SFC-DC en

Festo Configuration Tool - PlugIn SFC-DC
Table of Contents
Table of Contents
1 Overview of the SFC-DC plug-in for the Festo Configuration Tool .................................................. 1
1.1 Designated use ..................................................................................................................... 2
1.2 Target group ......................................................................................................................... 2
1.3 Service.................................................................................................................................. 2
1.4 Important user information .................................................................................................. 2
1.5 What's new in this version? .................................................................................................. 3
2 Help for the SFC-DC plug-in ........................................................................................................... 5

2.1 Accessing the Help ............................................................................................................... 5
2.2 Marking special information ................................................................................................. 6
2.3 Finding information in the Help ............................................................................................ 7
2.4 Printing the Help ................................................................................................................... 7
3 Getting started ............................................................................................................................... 8

3.1 System requirements............................................................................................................ 8
3.2 Installing the SFC-DC plug-in ................................................................................................ 8
3.3 Using the SFC-DC plug-in ...................................................................................................... 8
4 Interface of the SFC-DC plug-in...................................................................................................... 9

4.1 Overview of the interface of the SFC-DC plug-in ................................................................... 9
4.1.1 Units of measurement ............................................................................................ 11
4.2 "Workspace" window pane ................................................................................................ 11
4.3 Menu commands ................................................................................................................ 13
4.4 Working area of the plug-in ................................................................................................ 14
4.4.1 Working area of the SFC-DC plug-in........................................................................ 14
4.4.2 "Configuration" panel ............................................................................................ 16
4.4.3 "Application Data" panel ....................................................................................... 18
4.4.4 "Measure" parameter panel .................................................................................. 19
4.4.5 "Homing" parameter panel .................................................................................... 23
4.4.6 "Controller" panel .................................................................................................. 28
4.4.7 "Interface" parameter panel .................................................................................. 29
4.4.8 "Direct Mode" parameter panel ............................................................................. 33
4.4.9 "Jog Mode" parameter panel ................................................................................. 35
4.4.10 "Position Set Table" parameter panel .................................................................. 36
4.4.11 "Closed Loop Settings" parameter panel ............................................................. 37
4.5 Interface of the SFC-DC plug-in ........................................................................................... 39
4.5.1 "Project Output" window pane, "Output" tab ....................................................... 39
4.5.2 "Project Output" window pane, Device Status and Device Control ........................ 39
4.5.3 "Project Output" window pane, "Operate" tab ..................................................... 44
4.5.4 "Project Output" window pane, "Operate" tab - "IO bits" .................................... 45
4.5.5 "Project Output" window pane, "Manual Move" tab ............................................. 46
4.5.6 "Manual Move" tab - Test Cycle ............................................................................. 48
4.5.7 "Project Output" window pane, "Force Mode" tab ................................................ 49
4.5.8 "Project Output" window pane, "Diagnostics" tab ................................................ 51
4.5.9 "Project Output" window pane, "CI Terminal" tab ................................................. 52
4.6 Dialogs ............................................................................................................................... 54
4.6.1 "Settings" dialog ................................................................................................... 54
4.6.2 "Password" dialog ................................................................................................. 54
4.6.3 "... Do Not Match" dialog ....................................................................................... 56
4.6.4 "Device Parameter Synchronisation" dialog .......................................................... 58
4.6.5 "Position Set ... - Detail View" dialog ..................................................................... 60
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Table of Contents
4.6.6 Firmware download wizard ..................................................................................... 62

4.6.7 "Manage Firmware Files" dialog ............................................................................ 69
5 Working with the SFC-DC plug-in................................................................................................. 70

5.1 Overview of working with the SFC-DC plug-in ..................................................................... 70
5.2 Adding an SFC-DC ............................................................................................................... 71
5.3 Parameterisation without a device connection ................................................................... 72
5.3.1 Overview of parameterisation without a device connection ................................... 72
5.3.2 Step-by-step procedure for parameterisation without a device connection ........... 73
5.4 Commissioning an SFC-DC .................................................................................................. 74
5.4.1 Overview of commissioning an SFC-DC .................................................................. 74
5.4.2 Reading out all settings from the SFC-DC ............................................................... 75
5.4.3 Parameterising ....................................................................................................... 75
5.4.4 Carrying out homing ............................................................................................... 77
5.4.5 Test run .................................................................................................................. 78
5.4.6 Teaching ................................................................................................................. 79
5.4.7 Saving parameters ................................................................................................. 80
5.4.8 Testing the control interface ................................................................................... 80
5.4.9 Notes on operation................................................................................................. 81
6 Diagnosis and error handling ...................................................................................................... 83

6.1 Overview of diagnosis and error handling .......................................................................... 83
6.2 Errors and warnings of the SFC-DC ..................................................................................... 83
7 Basic principles of the SFC-DC plug-in ........................................................................................ 87

7.1 Basic functions ................................................................................................................... 87
7.1.1 Device connection (online connection between PC and SFC-DC) ............................ 87
7.1.2 Device control ("FCT/HMI" and "Enable") ............................................................. 89
7.1.3 Password protection .............................................................................................. 90
7.1.4 Component or device names .................................................................................. 92
7.2 Homing and reference coordinates ..................................................................................... 93
7.2.1 Overview of homing and reference coordinates ..................................................... 93
7.2.2 "Block negative" homing method .......................................................................... 94
7.2.3 "Block positive" homing method ........................................................................... 95
7.2.4 "Hom. switch negative with index" homing method .............................................. 97
7.2.5 "Hom. switch positive with index" homing method ............................................... 98
7.2.6 Measuring reference system .................................................................................. 99
7.2.7 Units of measurement .......................................................................................... 102
7.2.8 Notes on parameterising the working stroke ....................................................... 102
8 Contacting Festo......................................................................................................................... 105
9 Glossary ..................................................................................................................................... 106
10 Index ................................................................................................................................ 109
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Overview of the SFC-DC plug-in
1 Overview of the SFC-DC plug-in for the Festo Configuration

Tool
The SFC-DC plug-in is integrated in the Festo Configuration Tool (FCT for short) and enables the
configuration and commissioning of the motor controller of the type SFC-DC-... (single field
controller):
− Type SFC-DC-...-IO with I/O interface
− Type SFC-DC-...-PB with PROFIBUS interface
− Type SFC-DC-...-CO with CANopen interface
− Type SFC-DC-...-DN with DeviceNet interface
The motor controller of the type SFC-DC-... serves as a position controller and closed-loop position
controller for the electric mini slide of the type SLTE, the electric gripper of the type HGPLE or GEH, or
the rotary module DEF.
You can find the complete information on commissioning the SFC-DC in the relevant manual
for the type P.BE-SFC-DC-....
It is important that you observe the safety information listed in this manual when
configuring and commissioning the SFC-DC.
Warning
Danger of injury.
Electrical axes can move with high force and at high speed.
Collisions can cause serious injury to people and damage to components.
 Make sure that nobody can place their hand in the positioning range of the axes or
other connected actuators and that there are no objects in the positioning path while
the system is connected to sources of energy (power supply).
Warning
Danger of injury.
Parameterisation errors can cause injury to people and damage to property.
 Only enable the controller if the axis system has been installed and parameterised by
technically qualified staff.
The FCT consists of the following components:

− A framework for launching the program and getting started with uniform project and data
management for all supported types of devices.
− A separate plug-in for the special requirements of each component or device type (e.g. SFC-DC)
with the necessary descriptions and dialogs. The plug-ins are managed and started from the
framework.
The FCT has its own Help file.

You can open the Help for the FCT as follows:
 Access the Help in the [Help] menu with the [Contents FCT General] command.
 Open a context-sensitive Help page directly with the F1 function key.
Version 3.0.0, 30.06.2010, en 1005f
1
Important user information
1.1 Designated use

With the Festo Configuration Tool, a user who is familiar with the respective component connected to
the PC can configure and commission the components and devices supported by the relevant plug-
ins.
Information on the components and devices supported by the plug-ins can be obtained in the Help for
the relevant plug-in ([Help], [Contents of installed PlugIns] menu command), see "Overview of the
SFC-DC plug-in".
It is important that you observe the standards specified in the relevant sections, as well as national
and local laws and technical regulations.
1.2 Target group

This Help is intended exclusively for technicians trained in control and automation technology with
experience in installing, commissioning and diagnosing the connected components.
1.3 Service
Please contact your local Festo Service partner if you have any technical problems.
1.4 Important user information

Danger categories
This document contains information on possible dangers that can occur if the product is not used as
designated. These danger warnings are marked with a signal word (warning, caution, etc.), placed on
a grey background and additionally marked with a pictogram. A distinction is made between the
following danger warnings:
Warning
... means that serious injury to people and damage to property can occur if this warning is
not heeded.
Caution
... means that injury to people and damage to property can occur if this warning is not
heeded.
Note
... means that damage to property can occur if this warning is not heeded.
You can find details on how special information is represented under "Marking special information".
2
What's new?
1.5 What's new in this version?

The following table provides an overview of the versions of the SFC-DC plug-in for the Festo
Configuration Tool:
Version Description
3.0.0 − Additionally supports the following motor controllers of the type SFC-DC-... with
fieldbus interface:
− Hardware version V2.00 and later
− Firmware version V4.00 and later
− Additionally supports the following drives:
− Grippers HGPLE-16-... from Festo
− Grippers GEH... and rotary modules DEF... from Sommer
The SFC-DC used must also support these drives. You can find information on this
in the manual for the respective SFC-DC.
− User-defined axis lengths, gear unit versions and spindle pitches for the supported
drives can additionally be configured for special designs. The closed loop
parameters can be edited for these drives.
− The tolerance ranges for messages can be configured in the "Application Data"
panel.
− The [Interface] menu command has been renamed [FCT Interface].
2.3.0 − [Manage Firmware Files] and [Firmware Download] menu commands for service
purposes
(for motor controller SFC-DC with firmware version 2.00 or later).
2.2.1 − Additionally supports the following motor controllers of the type SFC-DC-...-DN
with DeviceNet interface:
− Supports the grippers HGPLE-25-40.
The SFC-DC used must also support these grippers. You can find information on
this in the manual for the respective SFC-DC.
− SFC-DC with fieldbus interface: the jog mode of the SFC-DC is used for the
functions on the "Manual Move" tab. This enables travel beyond the software
limits.
− Optimised display of the status of the control I/Os for SFC-DC with I/O interface on
the "Operate" tab.
− To avoid confusion with the "Demo Mode" started via the control panel, the
similar plug-in function on the "Manual Move" tab is now called "Test Cycle".
− The relative motor current during homing has been limited to 300% (in accordance
with the limitations of the SFC-DC).
− The unit "inch" is generally displayed as "in" as per the standard.
2.1.0 − Additionally supports the following motor controllers of the type SFC-DC-...-CO
with CANopen interface:
3
What's new?
Version Description
2.0.0 − Additionally supports the following motor controllers of the type SFC-DC-...-PB with
PROFIBUS interface:
− Optimised panel structure (see working area of the SFC-DC plug-in).
− Optimised parameter synchronisation between SFC-DC and plug-in (see "Sync" in
the working area).
− User-friendly input dialog for position sets (see also "Position Set Table"
parameter panel).
− Integrated plug-in-specific test cycle.
− The [Settings] menu command has been renamed [Interface].
− Integrated CI terminal for service personnel.
1.0.0 − Supports the following motor controllers of the type SFC-DC-...-IO with I/O
interface:
With later versions of the SFC-DC, check whether there is an updated plug-in available (see
"Contacting Festo").
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Help for the SFC-DC plug-in
2 Help for the SFC-DC plug-in

2.1 Accessing the Help
The FCT offers you various options for obtaining information or help on operating the plug-in.
Note the information on marking special information in the Help.
The Help for the SFC-DC plug-in contains the complete information on operating the plug-in.
Open the Help as follows:
 [Help] [Contents of installed PlugIns] [Festo (manufacturer name)] [SFC-DC (plug-in name)]
command.
 Help button in the window or dialog of the plug-in.
 Function key F1 when a window or dialog of the plug-in is active.
Use the navigation functions in the Help.
Help for the FCT
The FCT has its own Help file.
Open the Help for the FCT as follows:
 Access the Help in the [Help] menu with the [Contents FCT General] command.
 Open a context-sensitive Help page directly with the F1 function key.
Dynamic Help
You can use the integrated dynamic Help of the FCT to permanently display context-sensitive
information:
 Open the dynamic Help in the [Help] menu with the [Dynamic Help] command.
The dynamic Help is displayed in a dockable window. This can only be displayed when there is a
project open.
Activate the element of the window for which you require the Help, for example with a mouse click.
If windows or dialogs of the plug-in are activated, the contents of the relevant plug-in are
automatically displayed in the dynamic Help.
Printed information on the SFC-DC plug-in
You can use the complete Help or parts thereof independently of a PC by printing them.
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2.2 Marking special information

You can find information on how danger warnings are represented under "Important user
information".
Pictograms
The following pictograms mark passages in the text that contain special information.
Information: Recommendations, tips and references to other sources of information.
Accessory: Information on necessary or useful accessories for the Festo product.
Environment: Information on the environmentally friendly use of Festo products.
Text markings
1. Figures denote activities that must be carried out in the order specified.
 Bullets denote activities that may be carried out in any desired order.
− Hyphens denote general listings.
Further conventions
[Project] Menu items are framed in square brackets, for example the [New …] command in
[New] the [Project] menu opens a new project.
"OK" Names of windows, dialogs and buttons such as "Message Window," "Extract
Project" and "OK" as well as designations such as "DGPL-PPV-A-KF-B" are shown
in inverted commas.
CTRL Names of keys on the PC keyboard are represented in the text with uppercase
letters (e.g. ENTER, CTRL, C, F1, etc.).
CTRL + C For some functions you need to press two keys simultaneously. For example, press
and hold down the CTRL key and also press the C key. This is represented in the text
as CTRL + C.
If "click" or "double-click" is mentioned, this always applies to the left-hand mouse

button. If the right-hand mouse button is to be used, this will be explicitly
mentioned.
Many functions can be executed by clicking on an icon in the toolbar. This icon is
displayed next to the text (e.g. the "Save Open Project" icon).
6
2.3 Finding information in the Help

You can find information in the Help in various ways:
Finding information in the online Help:
1. If the Help window is not yet open:
Select the [Contents of installed PlugIns] [Festo] [SFC-DC] command in the [Help] menu of the FCT.
2. If the left-hand window pane is not displayed:
Click "Show".
3. Click on one of the following tabs in the left-hand window pane:
Tab Function
Contents Displays the contents of the Help. Click on the "+" before a book to display the
pages for the different topics it contains. Click on the individual pages to display the
relevant topics.
Index Here you can search for specific words or expressions or select the search term
directly from the list of index entries. Double-click on an index entry to display the
relevant topic.
Search Here you can search for any desired words or expressions from the contents of all
topics. Enter the word or expression and click "List Topics". All topics containing the
word entered are displayed. Double-click on a topic to display it.
Favorites Here you can manage topics to which you wish to have fast access. Click "Add" to
include the current topic in the list. Double-click on a topic to display it.
Glossary Displays a list of specific terms. Click on a term to display the definition of the term.
You can also use the following options to navigate around the Help topics or to display additional
information (click on the term to display its meaning):
 Hyperlinks (links) Hyperlinks or links are clickable elements (mostly text, usually underlined and
represented in a different colour) that perform a function, for example display another topic or
web page.
 Drop-down or expanding texts If you click on a drop-down or expanding entry, additional
information is displayed next to or below the text. You simply have to click on the texts that you
wish to read. To hide the expanding text once more, click on the entry again.
 Pop-ups If you click on a pop-up link, a small window is displayed above the current topic.
Pop-ups enable you to read additional information without exiting the current topic.
Once you have finished reading the pop-up, click on the entry again to close the pop-up window.
 Browse sequences Several topics belonging together can be grouped into browse sequences. Click
"Previous" or "Next" to display the topics one after the other.
2.4 Printing the Help

As the FCT is purely a software product, there is no printed manual for the SFC-DC plug-in.
You can, however, use one of the following options to be able to use the complete Help or parts
thereof independently of a PC:
 Print individual pages of the Help or all the pages of a book directly from the Help contents using
the "Print" button in the Help window.
 Print a prepared printed version of the Help in Adobe PDF format.
You will find the relevant file under:
... (FCT installation directory)\HardwareFamilies\Festo\SFC-DC\V0300\Help\SFC-DC_en.pdf
You will need Adobe Reader to display the printed version in Adobe PDF format.
7
Getting started
3 Getting started
3.1 System requirements
The system requirements for the Festo Configuration Tool also apply to the SFC-DC plug-in.
Recommended screen resolution: at least 1024 x 768 pixels.
You can find information on the system requirements in the Help for the FCT.
3.2 Installing the SFC-DC plug-in

The SFC-DC plug-in is installed on your PC together with the FCT installation program.
3.3 Using the SFC-DC plug-in

The SFC-DC plug-in is a module for the Festo Configuration Tool (FCT) and enables the configuration
and commissioning of the motor controller of the type SFC-DC-....
To commission or parameterise a component or device with the FCT, a new component is added to
the project using the plug-in.
This adds a corresponding component to the "Workspace" window pane.
You can find further information on adding a component or device to a project in the Help
for the FCT.
You can find the necessary steps under "Overview of working with the SFC-DC plug-in".
8
Interface of the SFC-DC plug-in
4 Interface of the SFC-DC plug-in

4.1 Overview of the interface of the SFC-DC plug-in
Figure: FCT window with the SFC-DC plug-in
"Workspace" window pane

To commission or parameterise a component or device with the FCT, a new component is added to
the project using the plug-in.
All components of the project are displayed in the "Workspace" window pane.
Working area
The panel selected in the "Workspace" window pane is displayed with the component name in the
working area of the FCT.
9
Figure: Working area of the FCT
An asterisk "*" after the component name indicates that changes have not yet been saved in the
project.
The following elements are also available in the FCT when a panel of the SFC-DC plug-in is active:
"Project Output" window pane
The SFC-DC plug-in adds the "Operate" tab, "Manual Move" tab, "Force Mode" tab (depending on
the axis type) and "Diagnostics" tab (depending on the controller type) to the "Project Output"
window pane.
Menu commands
The plug-in-specific menu of the FCT provides special menu commands for the SFC-DC plug-in (e.g.
[Component] menu, see Help for the FCT framework).
Toolbar
The connection between the FCT and the SFC-DC via the serial interface is controlled via the toolbar
(see "Basic principles of the SFC-DC plug-in", "Device connection").
The function and status display of the button always apply to the current SFC-DC.
You establish the connection to the SFC-DC using the "Connect" button.
The red button indicates that there is no connection with the SFC-DC.
You clear the connection to the SFC-DC using the "Disconnect" button.
The green button indicates that there is a connection with the SFC-DC.
Note
The RS232 interface is not electrically isolated. It is not intended for permanent connection
to PC systems or as a control interface.
 Note the information in the manual for the SFC-DC.
Special dialogs of the SFC-DC plug-in

The SFC-DC plug-in contains special dialogs, for example the "Settings" dialog, "Password" dialog,
"... Do Not Match" dialog, "Position Set ..." dialog, "Device Parameter Synchronisation" dialog or
further message windows.
10
4.1.1 Units of measurement

The FCT with the SFC-DC plug-in enables the display of different units of measurement (see "Basic
principles of the SFC-DC plug-in", "Homing and reference coordinates", "Units of measurement").
The representation of the units of measurement is defined for linear drives as a project property, see
the Help for the FCT.
4.2 "Workspace" window pane

The workspace manages the project and displays all of the components managed in the FCT.
Each component or device added is displayed in the "Workspace" window pane as a node under
"Components" ("Devices").
Figure: "Workspace" window pane
Each component is identified by means of an appropriate icon as well as the component or device
type (SFC-DC) and the component name (e.g. "motor001").
Icons for devices that are not connected are placed on a red background.
The icons of the currently connected device are shown on a green background (see "Basic
principles of the SFC-DC plug-in", "Device connection").
11
The panels beneath the component node for configuring the component or device are marked with an
appropriate icon. Click on the panel name to display the corresponding panel in the working area.
Configuration
Opens the "Configuration" panel for selecting the SFC-DC used and the drive type.
Application Data
Opens the "Application Data" panel for configuring the tolerances for messages.
Axis
Contains the following parameter panels for configuring the axis used:
Measure
Opens the "Measure" parameter panel for configuring the operating range of the drive actuated by
the SFC-DC.
Homing
Opens the "Homing" parameter panel for configuring homing.
Controller
Opens the "Controller" panel that displays information about the hardware and software version
when there is a device connection active.
Contains the following parameter panels for configuring the controller:
Interface
Opens the "Interface" parameter panel for configuring the fieldbus interface or containing details
of the I/O interface of the SFC-DC.
Direct Mode
Opens the "Direct Mode" parameter panel for configuring the parameters for the direct mode of the
SFC-DC (only with fieldbus interface).
Jog Mode
Opens the "Jog Mode" parameter panel for configuring the parameters for the jog mode of the SFC-
DC (only with fieldbus interface).
Position Set Table

Opens the "Position Set Table" parameter panel for configuring the position set table.
Closed Loop Settings

Opens the "Closed Loop Settings" parameter panel for displaying the closed loop parameters.
12
4.3 Menu commands

The SFC-DC plug-in provides special menu commands in a plug-in-specific menu (e.g. [Component]
menu, see the Help for the FCT framework).
Note
The menu commands always relate exclusively to the current component or device.
Open the required device in the "Workspace" window pane if necessary.
Plug-in-specific menu Description
[Operate] Opens or activates the "Project Output" window pane containing

the "Operate" tab where you will find special operating functions.
This tab also displays information on the connected device.
[Manual Move] Opens or activates the "Project Output" window pane containing
the "Manual Move" tab where you can manually move the drive
connected to the SFC-DC and by doing so teach positions, for
example.
[Force Mode] Only if a Festo gripper is selected as the axis type: Opens or
activates the "Project Output" window pane containing the
"Force Mode" tab where you can manually test the drive
connected to the SFC-DC in force mode.
[Diagnostics] Opens or activates the "Project Output" window pane containing
the "Diagnostics" tab where you can call up diagnostic
information in the case of the SFC-DC with fieldbus interface.
[CI Terminal] For service personnel:
Shows/hides the "CI Terminal" tab in the "Project Output"
window pane that enables communication with the SFC-DC via the
CI interface.
[Online]/[Offline] Activates or deactivates the device connection (online connection)
with the SFC-DC.
[Password] Opens the "Password" dialog where you can set password
protection for the SFC-DC (only if there is an active connection
with the SFC-DC).
[FCT Interface] Opens the "Settings" dialog where you can set the interface for
the device connection with the SFC-DC.
[Manage Firmware Files ...] Opens the "Manage Firmware Files" dialog.
[Firmware Download ...] Opens the "Firmware Download Wizard" dialog.
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4.4 Working area of the plug-in

4.4.1 Working area of the SFC-DC plug-in
All the settings (parameters) required for the SFC-DC are made in the working area.
Figure: Working area of the SFC-DC plug-in
The working area of a device with the SFC-DC plug-in contains numerous panels with information and
setting options (parameter groups) grouped according to topics. The active panel is highlighted in the
"Workspace" window pane.
− "Configuration" panel
− "Application Data" panel
Axis:
− "Homing" parameter panel
− "Measure" parameter panel
Controller:
− "Controller" panel
− "Interface" parameter panel
− "Direct Mode" parameter panel (only with fieldbus interface)
− "Jog Mode" parameter panel (only with fieldbus interface)
− "Position Set Table" parameter panel
− "Closed Loop Settings" parameter panel
Click on the panel name to display the corresponding panel in the working area.
The following applies to all panels:

Entered parameters are checked for consistency when you exit a field.
If an error occurs when the parameters are checked, the parameter that caused the error is
marked with a symbol.
Move the mouse pointer over the symbol to display additional information.
14
The working area of the SFC-DC plug-in contains the following specific buttons:
Next >
Shows the next panel (parameter group).
< Previous
Shows the previous panel (parameter group).
Upload
Reads out the uploadable parameters of all parameter groups from the connected SFC-DC and
transfers them for the current device in the FCT.
The device connection must be active for this.
Download
Loads the downloadable parameters of all parameter groups from the current device into the
connected SFC-DC.
The device connection and FCT/HMI control (see "Basic principles of the SFC-DC plug-in", "Basic
functions", "Device control") must be active for this. If FCT/HMI control is not set, you will be asked
whether this should be activated.
Note
The settings become effective immediately in the SFC-DC with the "Download" function.
When the SFC-DC is switched on again (power off/on), however, the previous
(permanently saved) settings will be valid again.
To permanently save the loaded settings in the SFC-DC, you must save them with the
"Store" function.
Sync
Opens the "Device Parameter Synchronisation" dialog where you can synchronise the parameters in
the project and in the connected SFC-DC.
For synchronisation, the current parameters are read from the SFC-DC.
Store
Permanently saves the settings active in the SFC-DC.
Note
The settings currently effective in the SFC-DC are saved.
These can differ from the data set in the FCT.
Load the settings from the FCT into the SFC-DC with "Download" or check the differing
parameters with "Sync" if necessary before saving them.
Help
Opens the complete Help for the SFC-DC plug-in.
15
4.4.2 "Configuration" panel

You set the type of the SFC-DC as well as the type and size of the connected axis in the
"Configuration" panel.
Figure: Working area of the SFC-DC plug-in - "Configuration" panel
 Recommendation: If the SFC-DC is connected to the FCT, load the correct setting from the SFC-DC
with "Upload" or "Sync".
 Note that settings in the current and following panels will be reset to their default values or
deleted if the configuration of the SFC-DC (interface) and the axis (axis type, size) is changed. If
the project has been saved or subsequent panels of the "Homing" parameter panel have been
activated, the "Attention!" dialog will be displayed with the following options:
<Yes>: All subsequent parameters are reset to their default values, the position set table is
deleted and homing must be carried out again.
<No>: All subsequent parameters and the position set table remain unchanged. These values may
be incorrect or invalid. Adapt the values to the configuration.
<Cancel>: The current change to the configuration is undone. All related parameters remain
unchanged.
Controller Type
Type of the SFC-DC.
The controller type is permanently stored in the SFC-DC and cannot be loaded from the FCT
into the SFC-DC.
Recommendation:
If the SFC-DC is connected to the FCT, use the option to load the correct setting from the
SFC-DC with "Upload" or "Sync".
A number of other parameter settings may no longer be valid after the controller type is
changed.
You will be asked whether the parameters should be reset to their default settings. This
applies, for example, to settings on the "Measure" parameter panel or the "Position Set
Table" parameter panel.
16
Axis Type
Design of the axis actuated by the SFC-DC:
− "SLTE...: Festo Mini Slide"
− "HGPLE: Festo Gripper" *)
− "GEH...: Sommer Gripper" *)
− "DEF...: Sommer Rotary Module" *)
*) The grippers and rotary modules can only be selected if they are supported by the selected SFC-DC
(controller type).
Support for additional drives is in preparation.
A number of other parameter settings may no longer be valid after the axis type is changed.
Axis Size
Size of the drive used.
E.g. type SLTE-10-...: mini slide, size 10.
This setting defines the gear ratio and feed constant.
Working Stroke
Working stroke of the drive used.
E.g. type SLTE-...-80: mini slide, working stroke 80 mm.
"User defined" can be selected as the working stroke if this is supported by the selected SFC-DC
(controller type).
In this case, enter the user-defined stroke.
With user-defined variants, the gear ratio, feed constant, direction of rotation of the motor as well as
the maximum velocity and acceleration can be edited on the "Measure" parameter panel.
The closed loop settings can also be changed.
Unlimited
The working stroke "Unlimited" can be set for user-defined rotary modules.
Note that the software limits are not monitored when the travel distance is unlimited.
17
4.4.3 "Application Data" panel

You configure message windows (tolerances) and message delays for various status messages in the
Application Data panel.
The parameters in the "Application Data" panel are only supported by the fieldbus variants
of the SFC-DC.
This panel is not available in the case of the SFC-DC with I/O interface.
Figure: "Application Data" panel
Axis Type
Axis actuated by the SFC-DC, see "Configuration" panel (display field).
Message "Motion Complete"

The "Motion Complete" (MC) message is set if the position is within the defined tolerance range for
the target position and the range was not left at least during the specified time. The message is only
reset if the tolerance range is left. As a result, the message remains active even when starting a
positioning process if the new target is still within the tolerance range.
Message Window +/-
Amount by which the current position may deviate from the target position in order to still be
interpreted as being within the target window.
The width of the window is twice the value transferred, with the target position in the centre of the
window.
Window Time
Readjustment time in milliseconds. MC will be set if the actual position has been in the target
position window for this amount of time (the bit "Target reached" in the status word in the case of
DS402).
Message "Following Error"

Permissible deviation between the setpoint and actual position. A following error is reported in the
SPOS.DEV bit if this deviation is exceeded (the bit "Following error" in the status word in the case of
DS402).
Message Window +/-
Message window for monitoring following errors.
The value '0' disables monitoring of following errors.
18
Message "Standstill"
Standstill monitoring responds when the drive leaves the target position window when at a standstill.
After the target position is reached and "Motion Complete" is reported in the status word, the drive
assumes the status "Standstill" and the SPOS.STILL bit is reset (bit 7 "Warning" in the status word in
the case of DS402).
If, in this status, the drive is removed from the standstill position window for a minimum defined time
due to external forces or other influences, the bit SPOS.STILL is set (bit 7 "Warning" in the status
word in the case of DS402). The bit is reset as soon as the drive is once more within the standstill
position window for the message delay time.
Message Window +/-
Distance by which the drive may move after "Motion Complete" before standstill monitoring
responds.
Message Delay
Time during which the drive must be outside the standstill position window before standstill
monitoring responds.
4.4.4 "Measure" parameter panel

You configure the operating range of the drive actuated by the SFC-DC in the "Measure" parameter
panel.
The representation of the drive is adapted to the set homing method in each case (see "Homing"
parameter panel).
The "Block negative" setting is used for the homing method in the examples.
Figure: Working area of the SFC-DC plug-in - "Measure" parameter panel with axis type "SLTE"
19
Figure: Working area of the SFC-DC plug-in - "Measure" parameter panel with axis type
"HGPLE/GEH"
Figure: Working area of the SFC-DC plug-in - "Measure" parameter panel with axis type "DEF"
Axis Type
Working Stroke
Maximum working stroke (or nominal stroke) of the drive used, see "Configuration" panel (display
field).
Please note the special information on parameterisation under "Basic principles of the SFC-DC plug-
in", "Homing and reference coordinates", "Notes on parameterising the working stroke".
20
Measuring reference system

All offsets and position values are vectors (with a mathematical sign) and must be adapted to the
position of the respective reference point.
The direction in which the effective load moves is dependent on the gear unit, spindle type (anti-
clockwise/clockwise), position specification sign (+/−) and the setting for the "Direction of Rotation"
parameter.
The +/− effective direction of the vectors can be assigned to the direction of rotation of the motor
shaft (looking down onto the motor shaft).
The factory setting +" corresponds to a clockwise direction of rotation for the motor, while the factory
setting −" corresponds to an anti-clockwise direction of rotation for the motor, see "Basic principles
of the SFC-DC plug-in", "Homing and reference coordinates", "Measuring reference system".
Axis Zero Point

Offset between the homing point and axis zero point. This value defines the measuring reference
system of the axis for the software limits, the project zero point and, consequently, the positions in
the position list, see "Basic principles of the SFC-DC plug-in", "Reference coordinates and operating
range".
Caution
Damage to components.
The drive can be damaged when travelling to the mechanical stop during operation.
 Make sure that the parameter set for the axis zero point is always at least 1 mm (SLTE)
or 0.5 mm (HGPLE/GEH) away from the mechanical limit, see "Basic principles of the
SFC-DC plug-in", "Notes on parameterising the working stroke".
Note
Changes to the axis zero point made with the FCT will not become effective until after the
parameters have been loaded in the SFC-DC and after homing.
If homing is not carried out, the previous measuring reference system of the SFC-DC and
therefore also the current position value will remain unchanged.
This means that the software limits, even if they have been changed, will always refer to
the axis zero point that was effective during the last homing operation.
Project Zero Point

Offset between the axis zero point and the project zero point. Measuring reference point for all
positions in positioning tasks.
The project zero point forms the basis for all absolute position specifications (e.g. in the position set
table or with direct control via the control and/or diagnostic interface). The reference point for the
project zero point is the axis zero point.
The project zero point is permanently set to 0 mm in the case of the SFC-DC with I/O
interface (-> identical to the axis zero point).
SW Limit Positive (positive software limit)

Limits the positioning range in the direction of bigger position values, referred to the axis zero point.
SW Limit Negative (software limit negative)
Limits the positioning range in the direction of smaller position values, referred to the axis zero point.
Note
The drive should not move against the mechanical limit during operation, apart from
during homing.
 Take this into account by setting the software limits accordingly.
The axis zero point, the project zero point and the software limits can be taught using the
"Manual Move" tab.
21
Usable Stroke
The usable stroke of the axis calculated from the difference between the software limits (display
field).
Maximum stroke by which the axis can move with the set parameterisation.
Gear Ratio
Transmission ratio i of the gear unit used determined from the chosen drive (display field).
The gear ratio can be entered if a drive with user-defined properties is selected in the "Configuration"
panel.
Feed Constant
Feed in mm (or inch) per revolution of the drive mechanism determined from the chosen drive
(display field).
The feed constant can be entered if a drive with user-defined properties is selected in the
Direction of Rotation
Indicates whether inversion of the direction of rotation is enabled.
The direction of rotation can be inverted if a drive with user-defined properties is selected in the
"Inverted" not checked:

Default setting:
− Positive values in a clockwise direction, looking down onto the motor shaft.
− Negative values in an anti-clockwise direction, looking down onto the motor shaft.
"Inverted" checked:
Inversion of the direction of rotation:
− Positive values in an anti-clockwise direction, looking down onto the motor shaft.
− Negative values in a clockwise direction, looking down onto the motor shaft.
Max. Velocity
Maximum velocity determined from the chosen drive (display field).
The maximum velocity can be adapted in accordance with the entered gear ratio and the feed
constant if a drive with user-defined properties is selected in the "Configuration" panel.
Max. Acceleration
Maximum acceleration determined from the chosen drive (display field).
The maximum acceleration can be adapted in accordance with the entered gear ratio and the feed
constant if a drive with user-defined properties is selected in the "Configuration" panel.
Diagram for the measurement system

A schematic diagram for the measurement system appropriate to the homing method selected in the
"Homing" parameter panel is displayed.
22
4.4.5 "Homing" parameter panel

You configure homing in the "Homing" parameter panel.
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Block negative" homing
method (SLTE)
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Block negative" homing
method (HGPLE/GEH)
23
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Block positive" homing
method (SLTE)
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Block positive" homing
method (HGPLE/GEH)
24
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Hom. switch negative
with index" homing method (SLTE)
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Hom. switch positive
with index" homing method (SLTE)
25
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Hom. switch negative
with index" homing method (DEF)
Figure: Working area of the SFC-DC plug-in - "Homing" parameter panel - "Hom. switch positive
with index" homing method (DEF)
You can find information on the homing methods and on the procedure for homing under
"Basic principles of the SFC-DC plug-in", "Overview of homing and reference coordinates".
Axis Type
Homing Method
Method used to carry out homing.
Note that settings in the current and following panels will be reset to their default values or deleted if
the homing method is changed. If the project has been saved or subsequent panels of the "Homing"
parameter panel have been activated, the "Attention!" dialog will be displayed with the following
options:
26
<Yes>: All subsequent parameters are reset to their default values, the position set table is deleted
and homing must be carried out again.
<No>: All subsequent parameters and the position set table remain unchanged. These values may be
incorrect or invalid. Adapt the values to the configuration.
<Cancel>: The current change to the configuration is undone. All related parameters remain
unchanged.
After the homing method is changed, some parameter settings may no longer be valid.
Axis Zero Point

Shows the axis zero point set in the "Measure" parameter panel.
Homing Velocity v_rp
Velocity at which movement is made to the homing point during homing (search velocity).
Homing Velocity v_zp
Velocity at which movement is made to the axis zero point during homing.
Rel. Motor Current (relative motor current)
Motor current during homing as a % of the nominal current.
The motor current can be set between 50% and 300% depending on the application.
Diagram for the homing method
A schematic diagram is displayed for the currently selected homing method.
Carrying out homing directly

Prerequisites:
− There must be a connection to the SFC-DC (see "Basic principles of the SFC-DC plug-in", "Device
connection").
− FCT/HMI control must be activated for the FCT and the enable must be set (see "Interface of the
SFC-DC plug-in", "Project Output" window pane, "Device Status and Device Control").
Warning
Danger of injury.
Electric axes move with high force and at high speed. Collisions can cause serious injury to
people and damage to components.
Note
Positioning movements started from an FCT panel or tab will be automatically stopped for
safety reasons if the panel/tab changes and if another component is selected.
27
Start homing
The "Start homing" button carries out homing using the currently set mode and velocity.
When homing is being carried out, the values from the "Homing" parameter panel currently
set in the FCT are loaded into the SFC-DC and remain active there.
The values are not permanently saved in the SFC-DC, however, until you click on "Store"
(see "Working area of the SFC-DC plug-in", "Download", "Store" and "Sync").
STOP
The "STOP" button is displayed during homing.
You can use the "STOP" button to stop homing.
If FCT/HMI control and the enable are not activated, the "Start homing" button will be
inactive.
4.4.6 "Controller" panel

Information on the version status, etc. is displayed when there is an active device connection with the
SFC-DC.
Figure: "Controller" panel
Vendor
Manufacturer of the connected SFC-DC.
Firmware Version
Firmware version of the connected SFC-DC.
Hardware Version
Hardware version of the connected SFC-DC.
28
4.4.7 "Interface" parameter panel

The "Interface" parameter panel provides information about the interface of the SFC-DC.
In the case of the SFC-DC with PROFIBUS, CANopen or DeviceNet fieldbus interface, you can also
− configure the interface,
− configure the error memory.
Interface Parameters
Enter the required parameters for the SFC-DC with fieldbus interface under "Interface Parameters".
Interface Type
Shows the interface type of the SFC-DC (e.g. IO Multipole I/O, PROFIBUS DP, CANopen, DeviceNet).
SFC-DC with I/O interface

Figure: Working area of the SFC-DC plug-in - "Interface (I/O)" parameter panel
Picture of the SFC-DC

If you move the mouse pointer over one of the connectors of the SFC-DC, the pin assignment of the
relevant connector is shown.
29
SFC-DC with PROFIBUS interface

Figure: Working area of the SFC-DC plug-in - "Interface (PROFIBUS)" parameter panel
Bus Address
PROFIBUS address of the SFC-DC. The same address must be set here for the SFC-DC as in the
configuration software for the bus system.
If there is a device connection active:

Master Address
PROFIBUS address of the master.
Baud Rate
Detected baud rate for bus communication.
Actual Configuration
Current bus configuration.
Display Description
Invalid No or incorrect configuration by the master (e.g. as a result of an invalid GSD

file)
FHPP Standard Control via control bytes
FHPP FPC Control via the parameter channel (Festo Parameter Channel)
30
SFC-DC with CANopen interface

Figure: Working area of the SFC-DC plug-in - "Interface (CANopen)" parameter panel
Changes to the interface parameters only become effective after downloading, storing and
power off/on.
CAN Address
Fieldbus addresses may only be assigned once per network.
Permitted: 1 ... 127
Baud Rate
Set the fieldbus baud rate so that it matches your network setting.
Data Profile
Control or device profile used for communication between the CAN master and SFC-DC.
Value Description
DS 402 The SFC-DC is controlled as per DS 402.

FHPP The SFC-DC is controlled as per the Festo Handling and
Positioning Profile.
Voltage Supply
Defines whether the interface is supplied internally or externally. An external supply permits a
galvanically isolated bus connection.
Value Description
Internal Internal supply (default)

CAN bus (pin 2, 3, 7) referred to logic voltage supply of the SFC-
DC (interface not galvanically isolated).
External External supply
Pin 6 and pin 9 must be supplied with 24 volts (permits a
galvanically isolated bus connection).
31
SFC-DC with DeviceNet interface

Figure: Working area of the SFC-DC plug-in - "Interface (DeviceNet)" parameter panel
Changes to the interface parameters only become effective after downloading, storing and
power off/on.
MAC ID
Station number of the SFC-DC.
Permitted: 1 ... 127
Bit Rate
Set the fieldbus bit rate so that it matches your network setting.
IO Configuration
Control or device profile used for communication between the DeviceNet scanner and SFC-DC.
Value Description
8 Byte FHPP Control via control bytes in accordance with FHPP

Standard
16 Byte FHPP Control via 8 bytes of control bytes as with "FHPP Standard", with an
Standard + FPC additional 8 bytes for parameterisation (Festo Parameter Channel)
Diagnosis Memory
Only in the case of the SFC-DC with fieldbus interface:
Configuration of the diagnostic memory.
Recording
Selection Description
Coming Record only incoming faults

Coming & Going Record incoming and outgoing faults
Timestamp Resolution
Selection Description
1 ms Time stamp resolution 1 ms

10 ms Time stamp resolution 10 ms
32
4.4.8 "Direct Mode" parameter panel

You configure parameters for the direct mode of the SFC-DC in the "Direct Mode" parameter panel.
The parameters in the "Direct Mode" parameter panel are only supported by the fieldbus
variants of the SFC-DC.
Figure: Working area of the SFC-DC plug-in - "Direct Mode" parameter panel
Positioning
Acceleration
Acceleration for movement in direct mode.
Deceleration
Deceleration for movement in direct mode.
Force Mode (force control by means of current control)

You can parameterise force mode here.
The parameters under "Force Mode" are only available for grippers and rotary modules.
Note
The motor torque is indirectly controlled via current control. All specifications for
forces/torques refer to the motor's nominal torque (relative to the motor's rated current).
The actual force on the axis should be ascertained/checked using external measurement
devices and set during commissioning.
You can test force mode with the settings made here on the "Force Mode" tab in the
"Project Output" window pane.
33
Stroke Limit
The stroke after which the drive stops, even if the intended setpoint force has not been reached (e.g.
missing workpiece).
Note
This setting is only taken into account within the FCT if the "Stroke limit enabled" box is
checked on the "Force Mode" tab.
Speed Limit
The maximum speed that the drive should reach. Without this specification the drive would
accelerate unbraked in the absence of a counteracting force (e.g. missing workpiece).
Force Window
Amount by which the actual force (actual torque) may deviate from the setpoint force (setpoint
torque) in order to still be interpreted as being within the target window. The width of the window is
therefore twice the value transferred, with the setpoint force in the centre of the window.
The value is specified in 1/1000s of the setpoint torque (object 6076h/PNU 1036).
Quiet Time
The time for which the setpoint force must be applied before "Motion Complete" is reported.
Extend the quiet time if the setpoint force is already briefly reached during the approach
(before the workpiece is reached) due to the increased torque.
Diagram for the parameter

A schematic diagram is displayed for the currently selected parameter.
34
4.4.9 "Jog Mode" parameter panel

You configure parameters for the jog mode of the SFC-DC in the "Jog Mode" parameter panel.
The parameters in the "Jog Mode" parameter panel are only supported by the fieldbus
Note
The parameters in the "Jog Mode" parameter panel are only supported by the fieldbus
These settings are not available in the case of the SFC-DC with I/O interface.
Figure: Working area of the SFC-DC plug-in - "Jog Mode" parameter panel
Max. Velocity
Setpoint velocity for jog mode.
Acceleration
Setpoint acceleration for jog mode.
Deceleration
Setpoint deceleration for jog mode.
Slow Moving Time
Duration of phase 1 (slow travel) in jog mode.
Diagram for the parameter
A schematic diagram is displayed for the currently selected parameter.
35
4.4.10 "Position Set Table" parameter panel

You configure the position set table of the SFC-DC in the "Position Set Table" parameter panel.
Figure: Working area of the SFC-DC plug-in - "Position Set Table" parameter panel
Position set table

Double-click on a position set or use the [Details View] context menu to open the "Position
Set ..." dialog for a convenient way of entering position sets (see "Interface of the SFC-DC
plug-in", "Dialogs").
You can copy/paste position sets using the context menu (right mouse button).
Enter the following specifications for the required position sets in the position set table:
Column Description
No. Number of the position set. The numbers for the positions are permanently
assigned from 1 ... 31.
Mode Positioning mode of the position set:
A = Absolute position specification, referred to the project zero point (see "Basic
principles of the SFC-DC plug-in", "Reference coordinates and working area").
R = Relative position specification, referred to the current setpoint position.
Position Coordinate value of the position of the position set, see "Basic principles of the
SFC-DC plug-in", "Overview of homing and reference coordinates".
Velocity Velocity at which movement is to be made to the position.
Acceleration Acceleration for the positioning process.
Deceleration Deceleration for the positioning process.
Comment Descriptive text for the position (optional).
Note
The comments for the position sets are not stored in the SFC-DC.
The comments are deleted as a safety measure during uploading to prevent incorrect
assignments.
Furthermore, the comments are not shown as a deviation when synchronising the device
parameters.
36
Direct movement to a position in the position set table

Prerequisites:
connection").
− FCT/HMI control must be activated for the FCT and the enable must be set (see "Interface of the
SFC-DC plug-in", "Project Output" window pane, "Device Status and Device Control").
Move to position
With the "Move to position" button you can execute the currently selected position set with all
settings in accordance with the position set table.
The position set is not loaded into the SFC-DC for this − the position sets active in the SFC-DC remain
unchanged.
Note
STOP
The "STOP" button is displayed during movement to the position.
You can stop the active movement with the "STOP" button.
If FCT/HMI control and the enable are not activated, the "Move to position" button will be
inactive.
4.4.11 "Closed Loop Settings" parameter panel

The "Closed Loop Settings" parameter panel displays the closed loop parameters for the SFC-DC.
The closed loop parameters can be adapted to and optimised for your application if a drive
with user-defined properties is selected in the "Configuration" panel.
You can enable the display fields for editing using "Enable Editing" to this end.
Figure: Working area of the SFC-DC plug-in - "Closed Loop Settings" parameter panel
37
Warning
Injury to people and damage to property.
Incorrect closed loop parameters can lead to uncontrolled movement of the drive.
 The closed loop parameters should only be changed in exceptional cases.
 Check whether the new closed loop parameters guarantee safe operation by carrying
out test runs under secure conditions.
 Contact Festo Service.
Travel Generation
Gain
Gain factor for travel generation (display field).
Position Control
Gain
Gain factor for position control (display field).
Velocity Control
Gain
Gain factor for velocity control (display field).
I Fraction
I fraction for velocity control (display field).
Current Control
Gain
Gain factor for current control (display field).
Enable/Disable Editing
If a drive with user-defined properties is selected in the "Configuration" panel:
Enables or disables editing of the closed loop settings.
Default Values
If editing is enabled:
Resets the closed loop settings to their default values.
38
4.5 Interface of the SFC-DC plug-in

4.5.1 "Project Output" window pane, "Output" tab
The "Output" tab shows the status of communication with the connected components or devices.
You can find further information in the Help for the FCT.
4.5.2 "Project Output" window pane, Device Status and Device Control
The device status of the SFC-DC is displayed on all plug-in-specific tabs of the "Project Output"
window pane.
In addition, control of the SFC-DC via the FCT can be activated and the "Enable" signal can be set
under "Device Control" in order to move the axis with the aid of the software.
Figure: "Project Output" window pane - "Device Status" and "Device Control" dialog areas
Open the desired tab ("Operate", "Manual Move", "Force Mode", "Diagnostics" or "CI Terminal") if
necessary using one of the commands of the same name in the plug-in-specific menu of the FCT (e.g.
[Component]).
Device Status
The current operating status of the SFC-DC is displayed under "Device Status".
You can find detailed information on the operating status in the manual for the SFC-DC.
Enable
Controller and power stage enable (see also "Enable" under "Device Control").
Display Description If FCT/HMI inactive
green Enable active. 1 signal at ENABLE input.

grey No enable. 0 signal at ENABLE input.
In the case of the DS402 data profile (CANopen only), the internal status of the SFC-DC is displayed
even if FCT/HMI control is inactive.
39
Stop
The status of the input or of the FHPP control bit STOP is displayed when FCT/HMI control is
deactivated.
green Has no function (grey) 0 signal at STOP input: Stop active.

when FCT/HMI
grey control is active. 1 signal at STOP input: No stop.
The "Stop" LED has no function when FCT/HMI control is active or in the case of the DS402 data
profile (CANopen only).
Ready
Basic readiness of the SFC-DC.
yellow SFC-DC is ready. 1 signal at READY output.

grey SFC-DC is not ready. 0 signal at READY output.
MC (Motion Complete)
Positioning process of the SFC-DC complete.
yellow Positioning process 1 signal at MC output.

is complete.
grey Positioning process 0 signal at MC output.
in progress (or error).
Error
Error report by the SFC-DC. The error is displayed in plain text, see "Errors and warnings of the SFC-
DC".
red SFC-DC is reporting an 0 signal at ERROR output.

error and is not ready
to operate.
grey No error active. 1 signal at ERROR output.
Operation Mode
Current operating mode of the SFC-DC.
40
Operating Description
mode
Profile Standard mode for positioning.

positioning
mode
Force mode Only with grippers:
Force mode enables workpieces to be pressed in with defined force.
Homing Homing:
mode Positioning travel for homing the mechanical reference system.
Demo mode Positioning travel for demonstration purposes (can be started via the control
panel).
Movement is made to all positions in the position set table in succession.
Device State
Status of the connected SFC-DC (information for service personnel).
Connection State
Only with fieldbus variants of the SFC-DC:
Connection state (or configuration or bus state) of bus communication, depending on the fieldbus:
PROFIBUS: Configuration or bus state.
Display Description
PB
WaitPrm Waiting for parameterisation

WaitCfg Waiting for configuration
DataEx Data exchange
CANopen: Connection or configuration state.
Display CO Description
Fault: State: Bus off:

Not on the Check bus: cables, plug connectors, signal transmission.
bus
Fault: State: Warning limit reached:
Warning limit One of the CAN error counters has overflowed.
bus errors
Fault: State: Nodeguarding error:
Nodeguarding Node guard or heart beat elapsed (system goes into pre-
error operational mode).
No fault: State: Stopped:
Stopped Master sent stop signal (transitional state, system
automatically goes back into pre-operational mode).
No fault: State: Pre-operational:
Ready for SFC-DC not yet placed in operational mode by the CAN
operation master (but SDOs available).
No fault: State: Operational.
In operation
41
DeviceNet: Connection state.
Display DN Description
No Power / No bus supply connected or the fieldbus has not been

Bus-Off correctly parameterised. A connection with the master is
not possible.
Device DeviceNet is in "Data exchange" state and is connected
Operational with a master.
Device in No connection with the DeviceNet master; device is ready
Standby for operation.
Minor Fault Minor fault occurred (e.g. timeout).
Unrecoverable Unrecoverable fault discovered (e.g. duplicate MAC ID), a
Fault reset will be necessary to return the device to an
operational state.
Communication Communication fault.
Fault
Device Control
Control can be taken over by the FCT under "Device Control"; this deactivates control via the control
interface of the SFC-DC.
This is a requirement for downloading and synchronising parameters or for permanently

saving the parameters active in the SFC-DC.
The "Enable" signal can be set if necessary so that the axis is controlled or to move the axis with the
aid of the software.
FCT/HMI (FCT/HMI control)

The "FCT/HMI" checkbox allows write access by the FCT (e.g. for downloading and synchronising
parameters).
"FCT/HMI" not checked:

Control of the SFC-DC via the control interface is active.
No downloading and no control of the SFC-DC via the FCT.
"FCT/HMI" checked:
Control of the SFC-DC via the control interface is deactivated (the SFC-DC cannot be controlled
via the control interface).
Downloading, synchronising and saving via the FCT are active.
Control of the SFC-DC can be activated with "Enable" if required.
The enable status of the SFC-DC remains unchanged when FCT/HMI control is activated, i.e. if the
ENABLE input was previously set, the plug-in automatically activates the internal controller and
power stage enable.
The enable can be temporarily deleted or set if necessary (see the following section "Enable"). After
FCT/HMI control is deactivated, the enable status once more corresponds to the inputs via I/O or
fieldbus.
Note
If the SFC-DC is currently performing a positioning movement (that was started via I/Os or
the control panel, for example) when "FCT/HMI" is activated, this positioning movement is
stopped.
In the case of the SFC-DC with fieldbus interface, you can lock activation of FCT/HMI control
using an appropriate control bit (see the manual for the SFC-DC).
42
Enable
Temporarily changes the enable status of the SFC-DC. Prerequisite: "FCT / HMI" box = checked.
The "Enable" checkbox issues the instruction to
 switch on the controller and power stage so that the SFC-DC can be controlled via the FCT (e.g.
with the functions "Manual Move", "Homing", "Move to position", etc.) or
 switch off the controller and power stage so that the connected axis can be manually moved, for
example.
Note
The motor is not supplied with power when the power stage is switched off. This means
that if the axis is installed in an inclined or vertical position, the effective load can cause
the slide to move downwards.
"Delete enable" instruction, i.e. switch off controller and power stage
The SFC-DC cannot be controlled via the FCT.
"Activate enable" instruction, i.e. switch on controller and power stage
The SFC-DC can be controlled via the FCT.
Once the instruction has been carried out, confirmation is provided via the "Enable" display under
"Device Status":
Acknowledge Error!
Acknowledge any error messages output by the SFC-DC if possible (depending on the error and
operating state).
43
4.5.3 "Project Output" window pane, "Operate" tab

The device status as well as dynamic data of the SFC-DC are displayed on the "Operate" tab.
Figure: "Project Output" window pane, "Operate" tab
Open the "Operate" tab in the "Project Output" window pane if necessary using the [Operate]
command in the plug-in-specific menu of the FCT (e.g. [Component]).
Device Status and Device Control

The display and function are identical on all plug-in-specific tabs of the "Project Output"
window pane, see "Device Status and Device Control".
Dynamic Data
The current position data of the SFC-DC is displayed under "Dynamic Data" when there is an active
online connection.
No.
Set number of the current or most recently executed position set.
* = No set number active
0 = Homing
Target Position
Current target position of the drive connected to the SFC-DC.
Actual Position
Current actual position of the drive connected to the SFC-DC.
Velocity
Setpoint velocity of the current or most recently executed movement of the drive connected to the
SFC-DC.
44
4.5.4 "Project Output" window pane, "Operate" tab - "IO bits"

In the case of the SFC-DC with I/O interface, the status of the inputs and outputs of the control
interface of the SFC-DC is additionally displayed on the "Operate" tab.
This is not supported in the case of the SFC-DC with PROFIBUS, CANopen and DeviceNet interface.
Open the "Operate" tab in the "Project Output" window pane if necessary using the [Operate]
SFC-DC with I/O interface

The inputs 0...7 and the outputs 0...3 are shown.
Figure: "Project Output" window pane, "Operate" tab - "IO bits"
Information on the assignment of the inputs and outputs can be found in the manual for the
SFC-DC with I/O interface.
Inputs
Status of the inputs of the control interface I/O:
Display Description
green 1 signal at the input.

grey 0 signal at the input.
Outputs
Status of the outputs of the control interface I/O:
Display Description
yellow 1 signal at the output.

grey 0 signal at the output.
45
4.5.5 "Project Output" window pane, "Manual Move" tab

The device status of the SFC-DC is displayed on the "Manual Move" tab.
When FCT/HMI control is active and the "Enable" signal is set, you can move the drive using the
buttons under "Manual Control".
Positions can also be learned using this approach (teaching).
Figure: "Project Output" window pane, "Manual Move" tab
Open the "Manual Move" tab in the "Project Output" window pane if necessary using the [Manual
Move] command in the plug-in-specific menu of the FCT (e.g. [Component]).
Prerequisites for the functions under "Movement Data", "Manual Control" and "Test
Cycle":
− A device connection (online connection) must be active.
− FCT/HMI control and enable must be active (see "Device Status and Device Control").
Movement Data
The parameters for the positioning functions under "Manual Control" are set under "Movement
Data".
Increment
Increment for the "Single Step" method.
Velocity
Velocity for the "Single Step" or "Continuous Run" method.
Manual Control
You can move the drive manually under "Manual Control". The positions to which movement is made
can be accepted for the position set table, the software limits or even for the axis zero point and the
project zero point.
Warning
Danger of injury.
Electric axes move with high force and at high speed.
46
Note
If FCT/HMI control and the enable are not active, the FCT cannot move the drive.
Single Step "<" and ">"
Moves the drive by the value set under "Movement Data" in negative (<) or positive (>) direction.
Continuous Run / Jog "<<" and ">>"
Moves the drive continuously in negative (<<) or positive (>>) direction for as long as the button is
pressed.
Actual Position
Current actual position of the drive.
STOP button
Stops the current positioning movement started by the FCT.
Accept as ...
Accepts the current actual position as a position for the position selected in the "Position Set Table"
parameter panel or for the software limit selected in the "Measure" panel or the project zero point.
Note
The actual positions refer to the project zero point (identical with the axis zero point in the
case of the SFC-DC with I/O interface).
As a result, it only makes sense to use the "Accept as..." function if the current setting for
the axis zero point in the SFC-DC is identical with the setting in the FCT and homing has
been carried out.
Note
The actual position could, in principle, also be accepted as a value for the axis zero point.
This only makes sense, however, if the axis zero point active in the SFC-DC = 0 (i.e. the
offset between the homing point and axis zero point - in the case of the SFC-DC the project
zero point) and homing has been carried out with this setting, because:
− the project zero point (corresponds to the axis zero point in the case of the SFC-DC)
defines the offset for the coordinate system referred to the homing point,
− the displayed current actual position therefore refers to the previous project zero
point,
− accepting the current position will not, as presumably intended, make it the axis or
project zero point (in order for this to happen, the actual position value would have to
be added to the axis zero point active in the SFC-DC and this total entered).
This only becomes effective after downloading and another homing operation.
Test Cycle
Positions from the position set table can be copied to a list and moved to one after the other for test
purposes under "Test Cycle" (see "Manual Move" tab - Test Cycle).
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4.5.6 "Manual Move" tab - Test Cycle

Positions from the position set table can be copied to a list and moved to one after the other for test
purposes under "Test Cycle" on the "Manual Move" tab.
Figure: "Project Output" window pane, "Manual Move" tab - Test Cycle
Open the "Manual Move" tab if necessary using the [Manual Move] command in the plug-in-specific
menu of the FCT (e.g. [Component]).
Prerequisites for the functions under "Test Cycle":

Delay Time
Delay time for the next position added to the list of position sets with "Add" or "Insert".
When a sequence is running, the next position is not started until the delay time has expired.
Add
Adds the position set selected in the "Position Set Table" parameter panel to the end of the list of
positions, taking the specified delay time into account.
Insert
Inserts the position set selected in the "Position Set Table" parameter panel before the selected
position in the list of positions, taking the specified delay time into account.
Delete
Deletes the selected position from the list of positions.
48
Cyclic
If the "Cyclic" box is not checked, the position sets entered in the list of positions are moved to once,
one after the other, when "Run Sequence" is pressed.
If the "Cyclic" box is checked, the position sets entered in the list of positions are moved to until the
test cycle is stopped by clicking on "Stop Sequence".
Run Sequence/Stop Sequence
Starts the test cycle with the sequence defined in the list of positions.
The sequence can be stopped while it is running with the "Stop Sequence" button. However, the set
currently being executed is first completed.
The current movement can be stopped with the STOP button under "Manual Control".
Note
List of positions
Contains the list of positions from the position set table to be moved to in the test cycle in the format
"Pos: 11 4s".
The first number ("11" in the example) is the set number from the position set table.
The second number ("4" in the example) is the delay time in seconds until the next position is moved
to after the current position is reached.
4.5.7 "Project Output" window pane, "Force Mode" tab

You can execute force mode for test purposes on the "Force Mode" tab. During this process, the drive
moves in a specified direction until the setpoint is reached or else the maximum permissible stroke
has been exceeded.
The "Force Mode" tab is only available with the gripper axis type, see "Configuration"
panel.
You can configure force mode in the "Direct Mode" parameter panel.
Figure: "Project Output" window pane, "Force Mode" tab
Open the "Force Mode" tab if necessary using the [Force Mode] command in the plug-in-specific
menu of the FCT ([Component]).
49

Prerequisites for the functions under "Manual Control":

Manual Control
Target Force
Specification of the force/torque referred to the motor's rated torque (relative to the motor's rated
current).
Use a negative sign to reverse the direction of the force.
Actual Force
The motor torque currently exerted (only when force mode is active).
Actual Position
The current actual position.
Stroke limit enabled
When this box is checked, the maximum stroke travelled is the stroke set in the "Direct Mode"
parameter panel.
Enter force mode
Clicking on this button starts force mode. The drive moves in the specified direction until it meets
with a resistance corresponding to the specified target force. The target force is maintained until
force mode is exited again.
Note
STOP
Clicking on this button exits force mode.
50
4.5.8 "Project Output" window pane, "Diagnostics" tab

In the case of the SFC-DC with fieldbus interface, the diagnosis memory can be read out on the
"Diagnostics" tab.
Figure: "Project Output" window pane, "Diagnostics" tab
Open the "Diagnostics" tab in the "Project Output" window pane if necessary using the [Diagnostics]
Diagnosis Memory
Table containing the contents of the diagnosis memory. To display the contents, the diagnosis
memory must be read out from the SFC-DC using the "Read" button.
Column Description
No. Number of the diagnosis event. The most recent diagnosis event has the number 1.
Diagnosis Type of the diagnosis event:
Event − "Error: Coming" = Currently occurring or pending error
− "Error: Going" = Acknowledged error
Fault Number of the fault, see "Diagnosis and error handling", "Errors and warnings of
Number the SFC-DC".
Timestamp Time of the diagnosis event since the power supply was switched on.
(Format: days:hours:minutes:seconds.milliseconds.)
You can find information on the diagnosis memory in the manual for the SFC-DC with fieldbus
interface.
Read
Reads the current contents of the diagnosis memory from the SFC-DC.
Copy
Copies the contents of the list under "Diagnosis Memory" to the clipboard.
Clear
Clears the diagnosis memory in the SFC-DC.
51
4.5.9 "Project Output" window pane, "CI Terminal" tab

The device status of the SFC-DC is displayed on the "CI Terminal" tab.
When FCT/HMI control is activated, the SFC-DC can be accessed directly via the RS232 interface
under "CI Terminal". This function is intended for service purposes only.
Figure: "Project Output" window pane, "CI Terminal" tab
Open the "CI Terminal" tab in the "Project Output" window pane if necessary using the [CI Terminal]

CI Terminal
Warning
Injury to people and damage to property.
CI commands provide full access to the internal variables of the servo controller. Incorrect
operation can cause the controller to react unexpectedly and the motor may start in an
uncontrolled manner.
 Only use the CI commands if you already have experience of Service Data Objects.
 Inform yourself about using the objects in the CiA Draft Standard 402 before you use
the CI commands of the Command Interpreter of the SFC-DC.
You can find information on access with CI commands in the manual for the SFC-DC used.
In the case of controllers that support or need a checksum for CI commands, this is
automatically generated by the plug-in.
CI Command
CI command to be sent to the SFC-DC.
The default CI command "?604100" reads the status word of the SFC-DC, for example.
Answer
Answer from the SFC-DC to the most recently sent CI command (the checksum is not displayed).
Send
Sends the CI command entered under "CI Command" to the SFC-DC.
Add
Adds the CI command entered under "CI Command" to the "Macro Commands" list.
52
Delete
Deletes the CI command selected in the "Macro Commands" list from the list.
Macro Commands
List of CI commands that are executed after every download function of the SFC-DC plug-in if the
"Macro Active" box is checked.
Double-clicking on an entry sends the CI command directly to the SFC-DC.
(move entry up)

For changing the sequence of CI commands in the "Macro Commands" list. Moves the selected CI
command up by one position.
(move entry down)

For changing the sequence of CI commands in the "Macro Commands" list. Moves the selected CI
command down by one position.
Macro Active
When the "Macro Active" box is checked, the CI commands from the "Macro Commands" list are
executed after every download function of the SFC-DC plug-in.
Save Macro
Transfers the CI commands in the "Macro Commands" list to the device data of the plug-in. You may
also need to save the project in order to store the commands permanently.
Export
Opens the "Export..." dialog where you can save the CI commands in the "Macro Commands" list to
an XML file.
Import
Opens the "Import..." dialog where you can transfer CI commands from an XML file created with
"Export" back to the "Macro Commands" list.
53
4.6 Dialogs
4.6.1 "Settings" dialog
You can set the communications port via which a PC is connected to the device specifically for each
device.
Figure: "Settings" dialog
Open the "Settings" dialog for the current device (see "Workspace" window pane) with the [FCT
Interface] menu command in the plug-in-specific menu of the FCT (e.g. [Component]).
Com Port
Setting for the RS232 interface for the current device.
All currently available serial interfaces on the PC are displayed.
OK
Closes the dialog and transfers the communications port setting to the project.
You must then save the project in order to permanently save the settings.
Cancel
Closes the dialog without saving the change to the project setting.
4.6.2 "Password" dialog

In order to prevent unauthorised or unintentional overwriting or modification of parameters in the
device, you can protect write access to the SFC-DC with a password (see "Basic principles of the SFC-
DC plug-in", "Basic functions", "Password protection").
Figure: "Password" dialog
Open the "Password" dialog for the current device (see "Workspace" window pane) with the
[Password] menu command in the plug-in-specific menu of the FCT (e.g. [Component]).
If there is a password active in the SFC-DC, it must be entered when activating the device connection.
The "Password" dialog is automatically displayed for this purpose. Once you have entered the
correct password, all download and control functions are enabled until the data connection is next
cleared (see "Basic principles of the SFC-DC plug-in, "Device connection").
54
Password
The password active in the SFC-DC for the device connection with the FCT.
If there is a password active in the SFC-DC, it must be entered when activating the device connection
or to change the password. If you do not enter the correct password you cannot carry out downloads
or save parameters.
New Password
New password for the SFC-DC (8 characters).
Confirm
Here you repeat the new password for the SFC-DC.
Apply
The input is applied depending on whether a password is already active in the SFC-DC as well as how
the dialog was called:
 Still no password active in the SFC-DC:
− Dialog called with the [Password] menu command in the plug-in-specific menu of the FCT (e.g.
[Component]):
The new password becomes active in the SFC-DC if the input under "New Password" and
"Confirm" is correct.
 Password already active in the SFC-DC:
− Dialog called by activating the device connection:
If the password has been entered correctly, the downloading of parameters during the device
connection is enabled.
If the password is not correct, the downloading of parameters is not possible.
− Dialog called with the [Password] menu command in the plug-in-specific menu of the FCT (e.g.
[Component]):
The new password becomes active in the SFC-DC if the input under "Password" (the previously
valid password in the SFC-DC), "New Password" and "Confirm" is correct.
Note
The settings become effective immediately in the SFC-DC with "OK".
After the power supply is switched back on, however, the previous settings apply again.
"Store" function.
Cancel
Closes the dialog without applying the input.
Help
Displays the Help for the "Password" dialog.
55
4.6.3 "... Do Not Match" dialog

In order to minimise faults due to mistaken identity, a check to see whether certain parameter
settings in the project and in the SFC-DC match is performed when establishing the device
connection.
If there are differences, the "... Do Not Match" dialog is displayed.
Figure: "... Do Not Match" dialog
The parameter to be synchronised is displayed in the title bar of the dialog.

"Upload" and "Download" read out the parameters from the SFC-DC or load them into the SFC-DC
respectively in accordance with the following table.
Parameter Upload Download Remarks
Controller All Not possible The controller type is permanently saved in the
type parameters SFC-DC and cannot be changed.
(the entire
project) are
read out from
the SFC-DC.
Device All All To minimise the danger of mix-ups as a result of
name parameters parameters incorrect assignment, for safety reasons the
(the entire (the entire entire project is always read out or loaded into
project) are project) are the SFC-DC.
read out from loaded into
the SFC-DC. the SFC-DC.
Device All All Due to the relationships between size, working
type (axis parameters parameters stroke, axis zero point, software limits and
type) (the entire (the entire homing mode, for safety reasons the entire
project) are project) are project is always read out or loaded into the SFC-
read out from loaded into DC.
the SFC-DC. the SFC-DC. Check the accepted settings after the upload, in
particular those on the "Configuration" panel,
"Homing" parameter panel and "Measure"
parameter panel.
No device connection is established with the SFC-DC if the parameters are not synchronised.
Note
If the parameters are different, check carefully that the correct project has been opened or
that the correct device is active.
You can then decide whether an upload or a download is necessary.
56
Project
Value of the parameter in the project.
Device
Parameter value active in the SFC-DC.
Device Data
You can synchronise the parameters in the project and in the SFC-DC with the buttons under "Device
Data".
Upload
Reads out the respective parameters (see table above) from the SFC-DC into the project.
Download
Loads all parameters from the project into the SFC-DC. This function is available only if there are
parameter differences that can be loaded into the SFC-DC (see table above).
Sync
Opens the "Device Parameter Synchronisation" dialog where you can synchronise the individual
differing parameters between the SFC-DC and the project (e.g. if only the device name is to be
transferred from the SFC-DC to the project).
Write operations such as "Download", "Sync" or "Store" are only possible when FCT/HMI
control is active.
You will be asked if FCT/HMI control should be activated if necessary.
Note
The relevant parameters become effective immediately in the SFC-DC with "Download" or
"Sync".
After power off/on, however, the previous settings apply again.
"Store" function.
Cancel
Closes the dialog without synchronising the parameters. No device connection is established with the
SFC-DC.
Help
Displays the Help for the "... Do Not Match" dialog.
57
4.6.4 "Device Parameter Synchronisation" dialog

The individual differing parameters can be synchronised individually between the SFC-DC and the
project (e.g. if only the device name is to be transferred from the SFC-DC to the project) in the "Device
Parameter Synchronisation" dialog.
Figure: "Device Parameter Synchronisation" dialog
Open the "Device Parameter Synchronisation" dialog with the "Sync" button in the working area of
the SFC-DC plug-in.
Prerequisites:
connection").
− FCT/HMI control must be activated (see "Interface of the SFC-DC plug-in", "Project Output"
window pane, "Device Status and Device Control").
The current parameters are read from the SFC-DC when you click on the "Sync" button. The status of
the read procedure is shown in a progress dialog.
Parameter Selection
You can filter the parameters displayed in the parameter list with differing settings between the SFC-
DC and the project according to the corresponding panels in the working area of the SFC-DC plug-in
using the "Parameter Selection" drop-down list box.
If you select "All", all differing parameters are displayed.
Only the panels containing differing parameters can be selected in each case.
Note
When you click on "Start Synchronizing", all settings are synchronised between the
project and the SFC-DC according to the selection under "<-->" in the parameter list. This
also applies to the parameters that are hidden in the "Parameter Selection" drop-down
list box.
58
Parameter List
List of all parameters with differing settings or values in the project and in the connected SFC-DC.
Column Remarks
Parameter Name of the parameter with differing settings in the SFC-DC and in the project.
Project Value of the parameter in the project.
Data
<--> Here you select the synchronisation direction:
<--: Parameter value is transferred from the SFC-DC to the project.
-->: Parameter value is loaded from the project into the SFC-DC.
The direction can be reversed by clicking on the table field.
Device Value of the parameter in the SFC-DC.
Data
Start Synchronizing
Performs synchronisation of the parameters with the settings defined in the parameter list.
If the "Device Parameter Synchronisation" dialog is called from the "... Do Not Match" dialog, a
device connection will only be established if the parameters in the project and in the device do not
exhibit any impermissible differences following the chosen synchronisation.
Note
When you click on "Start Synchronizing", the settings immediately become effective in the
SFC-DC according to the selection in the parameter list.
When the SFC-DC is switched on again (power off/on), however, the previous
(permanently saved) settings will be valid again.
To permanently save the loaded settings in the SFC-DC, you must save them with "Store"
in the working area of the SFC-DC plug-in.
Cancel
Closes the dialog without synchronising the parameters.
If the "Device Parameter Synchronisation" dialog is called from the "... Do Not Match" dialog, no
device parameter will be established if the parameters are not synchronised.
Help
Displays the Help for the "Device Parameter Synchronisation" dialog.
59
4.6.5 "Position Set ... - Detail View" dialog

You can conveniently edit the position sets from the position set table in the "Position Set ... - Detail
View" dialog.
Figure: "Position Set ... - Detail View" dialog
Open the "Position Set ... - Detail View" dialog by double-clicking on a position set in the "Position
Set Table" parameter panel..
No.
Number of the position set.
"<" (previous position set)
Switches to the previous position set.
If there are any unaccepted changes, you will be asked whether these changes should be accepted or
discarded.
">" (next position set)
Switches to the next position set.
If there are any unaccepted changes, you will be asked whether these changes should be accepted or
discarded.
Mode
Positioning mode of the position set:
A = Absolute position specification, referred to the project zero point (see "Basic principles of the
SFC-DC plug-in", "Reference coordinates and operating range").
R = Relative position specification, referred to the current setpoint position.
Position
Coordinate value of the position of the position set (see "Basic principles of the SFC-DC plug-in",
"Overview of homing and reference coordinates").
Velocity
Velocity at which movement is to be made to the position.
Acceleration
Acceleration for the positioning process.
Deceleration
Deceleration for the positioning process.
60
Comment
Descriptive text for the position (optional).
OK
Closes the dialog and transfers the input to the position set table.
Cancel
Closes the dialog without accepting the input.
Apply
Applies the current input from the dialog to the position set table.
Direct movement to a position

Prerequisites:
connection").
− FCT/HMI control must be activated and the enable must be set (see "Interface of the SFC-DC
plug-in", "Project Output" window pane, "Device Status and Device Control").
Move to position
You can execute the currently selected position set with all settings from the "Position Set ..." dialog
with the "Move to position" button.
The position set is not loaded into the SFC-DC for this − the position sets active in the SFC-DC remain
unchanged.
STOP
The "STOP" button is displayed during movement to the position.
You can stop the active movement with the "STOP" button.
If FCT/HMI control and the enable are not activated, the "Move to position" button will be
inactive.
61
4.6.6 Firmware download wizard

Update the firmware of the SFC-DC if necessary using the firmware download wizard. This is possible
from firmware version 2.0 onwards.
The appropriate firmware file must have been imported into the FCT using the "Manage Firmware
Files" dialog to this end
Note
The firmware download is intended for service purposes only. A firmware download should
only be performed following consultation with Festo Service.
Incorrectly executed firmware downloads can result in damage to the device.
The wizard takes you through the firmware download step-by-step.

Next
Click on "Next" to move to the next step.
Back
Click on "Back" to return to the previous step.
Cancel
Click on "Cancel" to abort the firmware download.
Launching the firmware download wizard

Open the firmware download wizard for the current device (see "Workspace" window pane) with the
[Firmware Download Wizard] menu command from the plug-in-specific menu of the FCT (e.g.
[Component]).
Make sure that the correct communications port is set in the "Settings" dialog.
Figure: Firmware Download Wizard
62
No valid firmware found

If the SFC-DC cannot be detected at the set communications port, there may be no valid firmware
present or the SFC-DC is not switched on or at another communications port.
Figure: Unable to read device data
Retry
Repeats the attempt to establish a connection with the SFC-DC and to read the device data.
Device without valid firmware
Check this box if the SFC-DC does not contain any valid firmware. An attempt can then be made to
load the firmware download into the SFC-DC without a compatibility check.
Figure: Compatibility check disabled
63
Displaying the device data and selecting the firmware file

Information about the connected SFC-DC is displayed under "Current Device Data".
Figure: Current device data and corresponding firmware files
Device
Type of the connected device or "SFC-DC device range".
Firmware Version
Firmware version of the connected SFC-DC.
Hardware Version
Hardware version of the connected SFC-DC.
Firmware Files
Displays the appropriate firmware files for the connected SFC-DC with the device for which they are
intended, the firmware version, corresponding hardware version and file name.
Select the required firmware file from the list.
If the SFC-DC cannot be detected at the set communications port, all imported firmware files for the
SFC-DC are displayed.
64
Figure: Unknown device data and firmware files
Replacing old firmware

A query is displayed again at the start of the firmware download. The version of the existing firmware
and the firmware to be loaded is displayed.
Figure: Replace old firmware?
If the SFC-DC was not detected, only the version of the firmware to be loaded is displayed.
65
Figure: Replace old firmware?
Waiting for a response from the device

The firmware download can only take place if the SFC-DC is switched on again.
Figure: Waiting for response from device
Switch off the voltage supply to the SFC-DC and then switch it back on again. The firmware download
should then start automatically.
66
Firmware download has failed

A message is displayed if the firmware download cannot be started.
Figure: Firmware download has failed
Retry
Repeats the attempt to establish a connection with the SFC-DC and to read the device data.
The screen for displaying the device data and selecting the firmware file is then shown again.
Transmitting firmware to the device

After the firmware download starts, its progress is displayed.
Figure: Transmitting firmware to the device
67
Firmware download successfully completed

Once the firmware download is complete it is necessary to switch the voltage supply to the SFC-DC off
and back on.
Figure: Firmware download successfully completed
68
4.6.7 "Manage Firmware Files" dialog

The firmware of the SFC-DC can be updated by means of downloading as of firmware version 2.0. This
enables the device to be updated during servicing without it having to be sent to Festo.
The firmware files needed for this can be obtained from Festo Service and imported into the FCT using
the "Manage Firmware Files" dialog.
Figure: "Manage Firmware Files" dialog
Open the "Manage Firmware Files" dialog using the [Manage Firmware Files] menu command in the
plug-in specific menu of the FCT (e.g. [Component]).
Firmware Files
List of imported firmware files.
The device for which it is intended, the firmware version, the appropriate hardware version and the
file name is displayed for each of the files.
Import
Opens a file selection dialog where you select a firmware file for importing into the FCT.
Remove
Removes the firmware file selected in the list.
Close
Closes the dialog.
69
Working with the SFC-DC plug-in
5 Working with the SFC-DC plug-in

5.1 Overview of working with the SFC-DC plug-in
The following steps provide an overview of working with the SFC-DC plug-in.
Step 1: Addition of an SFC-DC to a project

In order to parameterise and commission an SFC-DC with the FCT, a project must be created or
opened in the FCT.
A component or device is added to the project. All necessary work steps can be carried out with the
special descriptions and dialogs.
You can find information on working with projects and on adding components or devices to
a project in the Help for the FCT ([Help] menu, [Contents FCT General]).
Step 2: Definition of the measuring reference system for the axis

A measuring reference system must be defined for an axis formed from the SFC-DC and a drive (e.g.
type SLTE-...). This defines all positions and enables movement to them, for example with a position
set from the position set table.
You can find information on defining the measuring reference system under "Basic principles of the
SFC-DC plug-in", "Overview of homing and reference coordinates".
Step 3: Parameterisation without a connected SFC-DC (optional)

The necessary parameterisations can be performed offline with the SFC-DC plug-in for the FCT, i.e.
without the SFC-DC being connected to the PC. This enables preparation for the actual
commissioning, for example in the planning office when a system is being planned.
You can find information on parameterisation without the SFC-DC under "Overview of
parameterisation without a device connection".
Step 4: Commissioning of an SFC-DC

The SFC-DC plug-in for the FCT assists the user with all the steps necessary for commissioning an SFC-
DC.
You can find information on commissioning the SFC-DC with the FCT under "Overview of
commissioning an SFC-DC".
70
Information on general functions of the SFC-DC plug-in (basic functions)

Various global functions are used with the FCT when commissioning an SFC-DC. These are explained
in the following sections under "Basic principles of the SFC-DC plug-in":
Function Information on ...

(section)
Device the connection between the FCT and the SFC-DC.

connection
Device control controlling the SFC-DC via I/O signals or via the fieldbus ("FCT/HMI" and
"Enable").
Password protecting the parameters of the SFC-DC against unintentional modification.
protection
Device names the assignment between a component or device in the FCT and an SFC-DC.
Uploading, the exchange of parameter settings between the FCT and the connected SFC-
downloading and DC.
synchronising
parameters
5.2 Adding an SFC-DC

To configure and commission a component or device with the FCT, you must add it to your project.
Installed in the FCT for this purpose are various specific plug-ins that contain the necessary
information on the relevant component or device type.
Add a new component or device to the project as follows:
1. Select the [Component] [Add] menu command (or [Device] [Add] with older FCT versions) or the
corresponding button in the toolbar.
2. In the "Component Selection" dialog (or "Hardware Selection" with older FCT versions), select
the entry "SFC-DC" and confirm the selection with "OK".
3. Enter a name for the SFC-DC. The following naming conventions apply:
− A maximum of 24 characters are permitted.
− The following characters must not be used:
@.,!:"§$%&/\´`+~*#';°^<>
The next step is to parameterise and commission the SFC-DC, see "Overview of working with the SFC-
DC plug-in".
Once you have finished configuring and commissioning the devices, save the project with the
[Project] [Store] menu command or the corresponding button in the toolbar.
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5.3 Parameterisation without a device connection

5.3.1 Overview of parameterisation without a device connection
The SFC-DC plug-in for the FCT enables parameterisation of an SFC-DC without a device connection,
for example for preparing for commissioning.
This means the necessary parameterisations can be prepared in the planning phase in order to
reduce the actual commissioning time later.
The following information must be known for pameterisation without an SFC-DC:

− Type of the SFC-DC, e.g. "SFC-DC-VC-3-E-H2-IO"
− Axis type of the axis driven by the SFC-DC (the working stroke etc. is derived from this)
− Definition of the homing method (see "Basic principles of the SFC-DC plug-in", "Overview of
homing and reference coordinates")
− Required usable stroke
If already known, the following information can also be entered for parameterisation:
− Velocities during homing
− Positions to which movement is to be made (max. 31), each with velocity, acceleration,
deceleration and positioning mode
You can find the steps required for parameterisation without the SFC-DC under "Step-by-step
procedure for parameterisation".
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5.3.2 Step-by-step procedure for parameterisation without a device connection

Prerequisites
− For parameterisation without a connected SFC-DC, there must be a project created in the FCT and
a device added with the SFC-DC plug-in, see "Overview of working with the SFC-DC plug-in" and
"Adding an SFC-DC".
− The components used and the mechanical characteristics of the drive must be known (see
"Overview of parameterisation without a device connection").
Step-by-step procedure for parameterisation without a connected SFC-DC
1. In the "Workspace" window pane, open the "Configuration" panel in the working area of the
plug-in if necessary.
2. In the "Configuration" panel, set the type of the SFC-DC and the type of the drive used.
"Next" brings you to the "Application Data" panel.
3. In the "Application Data" panel, configure message windows (tolerances) and message delays
for various status messages.
"Next" brings you to the "Measure" parameter panel.
4. In the "Measure" parameter panel, set the reference coordinates for the drive.
"Next" brings you to the "Homing" parameter panel.
5. In the "Homing" parameter panel, configure homing.
If the homing method is changed, various default settings in the "Measure" parameter panel will
be changed if necessary following a prompt. This ensures plausible and consistent parameter
settings.
"Next" brings you to the "Controller" panel.
6. Version information for the SFC-DC is shown in the "Controller" panel when there is a device
connection active.
"Next" brings you to the "Interface" parameter panel.
7. The interface of the SFC-DC is displayed in the "Interface" parameter panel.
In the case of the SFC-DC with fieldbus interface, set the relevant interface parameters.
No input is required in the case of the SFC-DC with I/O interface.
"Next" brings you to the "Direct Mode" parameter panel.
8. In the "Direct Mode" parameter panel you can make basic settings for the direct mode of the
SFC-DC (only in the case of the SFC-DC with fieldbus interface).
"Next" brings you to the "Jog Mode" parameter panel.
9. In the "Jog Mode" parameter panel you can make basic settings for the jog mode of the SFC-DC
(only in the case of the SFC-DC with fieldbus interface).
"Next" brings you to the "Position Set Table" parameter panel.
10. In the "Position Set Table" parameter panel you can create the position sets required during
operation.
"Next" brings you to the "Closed Loop Settings" parameter panel.
11. The closed loop settings for the SFC-DC are shown in the "Closed Loop Settings" parameter
panel.
No input is required for this.
"Next" returns you to the "Configuration" panel.
12. Save the project. You can add and parameterise further components or devices as required.
13. If you wish to commission the SFC-DC on another PC with this parameterisation:
 Save the project in an archive file with the "Archive" function ([Project] menu, [Archive]).
The project archive file can be transferred to any PC, where it can be accessed in the FCT installed
there using the "Extract" function ([Project] menu, [Extract]) (see the Help for FCT).
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5.4 Commissioning an SFC-DC

5.4.1 Overview of commissioning an SFC-DC
Prerequisites
− For commissioning an SFC-FC, there must be a project created in the FCT and a device added with
the SFC-DC plug-in, see "Overview of working with the SFC-DC plug-in" and "Adding an SFC-DC".
− The components used and the mechanical characteristics of the axis must be known (see
"Overview of parameterisation without a device connection").
− The SFC-DC together with the relevant drive must be fully assembled and prepared for
commissioning (see the manual for the SFC-DC).
Among other things, this involves connecting the SFC-DC to the PC via the diagnostic interface.
Step-by-step procedure for commissioning
Various global functions are used with the FCT when commissioning an SFC-DC. These are explained
in the following sectionsunder "Basic principles of the SFC-DC plug-in":
Function Information on ...

(section)
Device the connection between the FCT and the SFC-DC.

connection
Password protecting the parameters of the SFC-DC against unintentional modification.
protection
Device names the assignment between a device in the FCT and an SFC-DC.
Device control controlling the SFC-DC via I/O signals or via the fieldbus ("FCT/HMI" and
"Enable").
Uploading, the exchange of parameter settings between the FCT and the connected SFC-
downloading and DC.
synchronising
parameters
Carry out the following steps to commission the SFC-DC with the FCT:
1. Check whether all the requirements for commissioning have been met and switch on the power
supply for the SFC-DC.
2. Establish the device connection (online connection) between the PC and the SFC-DC.
You may need to synchronise the device names when doing so.
3. Read out all settings from the SFC-DC and adapt the parameterisation to your axis
(recommended)
or
If you are using a prepared project (see "Overview of parameterisation without a device
connection"), check the settings in the project.
4. Load all parameters into the connected SFC-DC with "Download" in the working area of the SFC-
DC plug-in.
5. Carry out homing.
6. Carry out a test run to check the positioning behaviour of the axis as well as the reference
coordinates and operating range.
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7. If necessary, optimise the settings for position sets as well as for the reference coordinates and
operating range in teach mode.
8. Test the function of the control interface of the SFC-DC (function test).
9. Before concluding commissioning, read the notes on operation.
5.4.2 Reading out all settings from the SFC-DC

To commission an SFC-DC, all settings active in the SFC-DC can be read out (uploaded) into the FCT.
This ensures that the settings in the project are the same as the settings active in the SFC-DC.
Prerequisites
− There must be a project created in the FCT for the SFC-DC and a device added with the SFC-DC
plug-in, see "Overview of working with the SFC-DC plug-in".
− The device connection (online connection) with the SFC-DC must be established.
Reading the settings
 If there are differences in specific settings such as "device name", "controller type", "axis type"
or "size" between the SFC-DC and the FCT, the "... Do Not Match" dialog is automatically
displayed when the device connection is activated. Here you can read out (upload) all
parameters directly from the SFC-DC.
 The "Upload" function in the working area of the SFC-DC plug-in reads out all settings from the
SFC-DC and transfers them for the current device in the FCT.
The next step in commissioning is to parameterise the connected SFC-DC.
5.4.3 Parameterising
To commission an SFC-DC, you must parameterise it and load the parameters into the SFC-DC.
Prerequisites
− There must be a project created in the FCT for the SFC-DC and a device added, see "Overview of
working with the SFC-DC plug-in".
Step-by-step procedure for parameterisation with a connected SFC-DC
1. Activate the device connection if necessary.
2. In the "Workspace" window pane, open the "Configuration" panel in the working area of the
plug-in if necessary.
3. In the "Configuration" panel, check the axis type and size of the drive used.
If the settings are changed, all dependent parameters will be reset to their default values if
necessary following a prompt, the position set table will be deleted and homing must be
repeated.
"Next" brings you to the "Application Data" panel.
4. In the "Application Data" panel, configure message windows (tolerances) and message delays
for various status messages.
"Next" brings you to the "Measure" parameter panel.
5. In the "Measure" parameter panel, set the reference coordinates for the drive.
"Next" brings you to the "Homing" parameter panel.
6. In the "Homing" parameter panel, configure homing.
If the homing method is changed, all dependent parameters will be reset to their default values if
necessary following a prompt, the position set table will be deleted and homing must be
repeated.
"Next" brings you to the "Controller" panel.
7. Version information for the SFC-DC is shown in the "Controller" panel when there is a device
75
connection active.
"Next" brings you to the "Interface" parameter panel.
8. The interface of the SFC-DC is displayed in the "Interface" parameter panel.
In the case of the SFC-DC with fieldbus interface, set the relevant interface parameters.
No input is required in the case of the SFC-DC with I/O interface.
9. Check the settings in the "Direct Mode" parameter panel (only in the case of the SFC-DC with
fieldbus interface).
"Next" brings you to the "Jog Mode" parameter panel.
10. Check the settings in the "Jog Mode" parameter panel (only in the case of the SFC-DC with
fieldbus interface).
11. In the "Position Set Table" parameter panel you can create the position sets required during
operation.
"Next" brings you to the "Closed Loop Settings" parameter panel.
12. The closed loop settings for the SFC-DC are shown in the "Closed Loop Settings" parameter
panel.
No input is required for this.
"Next" returns you to the "Configuration" panel.
13. Save the project and load the settings into the SFC-DC with the "Download" function.
This activates the settings in the SFC-DC, but does not permanently save them (see "Download"
and "Store" under "Interface of the SFC-DC plug-in", "Working area of the SFC-DC plug-in").
The next step in commissioning is to carry out homing.
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5.4.4 Carrying out homing

Once you have parameterised the SFC-DC, carry out homing. This validates the reference coordinates
parameters in the SFC-DC.
Warning
Danger of injury.
Prerequisites
− The axis must be fully set up, wired and supplied with power.
− Device control ("FCT/HMI" and "Enable") must be activated (see "Basic principles of the SFC-DC
plug-in", "Device control").
− The SFC-DC must be correctly parameterised.
Carrying out homing on the connected SFC-DC
1. In the "Workspace" window pane, open the "Homing" parameter panel in the working area of
the plug-in.
2. Start homing with the "Start homing" button.
The relevant values for the parameters involved are automatically loaded into the SFC-DC if
necessary.
The "Start homing" button becomes the "Stop" button, which you can use to stop the homing
operation in progress.
During homing, the axis moves in accordance with the parameterised homing method.
3. An appropriate message is displayed when homing is completed. The drive is positioned at the
axis zero point.
The next step in commissioning is to perform a test run of the connected SFC-DC.
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5.4.5 Test run

Once you have successfully completed homing, carry out a test run.
During the test run, you move the axis manually in the positioning range.
This is how you make sure that the axis is ready to operate.
You can also check the settings of the measuring reference system as well as the software limits.
Prerequisites
− Device control ("FCT/HMI" and "Enable") must be activated.
− Homing must have been successfully carried out.
Carrying out a test run
Move the axis with the buttons under "Manual Control" on the "Manual Move" tab in the "Project
Output" window pane.
 Move the axis in both directions with the "Single Step" and "Continuous Run" buttons.
 Set different increments and velocities and check the positioning behaviour.
 Check the displayed coordinates of the axis.
 Move to the limits of the positioning range and check the software limits.
Testing force mode
With grippers: If necessary, test force mode under "Manual Control" on the "Force Mode" tab in the
The next step in commissioning is to carry out teaching of the connected SFC-DC.
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5.4.6 Teaching
Once you have successfully completed the test run, you can teach the positions in the position set
table to which movement must be made.
During teaching, you move the axis manually in the positioning range.
The positions to which movement is made can be transferred as a position value of the current
position set to the "Position Set Table" panel in the working area of the plug-in.
Prerequisites
− Device control ("FCT/HMI" and "Enable") must be activated.
− Homing must have been successfully carried out.
− The functionality of the axis must have been tested by means of an appropriate test run.
Teaching positions
Proceed as follows when teaching:
1. In the "Position Set Table" parameter panel in the working area of the plug-in, open the position
set whose position is to be taught.
2. You can move to the previous position value if necessary with the "Move to position" button next
to the position set.
3. Move the axis to the desired position with the buttons under "Teach" on the "Manual Move" tab
in the "Project Output" window pane.
4. When you click on "Accept as Position ..." the position is entered in the position set table.
5. Complete or correct the entries for the positioning mode ("Mode"), the velocity, the acceleration,
the deceleration and, if necessary, the comment.
6. Teach the next position set or load the settings into the SFC-DC with the "Download" function.
You can teach the values of the software limits as well as the axis zero point and the project zero
point in the same way in the "Measure" parameter panel in the working area of the plug-in.
However this is only possible in the following cases (see Reference coordinates and operating range):
− The new software limits are within the currently valid operating range.
− The project zero point is within the currently valid operating range.
It only makes sense to teach the axis zero point if the setting currently effective for the axis zero point
and the project zero point during the most recent homing = 0 (no offset to the homing point, only
with the "Hom. switch..." homing method).
The next step in commissioning is to save the parameters in the SFC-DC.
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5.4.7 Saving parameters

Once the definitive settings have been determined and are active in the SFC-DC, you can save them
permanently.
Note
The settings become effective immediately in the SFC-DC with the "Download" function.
When the SFC-DC is switched on again (power off/on), however, the previous settings will
be valid again.
"Store" function.
Saving the parameters permanently

 Save the parameter settings active in the SFC-DC with "Store" in the working area of the SFC-DC
plug-in.
The next step in commissioning is to test the control interface of the connected SFC-DC.
5.4.8 Testing the control interface

Once you have saved the parameters, test operation of the axis with the SFC-DC via the control
interface.
Testing the control interface
1. To be able to control the SFC-DC via the control interface, FCT/HMI control must be deactivated.
To do this, go to the "Project Output" window pane and deactivate the "FCT/HMI" checkbox
under "Device Control" on the "Operate" tab.
This activates the control interface of the SFC-DC.
2. To check the configuration and axis setup, enter a simple test program or simulate control by
directly setting the inputs. Take into account the output signals that are output.
 Provide the necessary system inputs on the SFC-DC.
 Program or start homing as well as some positioning movements.
 Check the positioning behaviour.
 Observe the behaviour of the controller and of the drive with the FCT.
Before concluding commissioning, read the notes on operation.
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5.4.9 Notes on operation

Take the following information and recommendations into account when programming and operating
positioning systems with electric axes.
You can find the complete information on operating the SFC-DC in the relevant manual for
the type P.BE-SFC-DC-....
Warning
Danger of injury.
Password protection
Password protection is preset in the factory to inactive. All download and control functions can be
locked to prevent unauthorised or unintentional overwriting or modification of parameters in the
device.
 Recommendation:
Protect your axis settings against undesired modifications with a password.
Start-up behaviour and homing

Caution
Danger of injury.
Parameterisation errors can cause injury to people and damage to property. Homing is
absolutely essential in the following cases so that the reference coordinates and operating
range can be set correctly:
− During initial commissioning
− After the homing method is changed
− Each time the logic voltage supply is switched on
Note
Make sure that:
− The axis lies within the permitted positioning range when it is switched on and before
starting homing
− Homing is carried out after the higher-level controller or SFC-DC is switched on or if
applicable after faults
Device connection
Caution
The RS232 interface is not galvanically isolated. It is not intended for permanent
connection to PC systems or as a control interface.
 Only use the connection for parameterisation and for diagnosis.
In the case of the SFC-DC with fieldbus interface, use the option to lock control access if
necessary (see the manual for the SFC-DC).
81
Controlling during operation

Warning
Danger of injury.
Parameterisation errors can cause injury to people and damage to property when the
controller is enabled with ENABLE.
 Only enable the controller if the axis system has been installed and parameterised by
technically qualified staff.
Caution
Note the manufacturer's specifications regarding the permitted operating conditions for
the motors and drives used, for example the maximum permitted speeds.
Caution
It is not permitted to move to the mechanical limits during operation. Blockage may occur
in the limits if movement is made to the limits with a heavy load.
Note
You must take any functions implemented within the framework of the EMERGENCY STOP
concept into account in the control programs.
Care and maintenance

The SFC-DC is maintenance-free.
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Diagnosis and error handling
6 Diagnosis and error handling

6.1 Overview of diagnosis and error handling
The FCT offers the following functions for diagnosis and error handling of the SFC-DC with an active
device connection:
Device Status
The operating mode, special outputs and operating states as well as error messages of the connected
SFC-DC are shown under "Device Status" on the "Operate" tab, "Manual Move" tab or "Diagnostics"
tab in the "Project Output" window pane.
Device Control
When FCT/HMI control is activated, you can confirm most error messages with "Acknowledge Error"
under "Device Control" on the "Operate" tab, "Manual Move" tab or "Diagnostics" tab in the
Dynamic Data
The current position set, target position and actual position as well as velocity of the SFC-DC are
displayed under "Dynamic Data" on the "Operate" tab in the "Project Output" window pane.
Diagnosis Memory
Only in the case of the SFC-DC with fieldbus interface:
When there is a device connection active, the contents of the diagnosis memory of the SFC-DC can be
read out on the "Diagnostics" tab in the "Project Output" window pane.
6.2 Errors and warnings of the SFC-DC

The SFC-DC communicates error states by means of corresponding error messages.
If there is an active connection to the device, these are displayed in plain text in the "Project Output"
window pane under "Device Status and Device Control".
In the case of the SFC-DC with fieldbus interface, the error memory containing the associated error
numbers can be read out on the "Diagnostics" tab in the "Project Output" window pane.
Category FCT display Display Error Description

no.
Warning Index pulse INDEX-PULSE- − During homing:

warning WARNING The homing switch signal is too close to
the index pulse. This can in some cases
mean that no reproducible homing
position can be determined.
 Move the homing switch (a few
tenths of a mm).
Error Homing PLEASE 1 When starting a positioning task:

required ENFORCE Homing was not carried out or homing
HOMING RUN! was stopped after switching on the
power supply.
 Carry out homing.
Error Target TARGET 2 The specified target position is outside

position out POSITION of the permitted positioning range.
of range OUT OF LIMIT!  Check the software limits and the
target position.
Warning Illegal record ILLEGAL 3 Invalid record number.

number RECORD The record number transferred is
outside of the permitted range.
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no.
Error Position POSITION 31 Position error (following error).

error ERROR Possible causes:
− The drive is blocked
− The positioning speed is too high
− The mechanism is sluggish or the
load too high (acceleration)
 Check:
− the drive mechanism,
− the speed of the positioning task.
Error Homing HOMING- 32 Error during homing.

error ERROR Possible causes:
− Homing switch defective
− If necessary, check the function of
the homing switch.
− It is essential that you repeat
homing.
Error Position POSITION- 35 Plausibility error.

plausibility PLAUS.- Possible causes:
error ERROR
− Actual speed has exceeded the
defined limit.
May happen with vertical mounting and
large moving load.
 Reduce:
− the moving load,
− the acceleration.
Warning Standstill STANDSTILL 36 Standstill monitoring.

warning The drive has moved out of the standstill
position window.
Error PROFIBUS PROFIBUS- 51 Only in the case of the SFC-DC with
init error INIT-ERROR PROFIBUS interface:
PROFIBUS initialisation error − hardware
error.
Error CAN bus CAN-BUS INIT 51 Only in the case of the SFC-DC with
error NO CANopen interface:
PARAMETER Necessary bus parameters not set, see
ERROR "Interface" parameter panel.
 Set the bus parameters:
− CAN address
− Baud rate
− Data profile
Error CAN bus CAN-BUS NO 51 Only in the case of the SFC-DC with
error EXT. SUPPLY CANopen interface:
VOLTAGE No external CAN supply (only if
parameterised, see "Voltage Supply",
"Interface" parameter panel):
 Check the external CAN supply or
 Configure an internal CAN supply
84

no.
Error DEVICENET DEVICENET 51 Only in the case of the SFC-DC with

error INIT NO DeviceNet interface:
PARAMETER Necessary bus parameters not set, see
"Interface" parameter panel.
SFC-DC not on the bus.
 Set the bus parameters:
− MAC ID
− Bit rate
− I/O data length
Error Hardware HARDWARE- 52 Hardware error, e.g. EEPROM defective

error ERROR (user data corrupted, checksum error).
Error Load power LOAD-POWER- 70 Voltage monitoring.

down DOWN Possible causes:
− No load voltage supply or load
voltage supply too low
− Voltage drop under load
 Check the voltage supply:
− Power unit too weak?
− Supply line too long?
Error Logic power DIGITAL- 71 Voltage monitoring.

down POWER- Possible causes:
DOWN
− Logic voltage supply too low
− Voltage drop under load
 Check the voltage supply:
− Power unit too weak?
− Supply line too long?
Error Current error I2t-ERROR 100 Overheating (current monitoring i2t).

(I²t) Possible causes:
− The drive is blocked
− Check the drive mechanism
Error Overheating OVERHEATING 101 Overheating (operating temperature > 80

error °C).
Temperature of power stage too high.
 Check:
− Observance of the limits (motor
characteristic curves)
− The mechanism, e.g. for
sluggishness
 If necessary, reduce the ambient
temperature
Error Motor error MOTOR- 103 Motor not connected or broken cable.
ERROR  Check connection to motor, replace
cable if necessary.
Error Motor stop MOTOR-STOP 106 A positioning process has been stopped
(message) via the control panel with the button
<Menu> (EMERG: STOP [menu]).
85
Additional warnings
Additional warnings are shown on the display of the SFC-DC for special operating states (only with
the type SFC-DC-...-H2-...).
Warning on the Description

display
COLD Operating temperature < -10 ℃

TEMPERATURE
 Increase the ambient temperature if necessary.
HOT Operating temperature > 75 ℃

TEMPERATURE
 Possible overloading of the drive, check the mechanics e.g. for
sluggishness, reduce the ambient temperature
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Basic principles of the SFC-DC plug-in
7 Basic principles of the SFC-DC plug-in

7.1 Basic functions
7.1.1 Device connection (online connection between PC and SFC-DC)
To commission an SFC-DC with the FCT, you must establish a device connection with the SFC-DC.
This is necessary for the following work steps, for example:
− Displaying the device status and dynamic data of the SFC-DC (see "Interface of the SFC-DC plug-
in", "Project Output" window pane, "Device Status and Device Control")
− Displaying the software and hardware version in the "Configuration" panel
− Only in the case of the SFC-DC with fieldbus interface:
Displaying the connection state of bus communication and the contents of the diagnosis memory
of the SFC-DC
Some functions also require FCT/HMI control to be active in addition to a device connection (see
"Device control" as well as "Uploading, downloading and synchronising parameters"):
− Loading parameters into the SFC-DC
− Synchronising parameters between the FCT and the SFC-DC
− Permanently saving the parameters active in the SFC-DC
Controller and power stage enable are required in addition to activated FCT/HMI control for
controlling the drive (see "Device control"):
− Carrying out homing
− Direct executing position sets from the position set table
− Manually controlling the drive, for example on the "Manual Move" tab in the "Project Output"
window pane
Caution
Simultaneous calling of control and operating functions by the FCT and the control panel
can cause errors.
 Make sure that the FCT, the control panel and the control interface of the SFC-DC are
not used at the same time.
Note
It is not permitted to perform write operations (e.g. downloading parameters) or control
operations (e.g. with "Manual Move" or when starting homing) on the SFC-DC with the
FCT in the following cases:
− While the SFC-DC is executing a positioning movement or if a movement is started
during an access operation (e.g. via the control interface or via the control panel).
− If the SFC-DC is being parameterised or operated via the control panel.
Therefore please note the following:
 The device connection in the FCT must not be activated if control is taking place via
the control panel ("HMI control" = on).
 Control via the control panel must not be activated if the device connection in the FCT
is activated ("HMI control" = on).
 Control via the FCT ("FCT/HMI", see "Device control") must not be activated while the
drive is moving or if control is taking place via the control interface.
In the case of the SFC-DC with fieldbus interface you have the option of locking write
access (e.g. downloading, saving, controlling the drive) to the SFC-DC by setting a control
bit.
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Connecting an SFC-DC to the PC

Use the programming cable KDI-MC-M8-SUB-9-... to connect an SFC-DC to the PC.
Note
The RS232 interface is not electrically isolated. It is not intended for permanent connection
to PC systems or as a control interface.
 Observe the information in the manual for the SFC-DC.
 Use only the cable supplied (maximum permitted signal cable length: 2.5 m).
 Remove the diagnostic cable during continuous operation.
 After commissioning, place the protective cap supplied over the diagnostic connection
on the SFC-DC.
 Connect the diagnostic cable to the following connections:

− The connector socket of the diagnostic interface on the SFC-DC
− A serial COMx interface on the PC.
Caution
Functional damage.
The 4-pin M8 plug connector has an input (pin 4) intended exclusively for authorised Festo
Service personnel. If a 24 V DC voltage is applied to this service pin or if it is used
incorrectly, the device may be seriously damaged, therefore:
 Do not apply voltage to pin 4
 Use only the cable supplied
Activating the device connection

The connection between the FCT and the SFC-DC via the serial interface is controlled using the "Go
online/Go offline" button in the toolbar:
Use the "Go online" button to establish the connection with the current SFC-DC.
The device connection activated for the current device is indicated by the "Go offline"
button as well as by a green background for the relevant icon in the "Workspace"
window pane.
Use the "Go offline" button to disconnect the connection with the SFC-DC.
Depending on the settings of the connected SFC-DC, the following dialogs are displayed when the
device connection is activated:
− If there is a password active in the SFC-DC, this must be entered in the "Password" dialog. If you
do not enter a valid password you will not be able to download parameters or control the SFC-DC.
− If specific parameters such as controller type, device name or device type (axis type and axis size)
differ in the project and in the FCT, you must synchronise them in the "... Do Not Match" dialog. If
you do not perform this synchronisation a device connection cannot be established.
If in doubt, create a new project to carry out the upload.
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7.1.2 Device control ("FCT/HMI" and "Enable")

The SFC-DC is controlled during operation via the control interface.
It can also be controlled via the FCT or the control panel during the commissioning phase or for
diagnostic and optimisation purposes.
Caution
Simultaneous calling of control and operating functions by the FCT and the control panel
can cause errors.
 Make sure that the FCT, the control panel and control via the control interface of the
SFC-DC are not used at the same time.
Note the information under "Device connection".
Activating FCT/HMI control

FCT/HMI control must be activated to upload, download and synchronise parameters:
 Check the "FCT/HMI" box under "Device Control" on one of the tabs of the "Project Output"
window pane (see "Interface of the SFC-DC plug-in, "Device Status and Device Control").
This deactivates the control interface of the SFC-DC.
In the case of the SFC-DC with fieldbus interface you have the option of locking write
access (e.g. downloading, saving, controlling the drive) to the SFC-DC by setting a control
bit.
Activating the enable

The enable signal may need to be set for the FCT to be able to control the connected SFC-DC:
 If necessary,
check the "Enable" box under "Device Control".
This sets the control enable of the FCT.
Deactivating device control

Unchecking the "FCT/HMI" box deactivates device control. The enable signal then reverts to the
status as per the control interface.
Caution
The motor is not supplied with power when the power stage is switched off. This means
that if the axis is installed in an inclined or vertical position, the effective load can cause
the slide to move downwards.
 Make sure that the control signals present on the controller interface provide a safe
system state when deactivating device control.
The SFC-DC can then be controlled again via the control interface.
When the device connection (online connection) is terminated, device control is likewise
automatically deactivated.
Note
If the FCT cannot terminate device control in a proper manner, for example if the cable has
been disconnected unintentionally or due to another communication fault, the device
control cannot be reset on the SFC-DC ([HMI control on/off] = on).
 Re-establish the device connection via the FCT and deactivate device control.
 Or deactivate device control via the control panel of the SFC-DC.
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7.1.3 Password protection

Access to the SFC-DC can be protected with a password to prevent unauthorised or unintentional
overwriting or modification of parameters in the device.
Password protection is preset in the factory to inactive.
Setting up/changing/deleting a password

Note
When setting up, changing or deleting a password, the settings immediately become
effective in the SFC-DC when you click on "OK".
After the power supply is switched back on, however, the previous settings apply again.
"Store" function.
Keep the password for the SFC-DC in a safe place, for example in the internal documentation for your
system.
If the password active in the SFC-DC is lost despite of care being taken:
The password can, if required, be deleted with a master password. Please contact your
Festo Service partner for this.
Setting up a password
1. Activate the device connection if necessary.
2. Open the "Password" dialog for the current device (see the "Workspace" window pane) with the
3. Under "New password", enter a password consisting of 8 characters.
4. Enter the password again under "Confirm".
5. The password becomes active in the SFC-DC when you click on "OK".
6. "Store" in the working area of the SFC-DC plug-in permanently saves the password in the SFC-
DC. Otherwise the old password becomes active again after the power supply is switched back
on.
Changing a password
1. Activate the device connection if necessary and enter the current password.
2. Open the "Password" dialog for the current device (see the "Workspace" window pane) with the
3. Enter the current password under "Password".
4. Under "New password", enter a password consisting of 8 characters.
5. Enter the new password again under "Confirm".
6. The new password becomes active in the SFC-DC when you click on "OK".
7. "Store" in the working area of the SFC-DC plug-in permanently saves the changed password in
the SFC-DC. Otherwise the old password becomes active again after the power supply is switched
back on.
90
Deleting a password
1. Activate the device connection if necessary and enter the current password.
2. Open the "Password" dialog for the current device (see "Workspace" window pane) with the
[Password] menu command in the plug-in-specific menu in the FCT (e.g. [Component]).
3. Do not enter anything under "New password".
4. Do not enter anything under "Confirm".
5. The password is deleted in the SFC-DC when you click on "OK".
6. "Store" in the working area of the SFC-DC plug-in permanently deletes the password in the SFC-
DC. Otherwise the old password becomes active again after the power supply is switched back
on.
Entering a password
If there is a password active in the SFC-DC, it must be entered when activating the device connection.
The "Password" dialog is automatically displayed for this purpose. Once you enter the correct
password, the device connection is established until the data connection is next interrupted (see
"Device connection").
If you do not enter the correct password you cannot carry out downloads or save parameters.
91
7.1.4 Component or device names

There is a device name saved in the SFC-DC.
In order to minimise faults due to mistaken identity, a check is carried out when the device
connection is activated to determine whether the component name in the project and in the device
name in the SFC-DC match. If these are different, the "... Do Not Match" dialog is displayed.
Entering the component or device name when adding a device

You must enter a component name when adding a new component (device) to a project, see
"Working with the SFC-DC plug-in", "Adding an SFC-DC".
Recommendation:
Specify clear names to guarantee reliable assignment between the project and the SFC-DC.
You can find further information on adding a component or device to a project in the Help
for the FCT.
Changing component or device names in the project (without a device connection)

Recommendation:
Specify clear names to guarantee reliable assignment between the project and the SFC-DC.
Change the component name in the project as follows:
1.
Select the entry for the device in the "Workspace" window pane.
2. You can edit the component name in the "Workspace" window pane with the [Rename] menu
3.
Enter a new component name. The following conventions apply:
A maximum of 24 characters are permitted.
The following characters must not be used:
@.,!:"§$%&/\´`+~*#';°^<>
4. Accept the new name by pressing the ENTER key or by activating any other element of the FCT
(mouse click).
Synchronising component or device names

If the components and device names in the SFC-DC and in the project are not the same, the "... Do
Not Match" dialog is displayed when the device connection is activated.
Use the "... Do Not Match" dialog to synchronise the device names.
Note
With "Download", the device name becomes effective immediately in the SFC-DC.
After power off/on, however, the previous settings apply again.
"Store" function.
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7.2 Homing and reference coordinates

7.2.1 Overview of homing and reference coordinates
Reference coordinates and operating range
The measuring reference system of the SFC-DC is based on the axis zero point that is defined via the
offset to the homing point. The position of the homing point is ascertained during homing. The
homing method defines the way in which the axis ascertains the homing point.
Once homing is complete, the drive is at the axis zero point.
The operating range of the axis connected to the SFC-DC is defined by software limits that refer to the
axis zero point.
The positions refer to the project zero point that is defined by means of the offset to the axis zero
point.
In the case of the SFC-DC with I/O interface, the project zero point is identical with the axis zero point
(offset = 0).
You can find information on the reference coordinates and the operating range under
"Reference coordinates and operating range".
Please note the special information on parameterisation under "Basic principles of the SFC-
DC plug-in", "Homing and reference coordinates", "Notes on parameterising the working
stroke".
Caution
Danger of injury.
Parameterisation errors can cause injury to human beings and damage to property.
Homing is absolutely essential in the following cases so that the reference coordinates and
operating range can be set correctly:
− During initial commissioning
− After the homing method is changed
− Each time the logic voltage supply is switched on
The following homing methods are possible in principle with the SFC-DC:
Homing against a mechanical fixed stop
The mechanical fixed stop is the standard homing point for mini slides SLTE and grippers:
− "Block negative" homing method
− "Block positive" homing method
Note
Homing may only be carried out directly against the fixed stop if the permitted impact
pulse is not exceeded.
Operate the drive with the permitted load only.
Caution
During homing, the drive with the positioning controller SFC-DC moves to the stop with
adjustable rated motor torque (default: 100% of the rated current).
 Limit the maximum current during homing if necessary using the parameter "Rel.
Motor Current" in the "Homing" parameter panel.
93
Caution
During operation it is not permitted to move to the mechanical limits (stops). Blockage
may occur in the limits if movement is made to the limits with a heavy load.
 The parameter for the offset of the axis zero point must always be set so it is at least 1
mm (SLTE) or 0.5 mm (HGPLE/GEH) away from the mechanical limit, for example +1.00
mm when homing to negative fixed stop or -1.00 mm when homing to positive fixed
stop, see "Notes on parameterisation".
 Limit the positioning range by defining valid software limits during commissioning
(see the "Measure" panel).
 Specify target positions within the permitted positioning range only.
Homing against homing switch with index
In the case of the rotary module DEF, homing is to a homing switch.
If homing to a mechanical limit is not possible in the application with the mini slide, an external
sensor (homing switch) can also be used as a homing signal.
− "Hom. switch negative with index" homing method
− "Hom. switch positive with index" homing method
7.2.2 "Block negative" homing method

In the case of the SLTE: When homing to the negative stop, the slide moves as per the following
diagram:
Slide moves with search velocity v_rp direction motor to the negative stop.
Slide moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset: positive!)
In the case of the HGPLE/GEH: When homing to the negative stop, the gripper moves as per the
following diagram:
94
Gripper moves at search velocity v_rp in the direction "gripper open" to the negative stop.
Gripper moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset:
positive!)
Note
When homing to a mechanical fixed stop, please note the information under "Overview of
homing and reference coordinates".
Caution
or 0.5 mm (HGPLE/GEH) away from the mechanical limit, see "Notes on
parameterising the working stroke".
7.2.3 "Block positive" homing method

In the case of the SLTE: When homing to the positive stop, the slide moves as per the following
diagram:
Slide moves at search velocity v_rp away from the motor to the positive stop.
Slide moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset:
negative!)
95
In the case of the HGPLE/GEH: When homing to the positive stop, the gripper moves as per the
following diagram:
Gripper moves at search velocity v_rp in the direction "gripper closed" to the positive stop.
Gripper moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset:
negative!)
Note
When homing to a mechanical fixed stop, please note the information under "Overview of
homing and reference coordinates".
Caution
or 0.5 mm (HGPLE/GEH) away from the mechanical limit, see "Notes on
parameterising the working stroke".
96
7.2.4 "Hom. switch negative with index" homing method

In the case of the SLTE: When homing to the negative homing switch, the slide moves as per the
following diagram:
Slide moves at search velocity v_rp in the direction of the motor to the homing switch and
reverses.
After leaving the switching range of the homing switch, the slide moves to the next index signal
of the encoder to determine the homing point.
Slide moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset: positive!)
If the index signal is too close to the homing switch during homing, the warning "Index pulse
warning" is output (see "Errors and warnings of the SFC-DC").
In the case of the DEF: When homing to the negative homing switch, the rotary module moves as per
the following diagram:
Rotary module moves at search velocity v_rp in anti-clockwise direction (looking down onto the
motor shaft) to the homing switch and reverses.
After leaving the switching range of the homing switch, the rotary module moves to the next
index signal of the encoder to determine the homing point.
Rotary module moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset:
positive!).
97
7.2.5 "Hom. switch positive with index" homing method

When homing to the positive homing switch, the slide moves as per the following diagram (example
SLTE-...):
Slide moves at search velocity v_rp away from the motor to the homing switch and reverses.
After leaving the switching range of the homing switch, the slide moves to the next index signal
of the encoder to determine the homing point.
Slide moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset:
negative!)
If the index signal is too close to the homing switch during homing, the warning "Index pulse
warning" is output (see "Errors and warnings of the SFC-DC").
In the case of the DEF: When homing to the positive homing switch, the rotary module moves as per
the following diagram:
Rotary module moves at search velocity v_rp in clockwise direction (looking down onto the
motor shaft) to the homing switch and reverses.
After leaving the switching range of the homing switch, the rotary module moves to the next
index signal of the encoder to determine the homing point.
Rotary module moves at velocity v_zp from the homing point to the axis zero point AZ (AZ offset:
positive!).
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7.2.6 Measuring reference system

All reference points are defined and the operating range limited in the measuring reference system.
The measuring reference system of the SFC-DC is based on the axis zero point, which is defined via
the offset to the homing point. The position of the homing point is ascertained during homing. The
homing method defines the way in which the axis ascertains the homing point.
Signs and directions

All offsets and position values are vectors (with a mathematical sign) and must be adapted to the
position of the respective reference point.
The direction in which the effective load moves is dependent on the gear unit, spindle type (anti-
clockwise/clockwise), position specification sign (+/−) and the setting for the "Direction of Rotation"
parameter.
The +/− effective direction of the vectors can be assigned to the direction of rotation of the motor
shaft (looking down onto the motor shaft).
The factory setting "+" corresponds to a clockwise direction of rotation for the motor, "−" to an anti-
clockwise direction of rotation for the motor.
Value *) SLTE HGPLE/GEH DEF
+ Positive values face from Positive values face from the In a clockwise direction,
the reference point in the reference point in the direction looking down onto the
direction away from the gripper jaw closed. motor shaft.
motor.
— Negative values face from Negative values face from the In an anti-clockwise
the reference point in the reference point in the direction direction, looking down
direction of the motor. gripper jaw open. onto the motor shaft.
*) With the factory setting. The assignment can be reversed (see also section B.2.15, PNU 1000,
object 607E). Homing must be repeated after the direction is changed.
Reference points and operating range

Homing point REF
forms the mechanical reference point of the axis coordinate system and is defined during homing by
means of a homing switch or a fixed stop, depending on the homing method. It is the reference point
of the axis zero point.
Axis zero point AZ
is shifted by a defined distance from the homing point (axis zero point offset) and is the reference
point of the software limits and the project zero point. By defining the axis zero point and the
software limits you can limit the operating range of the linear axis to the permitted range (work
stroke).
Project zero point PZ
is a reference point which the user can freely select within the work stroke and to which the actual
position as well as the target positions in the position set table refer. The reference point for the
project zero point is the axis zero point.
In the case of the SFC-DC with I/O interface, the project zero point is permanently specified and is
identical with the axis zero point AZ (project zero point offset = 0).
Software limits
The permissible positioning range (effective stroke) is limited by setting the software limits. The
software limits refer to the axis zero point. If the target position of a positioning command lies
outside of the software limits, the positioning command will not be processed and an error status will
be set.
99
Reference coordinates and operating range *)
REF Homing The measuring reference point to which movement is made during homing and
point to which the axis zero point refers.
AZ Axis zero Measuring reference point for the project zero point and the software limits.
point The reference point for the axis zero point is the homing point.
PZ Project zero Measuring reference point for all absolute position specifications (e.g. in the
point position set table or with direct control via the control or diagnostic interface).
The reference point for the project zero point is the axis zero point.
Is identical with the axis zero point AZ (offset = 0) in the case of the SFC-DC
with I/O interface.
a Axis zero Defined distance between the axis zero point and the homing point.
point offset
b, c Software Limit the permitted positioning range (work stroke). If the target position of a
limits positioning command lies outside of the software limits, the positioning
command will not be processed and an error status will be set.
The reference point for the software limits is the axis zero point.
d Project zero Defined distance between the project zero point and the axis zero point.
point offset
Usable Permitted positioning range. This defines the operating range of the axis.
stroke
Nominal Nominal stroke of the drive used, see Technical Specifications for the drive
stroke (with SLTE the stroke specified in the order).
Please note the special information on parameterisation under "Basic
principles of the SFC-DC plug-in", "Homing and reference coordinates",
"Notes on parameterising the working stroke".
*) Vector representation for homing method (example): Block negative
100
Reference coordinates and operating range HGPLE/GEH *)
*) See "Reference coordinates and operating range SLTE" for legend

Vector representation for homing method (example): Block negative
Reference coordinates and operating range DEF *)
*) See "Reference coordinates and operating range SLTE" for legend

Vector representation for homing method (example): Hom. switch negative
101
7.2.7 Units of measurement

The FCT with the SFC-DC plug-in supports the display of different units of measurement.
The display of units of measurement is defined as a project property for the drives (see table below).
Definition of the units of measurement for drives in the FCT project

You specify the units of measurement to be used to manage the dimensions in the project in the
project properties under "Measure":
Measuring Description
system
Metric Metric units of measurement, e.g. mm, mm/s, mm/s², etc.

Imperial Imperial units of measurement (inch), e.g. in, in/s, in/s², etc.
The measuring system can only be defined when creating a new project.
Overview of the units of measurement with the SFC-DC

Type of axis Measuring Description
system
Linear drive Metric Metric units of measurement, e.g. mm, mm/s, mm/s², etc. (metric SI
(mini slide measuring system)
or gripper)
Imperial 1) Imperial units of measurement (inch), e.g. in, in/s, in/s², etc.
1) Only available in the FCT
7.2.8 Notes on parameterising the working stroke

The reference coordinates and the operating range of the axis is defined by parameterising the
homing method, the axis zero point and the software limits.
The parameters are checked for consistency taking into consideration the working stroke.
Caution
 Make sure that the parameter set for the axis zero point is always as at least 1 mm
(SLTE) or 0.5 mm (HGPLE/GEH) away from the mechanical limit.
Note
The axis should not move against the mechanical limit during operation, apart from during
homing.
 Take this into account by setting the software limits accordingly.
To be able to use the maximum working stroke ordered without moving against a mechanical limit
during operation, the stroke reserve or the tolerance of the maximum working stroke of the drive
must also be taken into account when defining the parameters.
102
Definition of the reference coordinates taking into consideration the maximum working stroke 1)
(Example SLTE-...)
Max. stroke Maximum stroke of the drive incl. stroke reserve or tolerance.
between the
mechanical stops
Max. working stroke Maximum working stroke (also nominal stroke) of the drive used, see
Technical Specifications for the drive (with SLTE -... the stroke
specified in the order).
Effective stroke Permitted positioning range between the software limits. This defines
the operating range of the axis.
REF Homing point The measuring reference point to which movement is made during
homing and to which the axis zero point refers.
AZ Axis zero point Measuring reference point for the project zero point and the software
limits.
The reference point for the axis zero point is the homing point.
a Axis zero point Defined distance between the axis zero point and the homing point.
offset
b Negative software Limits the permitted positioning range (work stroke). If the target
limit position of a positioning command lies outside of the software limits,
the positioning command will not be processed and an error status will
c Positive software be set.
limit
1) Vector representation for reference coordinates and operating range (example): Block negative
103
Example
The following example shows parameter settings using the example of an electric mini slide type
SLTE-16-100-... with the "Block negative" homing method:
The procedure is as follows:

1. The working stroke of 100.00 mm is prescribed by the chosen size.
2. At least 2.00 mm is assumed as the tolerance for the max. working stroke (stroke reserve) to the
mechanical stops.
3. To move the positioning range away from the mechanical limit, half the tolerance of the working
stroke (1.00 mm) is entered as the offset for the axis zero point. This is the smallest permissible
value in the case of the SFC-DC for the "Block negative" homing method.
4. The axis zero point is used as the negative software limit by entering 0.00 mm.
5. This means that the maximum working stroke of the drive of 100.00 mm can be entered as the
negative software limit.
6. These settings give the required resulting effective stroke of 100.00 mm.
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Contacting Festo
8 Contacting Festo
Festo AG & Co. KG
Contact
Address Festo AG & Co. KG

Ruiter Straße 82
73734 Esslingen-Berkheim
Germany
Tel. ++49 (0)711 / 34 70
Fax ++49 (0)711 / 347 21 44
Internet www.festo.com
E-mail service_international@festo.com
105
Glossary
9 Glossary
0
0 signal: Means that there is a 0 V signal present at the input or output (positive logic,
corresponds to LOW).
1
1 signal: Means that there is a 24 V signal present at the input or output (positive logic,
corresponds to HIGH).
A
Axis: Complete actuator, consisting of controller, motor, encoder and drive, if applicable with
gear unit.
Axis zero point (AZ): Measuring reference point for the project zero point and the software limits.
Identical with the project zero point (offset = 0) in the case of the SFC-DC-...-IO. The
reference point for the axis zero point is the homing point.
C
Component names: See Device names
Controller: Control electronics that evaluate the control signals and provide the voltage supply
for the motor via the power electronics (power electronics + controller + positioning
controller).
D
DEH: Type designation for electric rotary module.
Demo mode: Operating mode in which movement is made to position sets in the position set
table one after the other.
Device names: There is a device name saved in the SFC-DC. In order to minimise faults due to
mistaken identity, it is absolutely vital that the device names in the project and in the SFC-DC
are identical when establishing the device connection with the SFC-DC.
Drive: Mechanical component of an axis that transmits the motive force for the movement,
defines the guide for the positioning movement and also enables the effective load and the
homing switch to be attached. The electric slide type SLTE is an integrated unit consisting of
motor, encoder, gear unit and drive.
E
Effective stroke: Maximum usable stroke of the axis during operation. Usually corresponds to the
maximum working stroke without the non-permitted areas defined via the software limits.
Encoder: In the case of the SLTE: magnetic pulse encoder (rotor position encoder). The electric
signals generated are sent to the controller, which then calculates the position and speed on
the basis of the signals received.
F
FCT: Abbreviation for the Festo Configuration Tool.
Festo Configuration Tool: Software with uniform project and data management for all supported
device types. The special requirements of a device type are supported with the necessary
descriptions and dialogs by means of plug-ins.
H
HGPLE, GEH: Type designation for an electric gripper.
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Glossary
Homing: Homing defines the homing position and thereby the origin of the measuring reference
system of the axis.
Homing mode: Operating mode in which homing is carried out. Homing defines the homing
position.
Homing point (REF): Measuring reference point to which movement is made during homing and
to which the axis zero point refers (this corresponds to the project zero point in the case of
the SFC-DC-...-IO).
Homing switch: External sensor (e.g. type SME-10/SMT-10) used to determine the homing
position.
I
I: Input
I/O: Input and/or output
Index search: Method used during homing whereby after leaving the switching range of the
homing switch, the drive continues moving until a special encoder signal is reached.
Increases the precision of homing.
M
Max. working stroke: See Working stroke
Measuring reference system: Reference system used to define the operating range of the axis
(or of the slide). The relationships between the homing point, the axis zero point, the
software limits, the project zero point and the current actual position and setpoint position
are defined using the measuring reference system.
Measuring system: Defines the units of measurement used to specify the distances or offsets
between the reference points and drive positions as well as the velocities and accelerations.
Motor: Component of the axis that initiates the movement, integrated in the case of the electric
mini slide SLTE.
N
Negative software limit: Limits the positioning range in the direction of smaller position values,
referred to the axis zero point.
Nominal stroke: See Working stroke
O
O: Output
P
Password: Access to the SFC-DC can be protected with a password to prevent unauthorised or
unintentional overwriting or modification of parameters in the device.
Plug-in: Software component that provides special functions for higher-level software.
Position set: Positioning command defined in the position set table, consisting of target position,
positioning mode, positioning velocity, acceleration and deceleration. A maximum of 31
position sets are possible for the SFC-DC with I/O control.
Positive software limit: Limits the positioning range in the direction of bigger position values,
referred to the axis zero point.
Profile position mode: Operating mode for executing a position set.
Project zero point (PZ): Measuring reference point for all positions in positioning tasks. The
project zero point forms the basis for all absolute position specifications (e.g. position set
table or direct control via fieldbus and/or diagnostic interface). The reference point for the
project zero point is the axis zero point (the project zero point PZ and axis zero point AZ are
107
Glossary
identical in the case of the SFC-DC-...-IO).
S
SLTE: Type designation for an electric mini slide.
Software limit switch: Parameterisable stroke limitation of the drive, see "Negative software
limit" or "Positive software limit".
W
Working stroke: Maximum stroke that the axis should travel during operation. Usually
corresponds to the order specification or the specification on the type plate.
108
10 Index
A Designated use ..............................................2
Acc. .............................................................. 36 Detail ............................................................60
Acceleration............................... 33, 35, 36, 60 Device ... 16, 18, 28, 39, 44, 46, 48, 51, 52, 56,
Accept.................................................... 54, 60 58, 60, 70, 71, 73, 74, 81, 83, 87, 89, 90, 92
Accept as ..................................................... 46 Device offline .................................................9
Acknowledging errors .................................. 39 Device online ..................................................9
Actual .................................................... 44, 46 Diagnosis ............................. 13, 29, 39, 51, 83
Actual configuration .................................... 29 Direct................................................ 11, 14, 33
Add ........................................................ 48, 52 Download ...............................................14, 56
Axis .. 11, 14, 16, 19, 23, 56, 94, 95, 97, 98, 99, Dynamic Data .........................................44, 83
102 Dynamic Help .................................................5
B E
Back............................................................. 14 ENABLE................................. 39, 46, 48, 52, 89
Basic ...................................................... 70, 74 Error ................................................. 39, 51, 83
Baud ............................................................ 29 Export ...........................................................52
Block negative ............................................. 94
F
Block positive .............................................. 95
Fault .............................................................51
Bus address ................................................. 29
Favorites ........................................................7
C FCT .................................................................1
CANopen.................................................... 1, 3 FCT | HMI control ...... 39, 44, 46, 48, 52, 60, 89
Caution .......................................................... 2 Feed .............................................................19
CI 13, 39, 52 Festo AG & Co. KG ......................................105
Closed.............................................. 11, 14, 37 Festo Configuration Tool ................................1
COM ............................................................. 54 FHPP .............................................................29
Command .................................................... 52 FHPP-Bits .....................................................45
Comment ............................................... 36, 60 Firmware .............................. 16, 18, 28, 62, 69
Commissioning .....................70, 72, 73, 74, 75 Fixed ................................................. 93, 94, 95
Component ............................................ 71, 92 Force ............................................................49
Configuration ........................11, 14, 16, 18, 28
G
Confirmation .......................................... 54, 60
Gain ..............................................................37
Connection .................................................. 29
Gear..............................................................19
Contact ...................................................... 105
Glossary .........................................................7
Contents ........................................................ 7
Control ............................................. 80, 81, 89
H
Controller............ 11, 14, 16, 28, 37, 39, 46, 56 Hardware.......................................... 16, 18, 28
Conventions................................................... 6 Help .................................................. 1, 5, 7, 14
Current ........................................................ 37 Hom. switch negative ...................................97
Cyclic ............................................... 46, 48, 78 Homing .. 11, 14, 23, 77, 81, 93, 94, 95, 97, 98,
99, 102
D Homing method...... 23, 94, 95, 97, 98, 99, 102
Danger ........................................................... 2 Homing switch positive ................................98
Dec. ............................................................. 36 Homing velocity............................................23
Deceleration .............................. 33, 35, 36, 60
I
Degree ....................................................... 102
I 37
Delay ........................................................... 48
I/O interface ......................................... 1, 3, 29
Delete .................................................... 48, 52
109
Index
imperial ..................................................... 102 Outputs ..................................................44, 45

Import .......................................................... 52 P
inch............................................................ 102 Panel ...... 14, 16, 18, 19, 28, 29, 33, 35, 36, 37
Index .............................................................. 7 Parameter......................................... 56, 58, 80
Inputs .................................................... 44, 45 Parameterising ..................... 70, 72, 73, 74, 75
Insert ........................................................... 48 Password.................................... 13, 54, 60, 90
Installation .................................................... 8 Pictograms .....................................................6
Interface .........................11, 13, 14, 29, 54, 87 Plug-in ..........................................................70
IO-Bits ......................................................... 45 PlugIn .............................................................8
J Port ..............................................................54
Jog ............................................. 11, 14, 35, 46 Position ................................ 11, 14, 36, 37, 60
L Positioning ............................................. 33, 36
List of positions ........................................... 48 Positions ................................................48, 79
Positive software limit .................... 19, 99, 102
M
Print ........................................................... 5, 7
Macro Active ................................................ 52
PROFIBUS ............................................. 1, 3, 29
Macro Commands ........................................ 52
Project9, 19, 39, 44, 45, 46, 48, 49, 51, 52, 56,
Manual Control ............................................ 46 70, 89, 94, 95, 97, 98, 99, 102
Manual move ..................13, 39, 46, 48, 78, 89 Protocol ........................................................29
Manufacturer ................................... 16, 18, 28
R
Master address ............................................ 29
Read .............................................................75
Max. velocity................................................ 35
Ready ...........................................................39
Max. working stroke .................................... 19
Record ....................................................36, 44
MC ............................................................... 39
Reference ....................................... 93, 99, 102
Measuring .......... 9, 11, 14, 19, 70, 78, 93, 102
Rel. motor current ........................................23
Mechanical .................................................. 19
Renaming a device .......................................92
Menu ....................................................... 9, 13
Reply ............................................................52
Message ...................................................... 18
Restore .........................................................13
Metric ........................................................ 102
RS232 ...........................................................54
mm ............................................................ 102
Mode ..................................................... 36, 60 S
Move to position.......................................... 36 Save Macro ..................................................52
Movement ................................................... 46 Search ...................................................... 7, 23
Send .............................................................52
N
Service ...........................................................2
Negative software limit .................. 19, 99, 102
Setpoint ...................................................... 44
New password ................................. 54, 60, 90
Sichern .........................................................80
Next ............................................................. 14
Single .....................................................46, 78
No. ............................................................... 60
Size ........................................................ 16, 56
Nominal ....................................................... 19
Slow .............................................................35
Note ............................................................... 2
Software ............................... 16, 18, 19, 28, 78
O Start .............................................................52
Offline ................................................ 9, 13, 87 Start homing .......................................... 23, 77
Online ................................................ 9, 13, 87 Start sequence .............................................48
Operate ............................... 13, 39, 44, 45, 89 Start-up ........................................................81
Operating .............................................. 39, 46 Status ......................................... 39, 44, 45, 83
Operation .................................................... 81 Step-by-step........................................... 73, 75
Output ......................................................... 39 STOP ...................................................... 23, 36
110
Index
Stop sequence ............................................. 48 U

Store ............................................................ 14 Undo ............................................................13
Supply ......................................................... 29 Units ....................................................... 9, 102
Support ....................................................... 51 Upload.............................................. 14, 56, 75
SW-limit neg ................................................ 19 Usable ............................................ 19, 99, 102
SW-limit pos ................................................ 19
V
Sync ................................................. 14, 56, 58
v_rp ..............................................................23
System........................................................... 8
v_zp ..............................................................23
T Velocity .......................... 23, 36, 37, 44, 46, 60
Tab .....................39, 44, 45, 46, 48, 49, 51, 52 Vendor..........................................................16
Target ...................................................... 2, 44 Version ...........................................................3
Teaching ................................................ 46, 79
W
Test........................................................ 46, 78
Warning ..........................................................2
Testing ......................................................... 80
Warnings ......................................................83
Text................................................................ 6
Window ........................................................11
Timestamp ............................................. 29, 51
Working .................... 9, 14, 19, 70, 93, 99, 102
Toolbar .......................................................... 9
Workspace ............................................... 9, 11
Trace ............................................................ 29
Travel........................................................... 37
111

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Festo Configuration Tool - PlugIn SFC-DC

2 Help for the SFC-DC plug-in ........................................................................................................... 5

3 Getting started ............................................................................................................................... 8

4 Interface of the SFC-DC plug-in...................................................................................................... 9

4.6.6 Firmware download wizard ..................................................................................... 62

5 Working with the SFC-DC plug-in................................................................................................. 70

6 Diagnosis and error handling ...................................................................................................... 83

7 Basic principles of the SFC-DC plug-in ........................................................................................ 87

8 Contacting Festo......................................................................................................................... 105

9 Glossary ..................................................................................................................................... 106

10 Index ................................................................................................................................ 109

1 Overview of the SFC-DC plug-in for the Festo Configuration

The FCT consists of the following components:

The FCT has its own Help file.

Version 3.0.0, 30.06.2010, en 1005f

1.1 Designated use

1.2 Target group

1.4 Important user information

1.5 What's new in this version?

2 Help for the SFC-DC plug-in

2.2 Marking special information

Information: Recommendations, tips and references to other sources of information.

Accessory: Information on necessary or useful accessories for the Festo product.

Environment: Information on the environmentally friendly use of Festo products.

If "click" or "double-click" is mentioned, this always applies to the left-hand mouse

2.3 Finding information in the Help

2.4 Printing the Help

3.2 Installing the SFC-DC plug-in

3.3 Using the SFC-DC plug-in

4 Interface of the SFC-DC plug-in

"Workspace" window pane

Figure: Working area of the FCT

Special dialogs of the SFC-DC plug-in

4.1.1 Units of measurement

4.2 "Workspace" window pane

Position Set Table

Closed Loop Settings

4.3 Menu commands

Plug-in-specific menu Description

[Operate] Opens or activates the "Project Output" window pane containing

4.4 Working area of the plug-in

The following applies to all panels:

4.4.2 "Configuration" panel

4.4.3 "Application Data" panel

Figure: "Application Data" panel

Message "Motion Complete"

Message "Following Error"

4.4.4 "Measure" parameter panel

Measuring reference system

Axis Zero Point

Project Zero Point

SW Limit Positive (positive software limit)

"Inverted" not checked:

Diagram for the measurement system

4.4.5 "Homing" parameter panel

Axis Zero Point

Carrying out homing directly

4.4.6 "Controller" panel

4.4.7 "Interface" parameter panel

SFC-DC with I/O interface

Picture of the SFC-DC

SFC-DC with PROFIBUS interface

If there is a device connection active: