43

5. Diagnosis and error treatment

5.1 General instructions on diagnosis . . . . . . . . . . . . . . . . . . . . . . . 5-35.2 On-the-spot diagnosis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45.3 Diagnosing with WinPISA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65.4 Diagnosing with PROFIBUS-DP. . . . . . . . . . . . . . . . . . . . . . . . . 5-75.5 Diagnosing with the programmer/PC . . . . . . . . . . . . . . . . . . . . 5-14

A. Technical appendix

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

IV SPC200-COM-PDP 9904NH

Designated use

The field bus module type SPC200-COM-PDP has beendesigned for connecting the SPC200 to the PROFIBUS-DP in accordance with EN50170 part 2. With this field busmodule, the SPC200 can be operated as a slave on thePROFIBUS-DP. Maximum one field bus module may beinstalled.

The basic components and modules for the SPC200are described in the User Manual type P.BE-SPC200-...You must observe at all costs the safety precautionsdescribed therein as well as the designated use of theindividual components and modules. Please observealso the notes on safety in the operating instructions forthe pneumatic components used. The SPC200 as wellas the modules and cables to be connected may onlybe used as follows:

– as intended

– in their original state

– without any modifications

– in perfect technical condition

If used with additional commercially-available compo-nents, such as sensors and actuators, the specifiedlimits for pressures, temperatures, electrical specifica-tions, torques, etc. must be observed. Local and na-tional technical regulations must also be observed.

SPC200-COM-PDP 9904NH V

Target group

This manual is directed exclusively at technicianstrained in control and automation technology and whohave experience in installing, commissioning, pro-gramming and diagnosing stepping motor axes.

Important user instructions

This manual contains instructions on possible dangerswhich can occur if the SPC200 is not used correctly.These instructions are printed in italics, are placed in aframe and also marked with a pictogram.

Danger categories

A distinction is made beween the following:

WARNING: This means that considerable injury topeople and/or damage to property can occur if theseinstructions are not observed.

CAUTION: This means that injury to people and/ordamage to property can occur if these instructionsare not observed.

PLEASE NOTE: This means that damage toproperty can occur if these instructions are not ob-served.

VI SPC200-COM-PDP 9904NH

Pictograms and symbols supplement the danger in-structions and draw attention to the nature and conse-quences of dangers.

Pictograms

The following pictograms are used:

Uncontolled movements of loose tubing

Unintentional movements of the connected actuators

High electric voltage or undefined switching status ofthe electronic components which consequently affectconnected circuits.

Electrostatically vulnerable components which will bedamaged if the contacts are touched.

Recommendations and tips are marked with this picto-gram.

• This point marks activities which can be carried outin any order.

Textmarkings

1. Numbers denote activites which must be carried outin the sequence listed.

– Hyphens denote general activities.

SPC200-COM-PDP 9904NH VII

Notes on this manual

This manual contains general basic information on fit-ting as well as installing and commissioning theSPC200 as a PROFIBUS-DP slave. Reference is madeto the SPC200 Smart Positioning Controller with opera-ting system version V 3.x and with WinPISA as fromversion 3.x.

Manuals on the SPC200 Smart Positioning Controller

Type Name Contents

Systemmanual

SPC200 Smart PositioningController, manualtype P.BE-SPC200-GB

Installation, commissioning anddiagnosis with the SPC200; standardcomponents and modules

Softwaremanual

Software packageWinPISA type P.SW-WIN-PISA-GB

Functions of the WinPISA softwarepackage

Help system Help system for WinPISA(contained in WinPISA)

WinPISA help system

Manuals Field bus moduletype P.BE-SPC200-COM-...

Installation, commissioning anddiagnosis of the relevant field bus module

Stepping motor indexermoduletype P.BE-SP200-SMX-...

Installation, commissioning anddiagnosis when using a stepping motor

Special information on commissioning, programmingand diagnosing the SPC200 with the WinPISA softwarepackage can be found in the relevant manual for Win-PISA. Information on the electric axes, drive packagesand sensors can be found in the documentation sup-plied with the product.

VIII SPC200-COM-PDP 9904NH

Product-specific terms and abbreviations

The following product-specific terms and abbreviationsare used in this manual:

Term/abbreviation Meaning

Bus segment Bus cable between two terminating resistors. A bus segmentcontains maximum 32 slaves. A PROFIBUS-DP system contains atleast one bus segment with at least 2 slaves. Further bus segmentscan be connected with the aid of repeaters.

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

I Digital input

I/Os Digital inputs and outputs

Modules Plug-in cards which must be inserted in the rack of the SPC200.

PLC/IPC Programmable logic controller/industrial PC

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

PROFIBUS address Serves for clearly identifying a slave on the PROFIBUS

PROFIBUS-DP Protocol variant "decentral periphery"

Q Digital output

Record selectmode

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

Repeater Operating media for amplifying bus signals and connectingsegments over long distances.

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

Terminatingresistor

Resistor for minimizing signal reflexions. Terminating resistors mustbe fitted or switched in at the end of bus segment cables.

SPC200-COM-PDP 9904NH IX

X SPC200-COM-PDP 9904NH

Chapter 1

System summary

1. System summary

SPC200-COM-PDP 9904NH 1-1

Contents

1. System summary

1.1 System structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31.2 Connecting and display elements on the PROFIBUS module . 1-41.3 Basic structure for operation on the PROFIBUS-DP . . . . . . . . . 1-51.4 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1. System summary

1-2 SPC200-COM-PDP 9904NH

1.1 System structure

Special field bus modules are available for connectingthe SPC200 to field bus systems. Field bus moduletype SPC200-COM-PDP enables the SPC200 to beconnected to the PROFIBUS-DP (in accordance withEN 50170 part 2).

12

Programmer/PCPROFIBUS-DP master

34

SPC200 as PROFIBUS-DP slaveFurther slaves on the PROFIBUS-DP

Fig. 1/1: System summary (example)

2

3

4

1

1. System summary


1.2 Connecting and display elements on the PROFIBUS module

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

12

ERROR LED (red)POWER LED (green)

3 PROFIBUS-DPinterface (9-pin)

Fig. 1/2: Connecting and display elements

2

3

1

1. System summary


1.3 Basic structure for operation on the PROFIBUS-DP

Basic structure for the PROFIBUS-DP

The SPC200 functions as a DP standard slave with justthe following modules.

123

Power supply moduleDiagnostic moduleField bus nodule for PROFIBUS-DP

Fig. 1/3: Basic structure for the PROFIBUS-DP

Module Description

Power supplymodule

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

Diagnosticmodule

Enables the operating panel to be inserted(optional) and a PC to be connected.

Field busmodule forPROFIBUS-DP

Enables communication via the field bus.

231

1. System summary


A system with the above-mentioned modules offers thefollowing scope of performance:

• control of up to two pneumatic axes.

• programming and diagnosis via a PC or an operatingpanel.

• coordination with external PLC/IPC via a field bus.With field bus module type SPC200-COM-PDP theSPC200 can be connected to all DP masters.

The SPC200 can be controlled via the PROFIBUS-DPin the operating modes start/stop or record selection.The field bus module provides the address range re-quired for this.

1. System summary


1.4 Operating modes

Whether for control via an I/O module or via a field bus,the SPC200 offers the following operating modes forprocessing the stored NC programs:

• start/stop mode

• record select mode

The desired operating mode can be set with the controlpanel or with WinPISA. Detailed information on theoperating modes can be found in the user manual forthe SPC200.

The SPC200 communicates with the PROFIBUS mas-ter via the internal I/O address ranges (internalinput/output addresses) of the field bus module. De-pending on the operating mode used, field bus moduletype SPC200-COM-PDP provides the following I/O bitsfor communication with the DP master:

Operating mode I/O address range of field busmodule type SPC200-COM-PDP

Start/stop I10.0 - I13.15*)

Q10.0 - Q13.15*)

Record select I10.0 - I11.15*)

Q10.0 - Q10.15*)

*) Address specifications as seen by the SPC200

1. System summary


PLEASE NOTEThe outputs of the master are mapped on internal in-puts of the field bus module or of the SPC200.

PLC/IPC SPC200-COM-PDP SPC200

12345

User program in DP masterCommunication moduleUser program in SPC200OutputsInputs

678

PROFIBUS-DP field busInternal I/Os of field bus moduleInternal I/Os of SPC200

1) Maximum address range; address specifications as seen by SPC200

Fig. 1/4: Internal I/O address range

Due to the large I/O address range, considerably moreNC records can be accessed in record select mode viathe field bus, than via the I/O module.

31

2

Q10.0 ... Q13.15 1)

I10.0 ... I13.15 1)

4455

5544

7

6

8

1. System summary


With the field bus module, 10 bits are available for se-lecting the NC record number in record select mode.The maximum permitted number of NC records (up to1000) of the determined starting programs can there-fore be accessed.

When a field bus module is used:

• the address ranges I0.0 ... I0.9 and Q0.0 ... Q0.7 re-main unused. These address ranges, which servewithout field bus module for controlling the SPC200,are not available.

• maximum 3 I/O modules can be inserted. These pro-vide exclusively freely programmable I/Os in theoperating mode start/stop.

The address assignment when a field bus module isused is shown in the table below.

Module Maximum address range

- 1) I0.0 ...I0.9 1) Q0.0 ... Q0.7 1)

I/O modules on firstaxis interface string

I1.0 ... I1.15 Q1.0 ... Q1.15

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

I/O modules on secondaxis 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 moduleis used

1. System summary


The functions of the internal input and output bits of thefield bus module, as well as the permitted NC com-mands, depend on the operating mode set. Detailed in-formation on this can be found in the user manual forthe SPC200.

1. System summary


Chapter 2

Fitting

2. Fitting


Contents

2. Fitting

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

2. Fitting


WARNINGBefore starting the fitting work, switch off the follow-ing in the sequence specified here:1. the compressed air supply2. the load voltage and operating voltage

supplies on the SPC200 and, if applicable,on the axis interface string.

You thereby avoid:

– undesired movements of the connected actuators

– uncontrolled movements of loose tubing

– undefined switching states

2. Fitting


2.1 Fitting and removing the field bus module

CAUTIONIncorrect handling can damage the modules.Do not, therefore, touch the contacts on the modules.Please observe the regulations for handling electro-statically vulnerable components.

Before fitting or removing modules, discharge yourselfelectrostatically, in order to protect the modules fromdischarges of static electricity.

The slots are numbered 1 to 6 from left to right. Slot 1is reserved for the power supply module (type SPC-200-PWR-AIF). The field bus module can be fitted asdesired in slots 2 to 6. If the field bus module is fittednext to the diagnostic module, an operating panel can-not be plugged in because of the field bus cable.

Individual identification of all the modules fitted is car-ried out automatically. Only 1 field bus module may befitted.

The modules are fixed onto the rack with the aid of asafety catch. A tool is not therefore required for fitting orremoving the modules.

2. Fitting


WARNINGActuators can be activated unintentionally and theSPC200 can be damaged if modules are added orremoved while the power supply is switched on. Before undertaking installation and/or maintenancework, switch off the following in the sequence specified here:1. the compressed air supply2. the load voltage and the operating voltage

supplies for the SPC200 and, if applicable, the load voltage supply for the axis interface string.

When fitting the modules into the rack, proceed asfollows:

Fittingmodules

1. Switch off the compressed air supply and the oper-ating voltage supply.

2. If applicable, remove the blind plate.

3. Hold the module by the front plate and push it intothe guide rail. Make sure that the modules are nottilted when they are pushed in and that no compo-nents on the printed circuit board are damaged.

4. Make sure that the plugs of the terminal strips arecorrectly aligned. Using light pressure, push the mo-dule in completely. The safety catches will then lockautomatically (see Fig. 2/1).

2. Fitting


123

Direction for unlockingLocks automaticallySafety catch

456

Front plate of moduleTerminal stripGuide rail

Fig. 2/1: Fitting the modules

When removing a module, proceed as follows: Removingmodules

1. Switch off the operating voltage and the compressedair supply.

2. Disconnect and remove the cable on the front of themodule.

3. Unlock both safety catches (see Fig. 2/1) and care-fully remove the module.

4. If necessary, seal unused slots with blanking plates.

65

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4

3

2

2

2. Fitting


Chapter 3

Installation

3. Installation


Contents

3. Installation

3.1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33.2 Connecting the PROFIBUS-DP interface. . . . . . . . . . . . . . . . . . 3-43.3 Connecting the SPC200 via a branch line. . . . . . . . . . . . . . . . . 3-93.4 Optical-fibre waveguide connection . . . . . . . . . . . . . . . . . . . . . 3-10

3. Installation


3.1 General instructions

WARNINGBefore undertaking installation and/or maintenancework, switch off the following in the sequence speci-fied here:1. the compressed air supply2. – the load voltage supply for field devices and

proportional directional control valves (plug X2, pin 1)

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

– if applicable, the load voltage supply for the axis interface string

– the operating voltage supply for internalelectronics of the SPC200 and field devices(plug X2, pin 2).

You thereby avoid:

– undesired movements of the connected actuators

– uncontrolled movements of loose tubing

– undefined switching states

CAUTIONPlease note that the maximum permitted bus seg-ment length depends on the baud rate used.

A bus segment is a bus cable which may contain up to32 slaves (devices). The ends of the bus segment mustbe sealed with a terminating resistor. Use plugs with anintegrated terminating resistor if you are fitting theSPC200 to the end of a bus segment.

3. Installation


3.2 Connecting the PROFIBUS-DP interface

There is a Sub-D connection on the field bus modulefor connecting the SPC200 to the PROFIBUS-DP. Thisconnection serves for the supply cable as well as forthe continuing field bus cable.

15

Pin 1Pin 5

69

Pin 6Pin 9

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

Pin Signal Description

123456789Housing

Earth n.c. RxD/TxD-PCNTR-P *)DGNDVPn.c. RxD/TxD-Nn.c.Screening/shield

Direct connection to housingNot connectedReceive/send data - PRepeater control signalData reference potential (M5V)Supply voltage positive (P5V)Not connectedReceive send data - NNot connectedDirect connection to housing

*) The repeater control signal CNTR-P is in the formof a TTL signal.

9

16

5

3. Installation


Field bus cable specifications

Recommendation: Use a cable conforming to the speci-fications as per EN 50170 part 2 (cable A).

– characteristic impedance: 135-165 Ohm (3-20 MHz)

– capacitance per unit length: < 30 nF/km

– loop resistance: < 110 Ohm/km

– core cross sectional area: > 0.34 mm 2

Maximum permitted segment length of field bus:

Baud rate(in kBaud)

Maximum permitted segment length (in m) as per PNO 1)

9.619.2

93.75187.55001500

3000 - 12000

1200120012001000400200100

1) PNO = PROFIBUS User organisation

3. Installation


Plugs

CAUTIONUse plugs with a terminating resistor if you are fittingthe SPC200 at the end of a segment.

Use special bus plugs for PROFIBUS, e.g. the following9-pin plug from Siemens AG or from ERNI.

Siemens part number Description

6ES7 972-0BA10-0XA0 Terminating resistor can be switchedin; vertical cable exit;Baud rate 9.6 kBaud...12 MBaud;4-pin series terminals for wires up to1.5 mm2

6ES7 972-0BB10-0XA0 As above, but also withconduit thread connection

ERNI part number Description

103648 Horizontal cable exit; Baud rate 9.6 kBaud...12 MBaud;4-pin series terminal for wires up to1.5 mm2

103649 As above, but with integratedterminating resistor

3. Installation


Connecting the bus cable

• Always connect the cable cores to the appropriateconnection A or B of the 4-pin series terminal.

• Make sure that the cable screening lies flat under thefastening clip for the screening.

• Read, if applicable, the instructions supplied with theplug.

1 4-pin series terminal 2 Cable screening

Fig. 3/2: Connecting the bus cable to the plug

2

1

3. Installation


Terminating resistor (cable termination)

Bus segments must be concluded at both ends with aterminating resistor. This also applies if the module orcommunication processor is at the end of the buscable.

Recommendation: Use plugs with an integrated termi-nating resistor if you are connecting the SPC200 at theend of a bus segment. If necessary, switch in the termi-nating resistor.

The diagram below shows the circuitry of the terminat-ing resistor combination of cable A as per EN 50 170.

Pin 6: Power supplyPin 3: RxD/TxD-P

Pin 8: RxD/TxD-NPin 5: DGND

Fig. 3/3: Cable termination as per EN 50 170 (cable A)

390

220

390

Pin 6

Pin 3

Pin 8

Pin 5

3. Installation


3.3 Connecting the SPC200 via a branch line

CAUTIONIf you cannot avoid connecting the SPC200 via abranch line:– seal the branch lines with a terminating resistor– note that the permitted segment length is

reduced by the length of the branch line– observe the maximum permitted branch line length.

PLEASE NOTEBranch lines should be avoided on the PROFIBUS-DP where possible, as they can overload the trans-mission cable too much.

Baud rate(in kBaud)

Maximum permitted branch line length(in m)

9.619.2

93.75187.55001500

3000 - 12000

50050010033.3206.6

not permitted

3. Installation


3.4 Optical-fibre waveguide connection

The following transmission media are available for thePROFIBUS:

– cable transmission (screened two-wire cable)

– optical-fibre waveguide (plastic and glass fibre)

For transmission in environments subjected to stronginterference, as well as for extending the coveragerange with high baud rates, we recommend the optical-fibre waveguide technology.

This offers the following additional advantages:

– high electromagnetic compatibility, electrostatic dis-charge protection due to optical transmission of thesignals

– Protection against lightning

– Potential isolation of the individual DP slaves (nocompensating currents can flow through a cablescreening).

The PROFIBUS-DP interface of the node has been de-signed in accordance with specification EN 50170 vol-ume 2 and can therefore be used for controlling net-work components for optical-fibre waveguides.

Example of network components for optical-fibre wave-guides:

– Siemens Optical Link Module (OLM) for PROFIBUSplus

– Siemens Optical Link Plug (OLP) for PROFIBUS.

3. Installation


Chapter 4

Commissioning

4. Commissioning


Contents

4. Commissioning

4.1 Procedure for commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.1.1 Additional instructions on commissioning with WinPISA . . . . . . 4-44.2 Preparations for commissioning the field bus . . . . . . . . . . . . . . 4-94.2.1 Setting the PROFIBUS address with WinPISA . . . . . . . . . . . . 4-104.2.2 Setting the PROFIBUS address with the control panel . . . . . . 4-124.3 Configuring the SPC200 as a PROFIBUS slave . . . . . . . . . . . 4-144.3.1 Configuration with COM PROFIBUS . . . . . . . . . . . . . . . . . . . . 4-204.3.2 Configuration with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-254.3.3 Configuration with DP masters of other manufacturers . . . . . . 4-304.4 Instructions on commissioning the PROFIBUS . . . . . . . . . . . . 4-384.4.1 Start-up reaction of the field bus module . . . . . . . . . . . . . . . . . 4-404.4.2 Response monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-424.4.3 Commissioning on the field bus . . . . . . . . . . . . . . . . . . . . . . . . 4-43

4. Commissioning


4.1 Procedure for commissioning

In order to commission an SPC200 mit integrated fieldbus module, you will require the WinPISA softwarepackage as from version 3.X.

RecommendationProceed with commissioning as follows:

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

2. First commission the individual axes with the aid ofWinPISA, but without using the field bus interface.After reading this chapter, refer to the WinPISAmanual.

3. Then start commissioning the field bus.

4. Commissioning


4.1.1 Additional instructions on commissioning with WinPISA

Proceed first of all as described in the WinPISA manual(see Chapter 4 in the WinPISA manual). With some ofthe commissioning steps, the signals ENABLE, STARTand STOP are required for controlling the axes, e.g.with the steps:

– movement test

– identification travel

– test and start program

If a field bus module is installed, you can generatethese control signals in the test mode when com-missioning. Commissioning can then be carried out in-dependently of the PROFIBUS master.

Activating the test mode

CAUTIONYou can specify input signals in test mode. The inputsignals actually present will be ignored.Activate the test mode only:– when the SPC200 is not connected to the field

bus or when it is not online or– when you are aware of the effects produced by

the signals.

4. Commissioning


WARNINGMake sure that nobody can place his/her hand in thepositioning range of the moving mass and that noobjects lie in this path.

In order to generate control signals in test mode, firstactivate the command [Online] [Observe] [Selection][Control signals]. Then switch on the test mode, e.g.with function key F5. The contents of the window [Con-trol signals] depends on the operating mode set.

ä = 1-signal

12

ENABLEStop signal

3 Display for test mode

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

Especially the signals ENABLE and STOP are import-ant for commmissioning.

Now refer to the WinPISA manual for information oncarrying out commissioning.

3

1

2

4. Commissioning


I/O control signals (summary)

Detailed explanations of the I/O control signals can befound In the manual for the SPC200. A detailed sum-mary of the I/O assignment is shown in section 4.4.2.

Start/stop mode

Address *) Control signal Description

I10.0 ENABLE Enable controller (1=controller enabled)

I10.1 START/RESET Start/continue programs or reset (RESET in conjunction with STOP=0)

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

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

Q10.0 READY System ready

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

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

*) Address specifications as seen by SPC200

Record select mode

Address *) Control signal Description

I10.0 ENABLE Enable controller

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

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

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

I11.0 ... I11.15 RECBIT1...10 Bits for NC record number (RECBIT1 for 20 etc.)

Q10.0 READY System ready

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

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

*) Address specifications as seen by SPC200

4. Commissioning


Program test in record select mode

In record select mode, the window "Control signals"enables the direct selection of an NC record number.This NC record number corresponds to the actual NCrecord number in the NC program.

Please note that when loading a program withWinPISA, the programmed record numbers are storedbeginning with N000 and with step size 1.

Example 1: Start NC record from line N007 of program A

ä = 1-signal

12

Start NC record with CLK_A signalCurrent NC record number (here 7)

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

Fig. 4/2: Selecting an NC record in record select mode (example)

1

3

2

4. Commissioning


Commissioning the field bus

Commission the SPC200 as field bus slave as follows:

1. Set the PROFIBUS address with WinPISA or withthe operating panel.

2. Configure the Profibus with the appropriate configu-ration software (e.g. with COM PROFIBUS or STEP7 hardware configurator).

3. Test the PROFIBUS connection in online mode.

The subsequent sections contain detailed information.

4. Commissioning


4.2 Preparations for commissioning the field bus

Setting the PROFIBUS address

The PROFIBUS address (DP slave address) of theSPC200 can be set with:

– the WinPISA software package

– the operating panel

Modification by a DP master is not permitted.

PLEASE NOTEPROFIBUS addresses may only be assigned onceper PROFIBUS-DP interface.Note any possible restrictions in respect of theassignment of PROFIBUS addresses by your DP master.

Recommendation:Assign the PROFIBUS addresses in ascending order.Assign the addresses, where necessary, to suit themachine structure of your system.

Permitted PROFIBUS addresses 0 ... 125(possibly limited by the DP master used)

4. Commissioning


4.2.1 Setting the PROFIBUS address with WinPISA

PLEASE NOTEIn order to avoid errors during commissioning, thefield bus module is supplied from the factory set atan invalid PROFIBUS address.

In order to set the PROFIBUS addresses with Win-PISA, proceed as follows:

1. Read the hardware configuration out of the SPC200or set it manually, as described in the guidelines Inthe WinPISA manual.

2. Double click the symbol CPU-... in the project win-dow. The window "SPC200 configuration" will thenappear.

1 PROFIBUS module

Fig. 4/3: Configuration of the SPC200 modules

1

4. Commissioning


3. Now select the register card [Field bus]. The dia-logue window will then appear.

12

Register card [Field bus]Entry field for PROFIBUS address

Fig. 4/4: Configuration of PROFIBUS module

4. Set the desired PROFIBUS address (0...125) andconfirm with OK.

The field bus module sets itself automatically to thePROFIBUS baud rate used (automatic baud rate recog-nition). The PROFIBUS address is transferred to theSPC200 when the project is loaded and therebybecomes valid. A separate download is also possible.

2

1

4. Commissioning


4.2.2 Setting the PROFIBUS address with the control panel

PLEASE NOTEIn order to avoid errors during commissioning, thefield bus module is supplied from the factory set atan invalid PROFIBUS address.

In order to set the PROFIBUS addresses with thecontrol panel, proceed as follows:

1. Press the key ← or → so often in the basic settinguntil the menu CONFIG. SYSTEM appears.

SPC200 READYCONFIG. SYSTEM >

2. Press the Enter key to open the menu CONFIG.SYSTEM. The first command (ACTUAL CONFIG.)will then be shown in the bottom line.

CONFIG. SYSTEM ACTUAL CONFIG. >

3. Select the menu FIELDBUS with the keys ← or →.

CONFIG. SYSTEM FIELDBUS >

4. Commissioning


4. Press the Enter key to open the menu FIELDBUS.

PROFIBUS-DPSTATION ADDRESS

5. Press the Enter key to select the commandSTATION ADDRESS.

STATION ADDRESS000?

6. Use the cursor keys to set the desired PROFIBUSADDRESS. Then press the Enter key. A systemreset is required before you can transfer the newPROFIBUS address. The following question there-fore appears.

UPDATE NEW ADDR.SYSTEM RESET ?

7. You can now abort with ESC or trigger a systemreset with ENTER and thereby confirm the new ad-dress.

After a system reset, the SPC200 is reset to the statusit was in when switched on. A program reset and ahardware recognition are carried out here and the axisinterface string is initialized again. Depending on thesystem configuration used, this procedure may take acertain amount of time.

4. Commissioning


4.3 Configuring the SPC200 as a PROFIBUS slave

Before commissioning or programming you should com-pile a configuration list of all the connected field busslaves. On the basis of this list, you can:

– compare the NOMINAL with the ACTUAL configura-tion in order to detect connection faults

– access these specifications during the syntax checkof a program in order to avoid addressing errors.

4. Commissioning


I/O address range

The SPC200 communicates with the PROFIBUS mas-ter via internal I/O address ranges (internal input/outputaddresses). The size of this configurable I/O addressrange depends on the operating mode used on theSPC200. The following table summarizes this.

Operatingmode

I/O address range*) Function of the inputs/outputs

Start/stop I10.0 - I10.15 Control signals and freely prog. inputs

I11.0 - I13.15 Freely programmable inputs (optional)

Q10.0 - Q10.15 Control signals and freely prog. outputs

Q11.0 - Q13.15 Freely programmable outputs (optional)

Record select I10.0 - I10.15 Control signals

I11.0 - I11.15 Record number

Q10.0 - Q10.15 Control signals

*) I/O address range of field bus module; address specifications as seen by SPC200

CAUTIONThe outputs of the master are mapped on internalinputs; internal outputs of the field bus module aremapped on inputs of the master.

4. Commissioning


Module consistency

The SPC200 supports the following variants of moduleconsistency:

– consistency over the complete configured addressrange

– only permitted in start/stop mode:consistency over 1 byte

Configuration entries with identifiers

The type and the number of inputs and outputs arewritten with identifiers under PROFIBUS-DP. The DPidentifiers can be entered in the configuration tables ofthe configuration programs either directly or via adialogue. This choice depends on the configuration pro-gram.

4. Commissioning


Permitted identifiers for COM-PROFIBUS and step 7(hardware configurator)

Valid identifiers for start/stop mode1)

Hex Decimal Meaning Consistent over

11 17 2 byte inputs 1 byte




21 33 2 byte outputs 1 byte




91 145 2 byte inputs complete length




A1 161 2 byte outputs complete length




1) Identifiers for data consistency over 1 byte are permitted in this operating mode.All non-configured input/output addresses can be used as flags in this operating mode.

Valid identifiers for record select mode 1)

Hex Decimal Meaning Consistent over



1) Only data consistency over complete length permitted.

4. Commissioning


FREEZE and SYNC

The SPC200 supports the PROFIBUS control com-mands Sync and Freeze. If a PROFIBUS master sendsthese control commands, the internal I/Os of the fieldbus module used for communication (I10.0...I13.15 orQ10.0....Q13.15) are treated as follows:

CAUTIONIn the following cases the FREEZE or SYNC modewill be automatically reset:• when the SPC200 is switched on/off or after a

system reset• when a project is loaded with WinPISA• when the the field bus master is stopped

The FREEZE mode will also be automatically resetin the following case:• when the bus connection to the SPC200 is

interrupted (response monitoring active).

The internal outputs of the field bus module aremapped on inputs of the master. With this control com-mand the internal outputs of the field bus module(Q10.0...Q10.15)can be ”frozen.” The field bus modulethen sends a constant output image to the master. Thefollowing FREEZE command causes the output imageto be updated. The updated output image is then sentconstantly to the master again.

FREEZE

Return to normal operation: UNFREEZE command.

4. Commissioning


The outputs of the master are mapped on internal in-puts of the field bus module. With this control commandthe internal inputs can be ”frozen.” The SPC200 thenno longer reacts to modifications of the output image inthe master. The following SYNC command causes theoutput image of the master to be updated and trans-ferred.

SYNC

Return to normal operation: UNSYNC command.

Configuration

The next two chapters describe the configuration of theSPC200 as a PROFIBUS slave, especially with aSiemens DP master. This is followed by a description ofthe configuration in general for PROFIBUS masters ofother manufacturers.

Various configuration programs are available for theSiemens DP master. This manual deals with:

– COM PROFIBUS

– STEP 7 (hardware configurator)

Configuration programs are subject to updates whichmay not be taken into account in this manual. Pleaserefer to the relevant product documentation for furtherinformation.

4. Commissioning


4.3.1 Configuration with COM PROFIBUS

General instructions

The COM PROFIBUS software package serves forplanning and commissioning in conjunction withPROFIBUS masters from Siemens or with compatiblemasters. In order to understand this chapter you shouldbe sure of how to operate your configuration program.If necessary, refer to the documentation on the COM-PROFIBUS. This manual refers to software version 3.0.

Installing the GSD file

In order that the SPC200 can be configured with COMPROFIBUS, a data carrier containing a GSD file and aBITMAP file is supplied with this manual. Information onusing the GSD file is contained In the README file inthe main directory.

The files must be installed as follows, in order that allnecessary information about the SPC200 is madeknown to the COM PROFIBUS configuration program.

4. Commissioning


Copy the files provided into the following directories ofyour programmer or PC.

File type File name Copy into directory

GSD file(German)

SPC_00C8.GSD ..... COMPB3x\GSD

GSD file(English)

SPC_00C8.GSE ..... COMPB3x\GSD

BITMAP PBSP200N.BMPPBSP200S.BMP

..... COMPB3x\BITMAP

Although COM PROFIBUS has already been startedwhen you copy the GSD files, you can update the slavecatalogue with the command [File] [Read GSD file].

4. Commissioning


Inserting the SPC200 as slave

The window "Master System PROFIBUS Address X"represents the structure of the master system graphi-cally. When the GSD file has been installed, you caninsert the SPC200 By selecting "NC" in the menu"Slaves."

1 Symbol for SPC200 2 Menu entry NC from GSD file

Fig. 4/5: Station selection COM PROFIBUS

• In order to insert the SPC200, click the entry NC.Move the mouse pointer to the field bus string. Clickon the field bus string at the point where you wish toinsert the SPC200. A dialogue for entering thePROFIBUS address will then appear.

When the PROFIBUS address is entered, the SPC200will be represented graphically.

1

2

4. Commissioning


Configuring slave characteristics

By double-clicking the SPC200 symbol, you can openthe dialogue window "Slave characteristics" and con-figure the SPC200.

In the dialogue window "Configure" you can determinethe number and size of the I/O ranges of the slave andassign address ranges of the master to them.

Permitted identifiers for COM-PROFIBUS can be foundin section 4.3.

12

Identifier for inputsIdentifier for outputs

34

Address ranges of the masterShows a list of permitted identifiers

Fig. 4/6: Configuring slave characteristics

12

4

3

4. Commissioning


Please note the following:

– The number of inputs and outputs to be configureddepends on the operating mode of the SPC200.

– Always configure inputs before outputs.

– Assign only one identifier for inputs and one for out-puts.

When configuration is completed, transfer the data toyour master.

4. Commissioning


4.3.2 Configuration with STEP 7

General instructions

The Simatic Manager software package serves forplanning and commissioning in conjunction withPROFIBUS masters from Siemens or with compatiblemasters. In order to understand this chapter you shouldbe sure of how to operate your configuration program.If necessary, refer to the documentation on the SimaticManager. This manual refers to software versionV 4.02.

Installing the GSD file

In order that the SPC200 can be configured with STEP7, a data carrier containing a GSD file, a type file and aBITMAP file is supplied with this manual. Information onusing the GSD file and the type file is contained in theREADME file in the main directory.

4. Commissioning


The files must be installed as follows, in order that allnecessary information about the SPC200 is madeknown to the configuration program.

• with Simatic Manager up to version 4.01Copy the files provided into the following directoriesof your programmer or PC.


GSD file(German)

SPC_00C8.GSD ..... S7DATA\GSD

GSD file(English)

SPC_00C8.GSE ..... S7DATA\GSD

BITMAP PBSP200N.BMPPBSP200S.BMP

.....S7DATA\NSBMP

• With Simatic Manager as from version 4.02Activate the command [Extras] [Install GSD file].

Although the Simatic Manager has already been startedwhen you copy the GSD files, you can update the hard-ware catalogue with the command [Extras] [UpdateGSD file].

4. Commissioning


Inserting the SPC200 as slave

The window "Hardware Configuration" represents thestructure of the master system graphically. When theGSD file has been installed, you can select theSPC200 in the hardware catalogue. It is in group[PROFIBUS-DP] [Additional field devices] [NC].

1 Symbol for SPC200 2 Menu entry "NC" from GSD file

Fig. 4/7: Station selection STEP 7

• In order to insert the SPC200, click the entry FestoSPC200 and hold the left-hand mouse key presseddown. Move the mouse pointer to the field bus stringand release the mouse key.

when the PROFIBUS address is set, the SPC200 willbe represented graphically.

2

1

4. Commissioning


Configuring slave characteristics

By double-clicking the SPC200 graph, you can con-figure the "Slave characteristics" in the lower part of thescreen. Here you can determine the number and sizeof the I/O ranges of the slave and assign addressranges of the master to them.

• To do this open the permitted identifiers in the hard-ware catalogue under Festo SPC200.

• Move the desired identifier with the aid of the mouseinto the appropriate line under "Modules/DP ID".

1 Identifiers for SPC200 2 Modules/DP identifier

Fig. 4/8: Configuring slave characteristics

12

4. Commissioning


Please note the following:

– The number of inputs and outputs to be configureddepends on the operating mode of the SPC200.

– Always configure inputs before outputs.

– Assign only one identifier for inputs and one for out-puts.

When configuration is completed, transfer the data toyour master.

4. Commissioning


4.3.3 Configuration with DP masters of other manufacturers

The SPC200 can be controlled by any PLC, PC or in-dustrial PC with a PROFIBUS-DP module as per EN50170 (DIN 19245).

Starting the bus

In order to commission the SPC200 correctly, the DPmaster must perform the following functions in the se-quence stated here:

1. Send parametrizing telegram

2. Send configuration telegram

3. Request diagnostic information

4. Start cyclic data communication

The structure and contents of the individual telegramsare described in the chapters which follow.

4. Commissioning


Send parametrizing data (Set_Prm)

The parametrizing data is transferred from the DP mas-ter to the SPC200 with the function Set_Prm.

Octet 1: Station status

Bit Meaning Explanation

0 - Reserved

1 -

2 -

3 WD_On Response monitoring of SPC200 on/off:logic "0": offlogic "1": on

4 Freeze_Req logic "1": Activate FREEZE

5 Sync_Req log. "1": Activate SYNC

Bit 7 Bit 6 Explanation

67

Unlock_ReqLock_Req

0 0 min TSDR + SPC200 parametermay be overwritten

0 1 Release SPC200 for other masters

1 0 SPC200 blocked for other masters

1 1 Release SPC200 for other masters

4. Commissioning


Octets 2 and 3: WD_Fact_1 WD_Fact_2

Bit Meaning Explanation

Range 1 - 255:The response monitoring time of the SPC200 istransferred with these two octets:TWD [s] = 10ms * WD_Fact_1 * WD_Fact_2

Octet 4: Minimum Station Delay Responder (min TSDR)

Explanation

The minimum time the SPC200 must wait before thereply telegram can be sent to the DP master.

Octets 5 and 6: Ident_Number

Explanation

Transfer of Ident. number (= 00C8H) of SPC200;Parametrizing telegrams to the SPC200 are onlyaccepted if the transferred and programmed Ident.numbers are the same.

Octet 7: Group_Ident

Explanation

With the SPC200 each bit represents a group.

Octet 8 - 32: User_Prm_Data

Explanation

Not supported by the SPC200

4. Commissioning


Send configuration data (Chk_Cfg)

The configuration data are transferred from the DPmaster to the SPC200 with the function Chk_Cfg.

PLEASE NOTEThe configuration of the SPC200 can be carried outas follows:– one identifier bit for the sum of the inputs and one

for the sum of the outputs.

Parameter summary:Octet 1-n: identifier bytes

Permitted identifiers for the SPC200 can be found insection 4.3, Configuring the SPC200 as a PROFIBUSslave.

Example:Configuring an SPC200 for record select mode with upto 2 input bytes and 4 output bytes.

Station no.: 20Configuration: Function:Chk_CfgOctet 1: 145DOctet 2: 163D

Read out configuration data (Get_Cfg)

Operatingmode

Start/stop mode Record select mode

Octet 1Octet 2

151D

167D

145D

163D

4. Commissioning


Request diagnostic information (Slave_Diag)

The diagnostic data are requested by the SPC200 withthe function Slave_Diag. This function is described inchapter 5, section "Diagnosis via PROFIBUS-DP."

Cyclic exchange of data (Data_Exchange)

The cyclic exchange of useful data is performed withthe function Data_Exchange. The output data for theSPC200 are transferred as an octet string of length xwith this function.

The length of the octet string depends on the size ofthe address range used for the exchange of data. Itssize can therefore differ for input data and output data(Inp_Data, Outp_Data). Each byte has an octet stringlength of 1.

PLEASE NOTEWith the function Data_Exchange, the SPC200expects the status description for the internal inputs(outputs of the master).As reply telegram, the status of the internal outputs(input information for the master) is sent to themaster. The length of the data telegrams dependson the size of the configured address range.

4. Commissioning


Summary of implemented functions and serviceaccess points (SAP)

Function Available Destination SAP(DSAP)

Data_Exchange Yes None

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 parameters/reaction times

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

...187.5 60

11

500 100

1500 150

3000 250

6000 450

12000 800

4. Commissioning


Device data base file (GSD)

The data carrier supplied contains the device data basefile (GSD) with the specific, standardized, device datafor the SPC200.


GSD file(German)

SPC_00C8.GSD ..... COMPB3x\GSD

GSD file(English)

SPC_00C8.GSE ..... COMPB3x\GSD

Information on using the GSD file can be found In theREADME file in the main directory.

In addition to the slave-typical entries (Ident. number,revision, etc.), the device data base file also contains aselection of identifiers. These identifiers are divided into2 main groups.

1. Address range for digital inputs

2. Address range for digital outputs

Enter the identifiers in the sequence stated.

PLEASE NOTEThe outputs of the master are mapped on internalinputs of the field bus module; internal outputs of thefield bus module are mapped on the inputs of themaster.

4. Commissioning


PLEASE NOTE– You may configure only one identifier for the

inputs and one for the outputs.– All internal I/Os of the field bus module, which lie

outside the I/O address range configured for communication, can be used as flags in the operating mode start/stop.

4. Commissioning


4.4 Instructions on commissioning the PROFIBUS

Switching on the power supply

PLEASE NOTERefer also to the switching-on instructions in the usermanual for your controller.

When you switch your controller on, it will automaticallyperform a comparison between the NOMINAL and AC-TUAL configurations. For this configuration run it is im-portant that:

• the specifications on configuration are complete andcorrect

• the power supply to the PLC and the field bus slavesis switched on either simultaneously or in the se-quence stated below.

4. Commissioning


Please observe the following points when switching onthe power supply.

If there is a common supply to the control system andall the field bus slaves, power should be switched on bymeans of a central power unit or switch.

Commonsupply

If the control system and the field bus slaves have sep-arate power supplies, power should be switched on inthe following sequence.

Separatesupply

1. Switch on the power supply for all field bus slaves.

2. Switch on the compressed air supply for the axesconnected to the SPC200.

3. Switch on the power supply for the control system.

4. Commissioning


4.4.1 Start-up reaction of the field bus module

PLEASE NOTEWhen projects are loaded with WinPISA, the fieldbus module will be re-initialized. An exchange ofdata cannot take place until the field bus module isreconfigured by the master.

Information on the start-up reaction of the SPC200 canbe found in the user manual for the SPC200.

The following diagram shows the start-up reaction ofthe field bus module.

Detailed information on error diagnosis can be found inchapter 5.

4. Commissioning


12

Servicing requiredSet correct PROFIBUS address or operating mode

Fig. 4/9: Start-up reaction of the field bus module

POWER LED onBUSERROR-LED on

No

Yes

Initializationself testfault?

Hardwarefault

Yes

Yes

BUSERROR-LED flashes

briefly

BUSERRORLED flashes

fast 2

1

No

Switch offBUSERROR LED

BUSERROR LEDflashes slowly (offline)

Data exchangeOK?

Configurationby

master?

Yes

No

No

4. Commissioning


4.4.2 Response monitoring

The response monitoring influences the reaction in theevent of failure of the field bus communication, e.g. dueto cable fracture. The SPC200 can be operated withactivated or deactivated response monitoring.

When the response monitoring is activated, all field businputs of the SPC200 will be reset to 0 when the re-sponse monitoring time has expired.

When the response monitoring is deactivated, thestatus of the field bus inputs will not be modified in theevent of failure of the field bus communication.

4. Commissioning


4.4.3 Commissioning on the field bus

Commissioning software for the field bus master usuallyprovides an online mode in which the current states ofthe field bus inputs and outputs can be influenced.

As with commissioning with WinPISA, you can alsogenerate the control signals of the SPC200 by meansof the PROFIBUS master.

The functionability of the SPC200 on the field bus canbe checked in the online mode of the software for thePROFIBUS master. The following tables give a sum-mary of the configurable field bus address range of thefield bus module. The addresses are as seen by theSPC200.

CAUTIONThe outputs of the master are mapped on internalinputs; internal outputs of the field bus module aremapped on the inputs of the master.

4. Commissioning


Internal I/O addresses in start/stop mode

The configured outputs of the master are mapped onthe input bits.

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

Byte Bit 7Bit 15

Bit 6Bit 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

n

n+1

I10.7

I10.15

I10.6

I10.14

I10.5

I10.13

Sync_IB

I10.12

Sync_IA

I10.11

Stop

I10.10

Start/resetI10.9

Enable

I10.8

n+2n+3

I11.7I11.15

I11.6I11.14

I11.5I11.13

I11.4I11.12

I11.3I11.11

I11.2I11.10

I11.1I11.9

I11.0I11.8

n+4n+5

I12.7I12.15

I12.6I12.14

I12.5I12.13

I12.4I12.12

I12.3I12.11

I12.2I12.10

I12.1I12.9

I12.0I12.8

n+6n+7

I13.7I13.15

I13.6I13.14

I13.5I13.13

I13.4I13.12

I13.3I13.11

I13.2I13.10

I13.1I13.9

I13.0I13.8

1) Addresses as seen by the SPC200

The internal outputs of the field bus module aremapped on the configured inputs of the master.

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

Byte Bit 7Bit 15

Bit 6Bit 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

nn+1

Q10.7Q10.15

Q10.6Q10.14

Q10.5Q10.13

MC_BQ10.12

MC_AQ10.11

Sync_OBQ10.10

Sync_OAQ10.9

ReadyQ10.8

n+2n+3

Q11.7Q11.15

Q11.6Q11.14

Q11.5Q11.13

Q11.4Q11.12

Q11.3Q11.11

Q11.2Q11.10

Q11.1Q11.9

Q11.0Q11.8

n+4n+5

Q12.7Q12.15

Q12.6Q12.14

Q12.5Q12.13

Q12.4Q12.12

Q12.3Q12.11

Q12.2Q12.10

Q12.1Q12.9

Q12.0Q12.8

n+6n+7

Q13.7Q13.15

Q13.6Q13.14

Q13.5Q13.13

Q13.4Q13.12

Q13.3Q13.11

Q13.2Q13.10

Q13.1Q13.9

Q13.0Q13.8


4. Commissioning


Internal I/O addresses in record select mode

The configured outputs of the master are mapped onthe input bits (I10.0 ... I13.15).

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

Byte Bit 7Bit 15

Bit 6Bit 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

nn+1

--

--

--

CLK_B-

CLK_A-

Stop-

Reset-

Enable-

n+2n+3

-Recbit8

-Recbit7

-Recbit6

-Recbit5

-Recbit4

-Recbit3

Recbit10Recbit2

Recbit9Recbit1


The internal outputs of the field bus module aremapped on the configured inputs of the master.

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

Byte Bit 7Bit 15

Bit 6Bit 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

nn+1

--

--

--

RC_B-

RC_A-

ACK_B-

ACK_A-

Ready-


Programming examples

The following section contains programming exampleswhich are intended to assist you in programming yourfield bus master. Position specifications and I/O ad-dresses must be adapted to suit your application.These examples use the list of symbol designationsshown overleaf.

4. Commissioning


Examples for start/stop mode

SPC200 Master Symboldesignation

Function

I10.0 A20.0 ENABLE Enable signal for SPC200

I10.1 A20.1 START/RESET

Start/reset signal

I10.2 A20.2 STOP Stop signal

I10.3 A20.3 SYNC_IA Synchronization input for program A

I10.4 A20.4 SYNC_IB Synchronization input for program B

Q10.0 E20.0 READY SPC200 redy to operate

Q10.1 E20.1 SYNC_OA Start/stop mode: SYNC_OA

Q10.2 E20.2 SYNC_OB Start/stop mode: SYNC_OB

Q10.3 E20.3 MC_A Start/stop mode: MC_A

Q10.4 E20.4 MC_B Start/stop mode: MC_B

Generate the starting edge

Program in the master.....UN READYS ENABLE "Enable controllerS STOP/RESET "Set stopS SYNC_IA "M00 prepare aknowledge for

program AS SYNC_IB "Prepare for program B

U READY "System readyS START "Generate starting edge....

4. Commissioning


Acknowledging the "Programmed stop" (M00) insubsystem A

NC program in the SPC200

N0000 G00 XPOS1 "Move to POS1N0001 M00 "Programmed stopN0002 G00 XPOS2 "Move to POS2N0003 G00 XPOS3 "Move to POS3N0004 ....N0005 ....N0006 ....N0007 M30 "Program end with repeat

Program in the master

....U E 0.0 "If M00 is to be acknowledged

U SYNC_OA "and the SPC200 is inU SYNC_IA "Programmed stop?

R SYNC_IA "Acknowledge programmed stop....UN SYNC_IA "Has it been acknowledged?UN SYNC_OA "Has acknowledgement been

confirmed?S SYNC_IA "Switch signal to output position....

4. Commissioning


Example for record select mode

SPC200 Master Symboldesignation

Function

I10.0 A20.0 ENABLE Enable signal for SPC200

I10.1 A20.1 RESET Reset signal

I10.2 A20.2 STOP Stop positioning task

I10.3 A20.3 CLK_A Start NC record from program A

I11.0 ...I11.15

AW22 RECBIT1....10

NC record number

Q10.0 E20.0 READY SPC200 ready to operate

Q10.1 E20.1 ACK_A Task accepted (acknowledged) for program A

Q10.3 E20.3 RC_A NC record of program A finished

Create and start NC record

Program in the master....L KH 0001 "Determine NC record numberT AW 22 "Create NC record

UN CLK_A "Master in output positionUN ACK_A "SPC200 readyU RC_A "NC record finishedS CLK_A "Start NC record

U CLK_A "If task is cancelledU ACK_A "and task acceptedUN RC_A "NC record is processedR CLK_A "Signal in output position....

4. Commissioning


Chapter 5

Diagnosis and error treatment



Contents


5.1 General instructions on diagnosis . . . . . . . . . . . . . . . . . . . . . . . 5-35.2 On-the-spot diagnosis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45.3 Diagnosing with WinPISA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65.4 Diagnosing with PROFIBUS-DP. . . . . . . . . . . . . . . . . . . . . . . . . 5-75.5 Diagnosing with the programmer/PC . . . . . . . . . . . . . . . . . . . . 5-14



5.1 General instructions on diagnosis

Information on general diagnosis and error treatmentcan be found in the user manual for the SPC200 orderno. P.BE-SPC200-GB. This chapter contains informa-tion on diagnosing the field bus module or diagnosisand error treatment with the PROFIBUS-DP.

Summary of diagnostic possibilities

The SPC200 offers extensive and user-friendly possi-bilities of diagnosis and error treatment. The followingpossibilities are available:

– The LEDs on the SPC200 and on the connected fielddevices show directly configuration errors, hardwareerrors, string errors, bus errors, etc.

– The operating panel shows detailed error messagescoded in the form of an 8-figure hexadecimal num-ber. In online mode WinPISA shows the 8-figureerror messages as well as a description of the errorin clear text.

– A slave diagnosis can be requested via thePROFIBUS-DP. The coded 8-figure error messageforms the device-related diagnosis 1...4 in this case.

– The output bit READY (Q10.0) shows the basic sys-tem readiness by means of the internal I/Os of thefield bus module.



5.2 On-the-spot diagnosis

The two LEDs on the field bus module permit a speedyon-the-spot diagnosis of the communication status.

– POWER LED (green)

– ERROR LED (red).

POWERLED(green)

ERRORLED(red)

Operating status

is out is out Operating voltage not applied

lights up is out Operating status normal, connectionto field bus master exists.

lights up flashesfast

Parametrizing error. Profibus addressor operating mode not permitted.

lights up flashesslowly

Operating status normal, noconnection to field bus master.

lights up flashesbriefly

Hardware fault; Servicing required

lights up lights up Card not started; SPC200 defectiveor card defective; servicing required

Description of the LED signals

Signal Description Signal Description

is out flashes fast

lights up flashes slowly

flashes briefly

off

on

off

on

off

on

off

on

off

on



With the device-related diagnosis, the current errormessage consisting of the error class, axis identifer,error number and additional information can be read outvia the PROFIBUS-DP (see manual P.BE-SPCPDP-...).



5.3 Diagnosing with WinPISA

With the command [Diagnosis][Status display] in themenu [Online] you can display important system data ofthe SPC200. The register card [Field bus] shows infor-mation on the field bus connection.

Fig. 5/1: WinPISA status display "Field bus"

Status Description

Field bus type Protocol of the installed field bus module

Connection Parametrizing: No connection to field bus (baud rate search),Configuring: Waits for configuration by the PROFIBUS master,Data exchange: Data exchange runs

Bus address Set Profibus address

Baud rate Current baud rate of PROFIBUS-DP network 1)

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

Software version Software version number of field bus module

Info Information (Sync/Freeze active; baud search;configuration error from master)

1) When connection is being made, the display changes continuously until the SPC200 can ascertain the baud rate of the PROFIBUS-DP network.

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



5.4 Diagnosing with PROFIBUS-DP

Structure of the slave diagnosis of the SPC200

The slave diagnosis of the SPC200 follows standardEN 50170 part 2. The 12 bytes listed below arereserved in the SPC200 for slave diagnosis. Pleaserefer to the manual for your DP master for informationon how to request the slave diagnosis.

Byte Octet Diagnostic address Description

0 1 Station status 1 Gives a summary of thecommunication status and thegeneral status of the SPC200.

1 2 Station status 2

2 3 Station status 3

3 4 Master PROFIBUS address PROFIBUS address of the DPmaster by means of which theSPC200 was parametrized andwhich has read and write access.

4 5 Manufacturer identifier(for SPC200 = 00C8H)

Describes the type of DP slave(here 00C8H).5 6

6 7 Header Specifies the length of the device-related diagnosis incl. header.

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

Describes in detail the status of theSPC200 in the form of an 8-figurehexadecimal error message1)

8 9 Device-related diagnosis 2(bits 4...7 = additional information [6]bits 0...3 = error number [5])

9 10 Device-related diagnosis 3(bits 4...7 = error number [4]bits 3...0 = axis identifier [3])

10 11 Device-related diagnosis 4(bits 4...7 = error class [2]bits 3...0 = error class [1])

11 12 Reserved Reserved for later expansions

1) [n] = Position of hexadecimal error message



Station status 1

With station status 1, bit 3 is of particular interest. If thisbit is set, it is sensible to evaluate the device-relateddiagnosis.

1: (Diag.Station_Non_Existent)The SPC200 is no longer or not yetaddressable (will be set by master)

1: (Diag.Station_Not_Ready)The SPC200 is not yet readyfor data exchange

1: (Diag.Cfg_Fault)Configuration data are not correct

1: (Diag.Ext_Diag)There is a device-related diagnosis1)

1: (Diag.Not_Supported)The function requested is notsuppported

0: (Diag.Invalid_Slave_Response)Is always reset to 0by the SPC2002)

1: (Diag.Prm_Fault)Planned type is not correct

1: (Diag.Master_Lock)Access by another master(is set by master)

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

Fig. 5/2: Structure of station status 1

7 6 5 4 3 2 1 0



Station status 2 (only SPC200-related bits)

1: (Diag.Prm_Req)SPC 200 must be re-parametrized and re-configured.

1: (Diag.Stat_Diag)Master must request diagnosticdata until this bit isset at logic 0.

1: SPC200 sets this bit fixed atlogic 1.

1: (Diag.WD_On)Response monitoring active.

1: (Diag.Freeze_Mode)FREEZE mode is active 1)

1: (Diag.Sync_Mode)SYNC mode is active 1)

0: (Diag.Deactivated)Is always reset to 0by SPC200.

1) Only in conjunction with a diagnostic message

Fig. 5/3: Structure of station status 2

Station status 3

The structure depends on the master used.

Bit 7 (Diag.Ext_Diag_Overflow) is always logic 0 (set bythe SPC200).

7 6 5 4 3 2 1 0



Master address

Octet 4: Diag.Master_Add

Explanation

The address of the master which parametrized the SPCis entered in this octet.

Manufacturer identifier

Octets 5 and 6: Ident_Number

Explanation

These octets contain the manufacturer identifier:00C8H for the SPC200

Header for device-related diagnosis

Octet 7: Ext_Diag_Data (device-related diagnosis)

Explanation

This octet represents the header for thedevice-related diagnosis.The SPC200 enters the value 6 fixedin this octet, i.e. 5 octets for "device-related diagnosis"incl. header octet will be provided/transferred.



Structure of the device-related diagnosis

The device-related diagnoses 1 ... 4 contain the 8-figureerror number of the SPC200. This error message canalso be displayed with the operating panel or withWinPISA. The coded error message contains informa-tion on:

– the error class

– the error number

– if applicable, additional information.

Structure of the error messages

The individual positions in this hexadecimal numbercontain the following information:

1234

Error class (0...9)Axis identifier (0...2)Error numberAdditional information

5678

Device-related diagnosis 1Device-related diagnosis 2Device-related diagnosis 3Device-related diagnosis 4

Fig. 5/4: Structure of device-related diagnosis

0 00 00 0 0 0

765 8

234 1



A detailed description of the possible error messagescan be found in the manual for the SPC200.

Device-related diagnosis 1

This contains the 2nd. and 3rd. hexadecimal position ofthe additional information.

Additional information (3-figure)(2nd. hexadecimal position of theadditional information)

Additional information (3-figure)(3rd. hexadecimal position of theadditional information)

Fig. 5/5: Example: structure of device-related diagnosis 1


This contains the 1st. hexadecimal position of the addi-tional information and the 2nd. hexadecimal position ofthe error number.

Error number (2-figure)(2nd. hexadecimal position of the errormessage)

Additional information(1st. hexadecimal position of theadditional information)


7 6 5 4 3 2 1 0

7 6 5 4 3 2 1 0




This contains the 1st. hexadecimal position of the errornumber and the 1-figure axis identifier.

Axis identifier (1-figure; 0 ...4)0 = system error (not axis-related)1 = error in X-axis2, 3, 4 = error in Y, Z, U-axis

Error number (2-figure)(1st. hexadecimal position of errornumber)



This contains the 1st. and 2nd. hexadecimal position ofthe 2-figure error class.

Error class (2-figure)(1st. hexadecimal position of the errorclass)

Error class (2-figure)(2nd. hexadecimal position of the errorclass)


7 6 5 4 3 2 1 0

7 6 5 4 3 2 1 0



Diagnosing with the general DP master

PLEASE NOTEThe identifier-related or channel-related diagnosislisted in standard EN 50170 (DIN 19245) cannot beused.

5.5 Diagnosing with the programmer/PC

Some software programs also provide the followingfunctions in addition to the bus configuration:

– commissioning/test

– diagnosis

In order to test the SPC200 with the aid of a pro-grammer/PC, you will require e.g. the CP 5410 com-munication processor from Siemens.

Connect the programmer/PC to the PROFIBUS-DPinterface on the SPC200.



Appendix A

Technical appendix


SPC200-COM-PDP 9904NH A-1

Contents


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


A-2 SPC200-COM-PDP 9904NH

A.1 Technical specifications

Type SPC200-COM-PDP

Temperature range:– operation– storage/transport

-5 oC ... + 50 oC-20 oC ... + 70 oC

Weight 80 g

Relative humidity 95 % non condensing

Field bus– design– transmission– protocol

– baud rate

– Cable length (depends onbaud rate and type of cable)

– Maximum loading of positive supply voltage(P5V) pin 6

RS 485, floatingSerial asynchronous, half duplexPROFIBUS-DP (standard slave)certified as per DIN 19245, parts 1to 4; EN 50170 vol. 29.6...12000 kbit/s, automaticbaud rate recognition

up to 23.8 km

max. 100 mA

Electromagneticcompatibility– interference emitted

– immunity to interference

tested as per EN 55011limit class A 1) tested as per EN 50082-2

Oscillation and shock– oscillation – shock

tested as per DIN/IEC 68 part 2–6severity 1tested as per DIN/IEC 68 part 2–27severity 2

1) Domestic use also permitted under a special licence(home, business and trade, small business use).



A.2 Index

BBranch line

connecting via a branch line . . . . . . . . . . . . . . . . 3-9Bus segment

meaning of the term bus segment . . . . . . . . . . . . IX

DDevice data base file (GSD) . . . . . . . . . . . . . . . . . . 4-36Device-related diagnosis

device-related diagnosis 1. . . . . . . . . . . . . . . . . 5-12device-related diagnosis 2. . . . . . . . . . . . . . . . . 5-12device-related diagnosis 3. . . . . . . . . . . . . . . . . 5-13device-related diagnosis 4. . . . . . . . . . . . . . . . . 5-13structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11structure of the diagnosis . . . . . . . . . . . . . . . . . 5-11

Diagnosisprogrammer/PC . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Diagnosis PROFIBUS-DPdevice-related diagnosis . . . . . . . . . . . . . . . . . . 5-11header for device-related diagnosis . . . . . . . . . 5-10manufacturer identifier . . . . . . . . . . . . . . . . . . . . 5-10master address . . . . . . . . . . . . . . . . . . . . . . . . . 5-10station status 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8station status 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

DP masterbus parameters/reaction times . . . . . . . . . . . . . 4-35implemented functions. . . . . . . . . . . . . . . . . . . . 4-35send parametrizing data . . . . . . . . . . . . . . . . . . 4-31service access points (SAP) . . . . . . . . . . . . . . . 4-35

DP master (standard) . . . . . . . . . . . . . . . . . . . . . . . 4-30



EError messages

structure of the error messages . . . . . . . . . . . . 5-11

FField bus cable

specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5FREEZE

general instructions on SYNC and FREEZE. . . 4-18

GGeneral DP master

send parametrizing data . . . . . . . . . . . . . . . . . . 4-31GSD (device data base file). . . . . . . . . . . . . . . . . . . 4-36GSD file

installing with COM PROFIBUS . . . . . . . . . . . . 4-20installing with STEP 7 . . . . . . . . . . . . . . . . . . . . 4-25meaning of the term GSD file . . . . . . . . . . . . . . . . IX

IImportant user instructions. . . . . . . . . . . . . . . . . . . . . . VI

OOperating modes

I/O address range . . . . . . . . . . . . . . . . . . . . . . . . 1-7number of configurable I/Os . . . . . . . . . . . . . . . 4-15valid identifiers for record select mode . . . . . . . 4-17valid identifiers for start/stop mode . . . . . . . . . . 4-17

Optical-fibre waveguidegeneral instructions . . . . . . . . . . . . . . . . . . . . . . 3-10



PPower supply

switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38PROFIBUS address

setting with operating panel. . . . . . . . . . . . . . . . 4-12setting with WinPISA . . . . . . . . . . . . . . . . . . . . . 4-10

PROFIBUS interfaceconnecting the bus cable. . . . . . . . . . . . . . . . . . . 3-7

RRecord select mode

internal I/O addresses in record select mode . . 4-45Repeater

meaning of the term Repeater . . . . . . . . . . . . . . . IX

SSlave diagnosis

structure of slave diagnosis. . . . . . . . . . . . . . . . . 5-7Start/stop mode

internal I/O addresses in start/stop mode . . . . . 4-44Station status

station status 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8station status 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9station status 3 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

SYNCgeneral instructions on SYNC and FREEZE. . . 4-19

TTerminating resistor

meaning of the term Terminating resistor . . . . . . . IXplug with integrated terminating resistor . . . . . . . 3-6structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8



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